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

class DeprecatedNJointTaskSpaceImpedanceDMPControllerConfig extends NJointControllerConfig { ... }

Inheritance diagram for DeprecatedNJointTaskSpaceImpedanceDMPControllerConfig:

Data Members
Ice::FloatSeq	defaultNullSpaceJointValues

string	dmpMode = "MinimumJerk"

string	dmpType = "Discrete"

Ice::FloatSeq	Dnull

Ice::FloatSeq	Dori

Ice::FloatSeq	Dpos

float	forceDeadZone

float	forceFilter

string	forceFrameName = "ArmR8_Wri2"

string	forceSensorName

Eigen::Vector3f	forceThreshold

int	kernelSize = 100

Ice::FloatSeq	Knull

Ice::FloatSeq	Kori

Ice::FloatSeq	Kpos

string	nodeSetName

double	phaseDist0 = 50

double	phaseDist1 = 10

double	phaseK = 10

double	phaseL = 10

double	posToOriRatio = 100

double	timeDuration

float	torqueLimit

bool	useNullSpaceJointDMP

float	waitTimeForCalibration

Data Member Documentation

◆ defaultNullSpaceJointValues

Ice::FloatSeq defaultNullSpaceJointValues

◆ dmpMode

string dmpMode = "MinimumJerk"

◆ dmpType

string dmpType = "Discrete"

◆ Dnull

Ice::FloatSeq Dnull

◆ Dori

Ice::FloatSeq Dori

◆ Dpos

Ice::FloatSeq Dpos

◆ forceDeadZone

float forceDeadZone

◆ forceFilter

float forceFilter

◆ forceFrameName

string forceFrameName = "ArmR8_Wri2"

◆ forceSensorName

string forceSensorName

◆ forceThreshold

Eigen::Vector3f forceThreshold

◆ kernelSize

int kernelSize = 100

◆ Knull

Ice::FloatSeq Knull

◆ Kori

Ice::FloatSeq Kori

◆ Kpos

Ice::FloatSeq Kpos

◆ nodeSetName

string nodeSetName

◆ phaseDist0

double phaseDist0 = 50

◆ phaseDist1

double phaseDist1 = 10

◆ phaseK

double phaseK = 10

◆ phaseL

double phaseL = 10

◆ posToOriRatio

double posToOriRatio = 100

◆ timeDuration

double timeDuration

◆ torqueLimit

float torqueLimit

◆ 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