cartesian_impedance_base.hpp File Reference

#include <Eigen/Core>
#include <Eigen/Eigenvalues>
#include <array>
#include <cmath>
#include <memory>
#include <optional>
#include <variant>
#include <vector>
#include "franky/motion/motion.hpp"
#include "franky/motion/torque_control_utils.hpp"
#include "franky/twist.hpp"
#include "franky/twist_acceleration.hpp"
#include "franky/wait_free_triple_buffer.hpp"

Go to the source code of this file.

Classes
struct	franky::CartesianReference
	Cartesian impedance reference expressed in the base frame. More...
struct	franky::CartesianImpedanceGains
struct	franky::PostureTask
	Joint-posture objective projected into the Cartesian nullspace. More...
struct	franky::ManipulabilityTask
	Manipulability maximization objective projected into the Cartesian nullspace. More...
struct	franky::NullspaceGains
	Runtime-adjustable gains for a nullspace task. More...
class	franky::CartesianImpedanceBase
	Base class for client-side cartesian impedance motions. More...
struct	franky::CartesianImpedanceBase::Params
	Parameters for the impedance motion. More...

Namespaces
namespace	franky

Typedefs
using	franky::NullspaceTask = std::variant< PostureTask, ManipulabilityTask >
using	franky::ImpedanceMotion = CartesianImpedanceBase

Functions
Matrix6d	franky::cartesianGainBlocks (double translational, double rotational)
Matrix6d	franky::defaultCartesianImpedanceStiffness ()
Matrix6d	franky::defaultCartesianImpedanceDamping (const Matrix6d &stiffness)