defined in <armarx/control/deprecated_njoint_mp_controller/task_space/ControllerInterface.ice>

class DeprecatedNJointTaskSpaceAdmittanceDMPControllerConfig extends NJointControllerConfig { ... }

Inheritance diagram for DeprecatedNJointTaskSpaceAdmittanceDMPControllerConfig:

Data Members
string	dmpMode = "MinimumJerk"

string	dmpType = "Discrete"

Eigen::VectorXf	Dnull

bool	enableTCPGravityCompensation

float	forceDeadZone

float	forceFilter

string	forceFrameName = "ArmR8_Wri2"

string	forceSensorName
	force torque sensor

float	jointTorqueLimit

Eigen::Vector6f	kdAdmittance

Eigen::Vector6f	kdImpedance

int	kernelSize = 100

Eigen::Vector6f	kmAdmittance

Eigen::VectorXf	Knull

Eigen::Vector6f	kpAdmittance

Eigen::Vector6f	kpImpedance

string	nodeSetName

double	phaseDist0 = 50

double	phaseDist1 = 10

double	phaseK = 10

double	phaseL = 10

double	posToOriRatio = 100

float	qvelFilter

Eigen::VectorXf	targetNullSpaceJointValues

Eigen::Vector3f	tcpCoMInForceSensorFrame

float	tcpMass = 0.0f

double	timeDuration

float	torqueDeadZone

bool	useNullSpaceJointDMP

float	waitTimeForCalibration

Data Member Documentation

◆ dmpMode

string dmpMode = "MinimumJerk"

◆ dmpType

string dmpType = "Discrete"

◆ Dnull

Eigen::VectorXf Dnull

◆ enableTCPGravityCompensation

bool enableTCPGravityCompensation

◆ forceDeadZone

float forceDeadZone

◆ forceFilter

float forceFilter

◆ forceFrameName

string forceFrameName = "ArmR8_Wri2"

◆ forceSensorName

string forceSensorName

force torque sensor

◆ jointTorqueLimit

float jointTorqueLimit

◆ kdAdmittance

Eigen::Vector6f kdAdmittance

◆ kdImpedance

Eigen::Vector6f kdImpedance

◆ kernelSize

int kernelSize = 100

◆ kmAdmittance

Eigen::Vector6f kmAdmittance

◆ Knull

Eigen::VectorXf Knull

◆ kpAdmittance

Eigen::Vector6f kpAdmittance

◆ kpImpedance

Eigen::Vector6f kpImpedance

◆ nodeSetName

string nodeSetName

◆ phaseDist0

double phaseDist0 = 50

◆ phaseDist1

double phaseDist1 = 10

◆ phaseK

double phaseK = 10

◆ phaseL

double phaseL = 10

◆ posToOriRatio

double posToOriRatio = 100

◆ qvelFilter

float qvelFilter

◆ targetNullSpaceJointValues

Eigen::VectorXf targetNullSpaceJointValues

◆ tcpCoMInForceSensorFrame

Eigen::Vector3f tcpCoMInForceSensorFrame

◆ tcpMass

float tcpMass = 0.0f

◆ timeDuration

double timeDuration

◆ torqueDeadZone

float torqueDeadZone

◆ useNullSpaceJointDMP

bool useNullSpaceJointDMP

◆ waitTimeForCalibration

float waitTimeForCalibration

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

armarx/control/deprecated_njoint_mp_controller/task_space/ControllerInterface.ice

Data Members