NJointBimanualCCDMPControllerConfig Class Reference
defined in <armarx/control/deprecated_njoint_mp_controller/bimanual/ControllerInterface.ice>
class NJointBimanualCCDMPControllerConfig extends NJointControllerConfig { ... }
Inheritance diagram for NJointBimanualCCDMPControllerConfig:Data Members | |
| string | defautLeader = "Left" |
| string | dmpMode = "MinimumJerk" |
| string | dmpType = "Discrete" |
| float | dnull |
| int | kernelSize = 100 |
| float | knull |
| Ice::FloatSeq | leftDesiredJointValues |
| Ice::FloatSeq | leftDori |
| Ice::FloatSeq | leftDpos |
| Ice::FloatSeq | leftKori |
| Ice::FloatSeq | leftKpos |
| double | maxAngularVel |
| double | maxLinearVel |
| double | phaseDist0 = 50 |
| double | phaseDist1 = 10 |
| double | phaseK = 10 |
| double | phaseKpOri = 0.1 |
| double | phaseKpPos = 1 |
| double | phaseL = 10 |
| double | posToOriRatio = 10 |
| Ice::FloatSeq | rightDesiredJointValues |
| Ice::FloatSeq | rightDori |
| Ice::FloatSeq | rightDpos |
| Ice::FloatSeq | rightKori |
| Ice::FloatSeq | rightKpos |
| float | startReduceTorque |
| double | timeDuration = 10 |
| float | torqueLimit |
Data Member Documentation
◆ defautLeader
| string defautLeader = "Left" |
◆ dmpMode
| string dmpMode = "MinimumJerk" |
◆ dmpType
| string dmpType = "Discrete" |
◆ dnull
| float dnull |
◆ kernelSize
| int kernelSize = 100 |
◆ knull
| float knull |
◆ leftDesiredJointValues
| Ice::FloatSeq leftDesiredJointValues |
◆ leftDori
| Ice::FloatSeq leftDori |
◆ leftDpos
| Ice::FloatSeq leftDpos |
◆ leftKori
| Ice::FloatSeq leftKori |
◆ leftKpos
| Ice::FloatSeq leftKpos |
◆ maxAngularVel
| double maxAngularVel |
◆ maxLinearVel
| double maxLinearVel |
◆ phaseDist0
| double phaseDist0 = 50 |
◆ phaseDist1
| double phaseDist1 = 10 |
◆ phaseK
| double phaseK = 10 |
◆ phaseKpOri
| double phaseKpOri = 0.1 |
◆ phaseKpPos
| double phaseKpPos = 1 |
◆ phaseL
| double phaseL = 10 |
◆ posToOriRatio
| double posToOriRatio = 10 |
◆ rightDesiredJointValues
| Ice::FloatSeq rightDesiredJointValues |
◆ rightDori
| Ice::FloatSeq rightDori |
◆ rightDpos
| Ice::FloatSeq rightDpos |
◆ rightKori
| Ice::FloatSeq rightKori |
◆ rightKpos
| Ice::FloatSeq rightKpos |
◆ startReduceTorque
| float startReduceTorque |
◆ timeDuration
| double timeDuration = 10 |
◆ torqueLimit
| float torqueLimit |
The documentation for this class was generated from the following file:
- armarx/control/deprecated_njoint_mp_controller/bimanual/ControllerInterface.ice
