Franky 0.12.0
A High-Level Motion API for Franka
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exponential_impedance_motion.hpp
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1#pragma once
2
3#include <map>
4#include <optional>
5
6#include <Eigen/Core>
7#include <Eigen/Geometry>
8
11
12namespace franky {
13
22 public:
29 double exponential_decay{0.005};
30 };
31
36
41 explicit ExponentialImpedanceMotion(const Affine &target, const Params &params);
42
43 protected:
44 std::tuple<Affine, bool> update(
45 const RobotState &robot_state, franka::Duration time_step, franka::Duration time) override;
46
47 private:
48 Params params_;
49};
50
51} // namespace franky
Exponential cartesian impedance motion.
Definition exponential_impedance_motion.hpp:21
std::tuple< Affine, bool > update(const RobotState &robot_state, franka::Duration time_step, franka::Duration time) override
Definition exponential_impedance_motion.cpp:20
Base class for client-side cartesian impedance motions.
Definition impedance_motion.hpp:22
Affine target() const
Definition impedance_motion.hpp:65
Definition dynamics_limit.cpp:8
Eigen::Affine3d Affine
Definition types.hpp:16
Parameters for the exponential cartesian impedance motion.
Definition exponential_impedance_motion.hpp:27
double exponential_decay
Definition exponential_impedance_motion.hpp:29
Parameters for the impedance motion.
Definition impedance_motion.hpp:27
Full state of the robot.
Definition robot_state.hpp:20