defined in <armarx/control/ds_controller/DSControllerInterface.ice>

class DSJointCarryControllerConfig extends NJointControllerConfig { ... }

Inheritance diagram for DSJointCarryControllerConfig:

Data Members
Ice::FloatSeq	defaultGuardOri

Ice::FloatSeq	defaultRotationStiffness

float	desiredTorqueDisturbance

float	filterTimeConstant = 0.01

string	gmmParamsFile = ""

float	guardGravity

float	guardLength

float	handVelLimit

Ice::FloatSeq	left_desiredQuaternion

Ice::FloatSeq	leftarm_qnullspaceVec

float	nullspaceDamping

float	nullspaceKp

float	NullTorqueLimit = 0.2

float	oriDamping

float	oriKp

Ice::FloatSeq	posiDamping

float	posiKp = 5

float	positionErrorTolerance

Ice::FloatSeq	right_desiredQuaternion

Ice::FloatSeq	rightarm_qnullspaceVec

float	TorqueFilterConstant

float	torqueLimit = 1

float	v_max = 0.15

Data Member Documentation

◆ defaultGuardOri

Ice::FloatSeq defaultGuardOri

◆ defaultRotationStiffness

Ice::FloatSeq defaultRotationStiffness

◆ desiredTorqueDisturbance

float desiredTorqueDisturbance

◆ filterTimeConstant

float filterTimeConstant = 0.01

◆ gmmParamsFile

string gmmParamsFile = ""

◆ guardGravity

float guardGravity

◆ guardLength

float guardLength

◆ handVelLimit

float handVelLimit

◆ left_desiredQuaternion

Ice::FloatSeq left_desiredQuaternion

◆ leftarm_qnullspaceVec

Ice::FloatSeq leftarm_qnullspaceVec

◆ nullspaceDamping

float nullspaceDamping

◆ nullspaceKp

float nullspaceKp

◆ NullTorqueLimit

float NullTorqueLimit = 0.2

◆ oriDamping

float oriDamping

◆ oriKp

float oriKp

◆ posiDamping

Ice::FloatSeq posiDamping

◆ posiKp

float posiKp = 5

◆ positionErrorTolerance

float positionErrorTolerance

◆ right_desiredQuaternion

Ice::FloatSeq right_desiredQuaternion

◆ rightarm_qnullspaceVec

Ice::FloatSeq rightarm_qnullspaceVec

◆ TorqueFilterConstant

float TorqueFilterConstant

◆ torqueLimit

float torqueLimit = 1

◆ v_max

float v_max = 0.15

The documentation for this class was generated from the following file:

armarx/control/ds_controller/DSControllerInterface.ice

Data Members