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

class NJointAnomalyDetectionAdaptiveWipingControllerConfig extends NJointControllerConfig { ... }

Inheritance diagram for NJointAnomalyDetectionAdaptiveWipingControllerConfig:

Data Members
float	adaptCoeff

float	adaptCoeffKdImpIncrease

float	adaptForceCoeff

float	adaptRateDecrease

float	adaptRateDecreaseRot

float	adaptRateIncrease

float	changePositionTolerance

float	changeTimerThreshold

float	decreaseKpForceCoeff

float	decreaseKpRotCoeff

Ice::FloatSeq	desiredNullSpaceJointValues

double	dmpAmplitude = 1

Ice::FloatSeq	Dnull

Ice::FloatSeq	Dori

Ice::FloatSeq	Dpos

float	dragForceDeadZone

float	forceDeadZone

float	forceFilter = 0.8

string	forceFrameName = "ArmR8_Wri2"

string	forceSensorName = "FT R"

float	fricEstiFilter

float	frictionCone

int	frictionHorizon = 100

float	ftCommandFilter

Ice::FloatSeq	ftOffset

Ice::FloatSeq	handCOM

float	handMass

float	increaseKdNullCoeff

float	increaseKdOriCoeff

float	increaseKpForceCoeff

float	increaseKpNullCoeff

float	increaseKpOriCoeff

float	increaseKpRotCoeff

bool	isAdaptOriImpEnabled

bool	isForceControlEnabled

bool	isForceCtrlInForceDir

bool	isLCRControlEnabled

bool	isRotControlEnabled

bool	isTorqueControlEnabled

int	kernelSize = 100

Ice::FloatSeq	Knull

Ice::FloatSeq	Kori

Ice::FloatSeq	Kpos

int	loseContactCounterMax

bool	loseContactDetectionEnabled

float	loseContactForceIntThreshold

float	maxAngularVel

float	maxInteractionForce

float	maxJointTorque

float	maxLinearVel

float	minimumReactForce = 0

string	nodeSetName = ""

float	phaseDist0 = 50

float	phaseDist1 = 10

double	phaseK = 10

double	phaseKpOri = 0.1

double	phaseKpPos = 1

double	phaseL = 10

Ice::FloatSeq	pidForce

Ice::FloatSeq	pidLCR

Ice::FloatSeq	pidRot

Ice::FloatSeq	pidTorque

double	posToOriRatio = 100

float	reactThreshold

float	rotAngleSigmoid

double	timeDuration = 10

bool	useDMPInGlobalFrame

float	velFilter

float	velNormThreshold

int	velocityHorizon = 100

float	waitTimeForCalibration = 0.1

Ice::FloatSeq	ws_x

Ice::FloatSeq	ws_y

Ice::FloatSeq	ws_z

Data Member Documentation

◆ adaptCoeff

float adaptCoeff

◆ adaptCoeffKdImpIncrease

float adaptCoeffKdImpIncrease

◆ adaptForceCoeff

float adaptForceCoeff

◆ adaptRateDecrease

float adaptRateDecrease

◆ adaptRateDecreaseRot

float adaptRateDecreaseRot

◆ adaptRateIncrease

float adaptRateIncrease

◆ changePositionTolerance

float changePositionTolerance

◆ changeTimerThreshold

float changeTimerThreshold

◆ decreaseKpForceCoeff

float decreaseKpForceCoeff

◆ decreaseKpRotCoeff

float decreaseKpRotCoeff

◆ desiredNullSpaceJointValues

Ice::FloatSeq desiredNullSpaceJointValues

◆ dmpAmplitude

double dmpAmplitude = 1

◆ Dnull

Ice::FloatSeq Dnull

◆ Dori

Ice::FloatSeq Dori

◆ Dpos

Ice::FloatSeq Dpos

◆ dragForceDeadZone

float dragForceDeadZone

◆ forceDeadZone

float forceDeadZone

◆ forceFilter

float forceFilter = 0.8

◆ forceFrameName

string forceFrameName = "ArmR8_Wri2"

◆ forceSensorName

string forceSensorName = "FT R"

◆ fricEstiFilter

float fricEstiFilter

◆ frictionCone

float frictionCone

◆ frictionHorizon

int frictionHorizon = 100

◆ ftCommandFilter

float ftCommandFilter

◆ ftOffset

Ice::FloatSeq ftOffset

◆ handCOM

Ice::FloatSeq handCOM

◆ handMass

float handMass

◆ increaseKdNullCoeff

float increaseKdNullCoeff

◆ increaseKdOriCoeff

float increaseKdOriCoeff

◆ increaseKpForceCoeff

float increaseKpForceCoeff

◆ increaseKpNullCoeff

float increaseKpNullCoeff

◆ increaseKpOriCoeff

float increaseKpOriCoeff

◆ increaseKpRotCoeff

float increaseKpRotCoeff

◆ isAdaptOriImpEnabled

bool isAdaptOriImpEnabled

◆ isForceControlEnabled

bool isForceControlEnabled

◆ isForceCtrlInForceDir

bool isForceCtrlInForceDir

◆ isLCRControlEnabled

bool isLCRControlEnabled

◆ isRotControlEnabled

bool isRotControlEnabled

◆ isTorqueControlEnabled

bool isTorqueControlEnabled

◆ kernelSize

int kernelSize = 100

◆ Knull

Ice::FloatSeq Knull

◆ Kori

Ice::FloatSeq Kori

◆ Kpos

Ice::FloatSeq Kpos

◆ loseContactCounterMax

int loseContactCounterMax

◆ loseContactDetectionEnabled

bool loseContactDetectionEnabled

◆ loseContactForceIntThreshold

float loseContactForceIntThreshold

◆ maxAngularVel

float maxAngularVel

◆ maxInteractionForce

float maxInteractionForce

◆ maxJointTorque

float maxJointTorque

◆ maxLinearVel

float maxLinearVel

◆ minimumReactForce

float minimumReactForce = 0

◆ 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

Ice::FloatSeq pidForce

◆ pidLCR

Ice::FloatSeq pidLCR

◆ pidRot

Ice::FloatSeq pidRot

◆ pidTorque

Ice::FloatSeq pidTorque

◆ posToOriRatio

double posToOriRatio = 100

◆ reactThreshold

float reactThreshold

◆ rotAngleSigmoid

float rotAngleSigmoid

◆ timeDuration

double timeDuration = 10

◆ useDMPInGlobalFrame

bool useDMPInGlobalFrame

◆ velFilter

float velFilter

◆ velNormThreshold

float velNormThreshold

◆ velocityHorizon

int velocityHorizon = 100

◆ waitTimeForCalibration

float waitTimeForCalibration = 0.1

◆ ws_x

Ice::FloatSeq ws_x

◆ 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/adaptive/ControllerInterface.ice

Data Members