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

class DeprecatedNJointPeriodicTSDMPCompliantControllerConfig extends NJointControllerConfig { ... }

Inheritance diagram for DeprecatedNJointPeriodicTSDMPCompliantControllerConfig:

Data Members
float	changePositionTolerance

float	changeTimerThreshold

double	dmpAmplitude = 1

Eigen::VectorXf	Dnull

bool	enableTCPGravityCompensation

float	forceDeadZone

float	forceFilter = 0.8

string	forceFrameName = "ArmR8_Wri2"

string	forceSensorName = "FT R"
	force torque sensor

bool	ignoreWSLimitChecks = false

float	jointTorqueLimit

Eigen::Vector6f	kdImpedance

int	kernelSize = 100

Eigen::VectorXf	Knull

Eigen::Vector6f	kpImpedance

string	nodeSetName = ""

float	phaseDist0 = 50

float	phaseDist1 = 10

double	phaseK = 10

double	phaseKpOri = 0.1

double	phaseKpPos = 1

double	phaseL = 10

Eigen::Vector4f	pidForce

double	posToOriRatio = 100

float	qvelFilter

Eigen::VectorXf	targetNullSpaceJointValues

Eigen::Vector3f	tcpCoMInForceSensorFrame

float	tcpMass = 0.0f

double	timeDuration = 10

Eigen::Matrix4f	toolFrameInRoot
	tool setup (Effective frame in root)

float	torqueDeadZone

float	waitTimeForCalibration = 0.1

Ice::FloatSeq	ws_x
	adaptive settings

Ice::FloatSeq	ws_y

Ice::FloatSeq	ws_z

Data Member Documentation

◆ changePositionTolerance

float changePositionTolerance

◆ changeTimerThreshold

float changeTimerThreshold

◆ dmpAmplitude

double dmpAmplitude = 1

◆ Dnull

Eigen::VectorXf Dnull

◆ enableTCPGravityCompensation

bool enableTCPGravityCompensation

◆ forceDeadZone

float forceDeadZone

◆ forceFilter

float forceFilter = 0.8

◆ forceFrameName

string forceFrameName = "ArmR8_Wri2"

◆ forceSensorName

string forceSensorName = "FT R"

force torque sensor

◆ ignoreWSLimitChecks

bool ignoreWSLimitChecks = false

◆ jointTorqueLimit

float jointTorqueLimit

◆ kdImpedance

Eigen::Vector6f kdImpedance

◆ kernelSize

int kernelSize = 100

◆ Knull

Eigen::VectorXf Knull

◆ kpImpedance

Eigen::Vector6f kpImpedance

◆ nodeSetName

string nodeSetName = ""

◆ phaseDist0

float phaseDist0 = 50

◆ phaseDist1

float phaseDist1 = 10

◆ phaseK

double phaseK = 10

◆ phaseKpOri

double phaseKpOri = 0.1

◆ phaseKpPos

double phaseKpPos = 1

◆ phaseL

double phaseL = 10

◆ pidForce

Eigen::Vector4f pidForce

◆ posToOriRatio

double posToOriRatio = 100

◆ qvelFilter

float qvelFilter

◆ targetNullSpaceJointValues

Eigen::VectorXf targetNullSpaceJointValues

◆ tcpCoMInForceSensorFrame

Eigen::Vector3f tcpCoMInForceSensorFrame

◆ tcpMass

float tcpMass = 0.0f

◆ timeDuration

double timeDuration = 10

◆ toolFrameInRoot

Eigen::Matrix4f toolFrameInRoot

tool setup (Effective frame in root)

◆ torqueDeadZone

float torqueDeadZone

◆ waitTimeForCalibration

float waitTimeForCalibration = 0.1

◆ ws_x

Ice::FloatSeq ws_x

adaptive settings

◆ ws_y

Ice::FloatSeq ws_y

◆ ws_z

Ice::FloatSeq ws_z

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

armarx/control/deprecated_njoint_mp_controller/task_space/ControllerInterface.ice

Data Members