defined in <armarx/control/deprecated_njoint_mp_controller/bimanual/ForceMPControllerInterface.ice>

class NJointBimanualForceMPControllerConfig extends NJointControllerConfig { ... }

Inheritance diagram for NJointBimanualForceMPControllerConfig:

Data Members
string	debugName

double	dmpAmplitude = 1

string	dmpMode = "MinimumJerk"

string	dmpStyle = "Discrete"

float	filterCoeff

float	forceD

float	forceI

float	forceP

float	Kd_AngularVel

float	Kd_LinearVel

int	kernelSize = 100

float	Kp_AngularVel

float	Kp_LinearVel

float	KpJointLimitAvoidanceScale

Ice::FloatSeq	leftForceOffset

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 = 100

Ice::FloatSeq	rightForceOffset

float	targetSupportForce

double	timeDuration = 10

Data Member Documentation

◆ debugName

string debugName

◆ dmpAmplitude

double dmpAmplitude = 1

◆ dmpMode

string dmpMode = "MinimumJerk"

◆ dmpStyle

string dmpStyle = "Discrete"

◆ filterCoeff

float filterCoeff

◆ forceD

float forceD

◆ forceI

float forceI

◆ forceP

float forceP

◆ Kd_AngularVel

float Kd_AngularVel

◆ Kd_LinearVel

float Kd_LinearVel

◆ kernelSize

int kernelSize = 100

◆ Kp_AngularVel

float Kp_AngularVel

◆ Kp_LinearVel

float Kp_LinearVel

◆ KpJointLimitAvoidanceScale

float KpJointLimitAvoidanceScale

◆ leftForceOffset

Ice::FloatSeq leftForceOffset

◆ 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 = 100

◆ rightForceOffset

Ice::FloatSeq rightForceOffset

◆ targetSupportForce

float targetSupportForce

◆ timeDuration

double timeDuration = 10

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

armarx/control/deprecated_njoint_mp_controller/bimanual/ForceMPControllerInterface.ice

Data Members