NJointCCDMPControllerConfig Class Reference

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

class NJointCCDMPControllerConfig extends NJointControllerConfig { ... }

Inheritance diagram for NJointCCDMPControllerConfig:

Data Members
Ice::DoubleSeq	amplitudes
float	DMPKd = 20
int	dmpMode = 1
int	dmpNum = 2
Ice::StringSeq	dmpTypes
int	kernelSize = 100
NJointTaskSpaceDMPControllerMode::CartesianSelection	mode
string	nodeSetName = ""
double	phaseDist0 = 50
double	phaseDist1 = 10
double	phaseK = 10
double	phaseKpOri = 0.1
double	phaseKpPos = 1
double	phaseL = 10
double	posToOriRatio = 100
double	tau = 1
string	tcpName = ""
Ice::DoubleSeq	timeDurations

Data Member Documentation

amplitudes

Ice::DoubleSeq amplitudes

DMPKd

float DMPKd = 20

dmpMode

int dmpMode = 1

dmpNum

int dmpNum = 2

dmpTypes

Ice::StringSeq dmpTypes

kernelSize

int kernelSize = 100

mode

NJointTaskSpaceDMPControllerMode::CartesianSelection mode

Initial value:

=
            NJointTaskSpaceDMPControllerMode::CartesianSelection::eAll

nodeSetName

string nodeSetName = ""

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

tau

double tau = 1

tcpName

string tcpName = ""

timeDurations

Ice::DoubleSeq timeDurations

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

• armarx/control/deprecated_njoint_mp_controller/task_space/ControllerInterface.ice