7#include <Eigen/Geometry>
44 std::tuple<Affine, bool>
update(
45 const RobotState &robot_state, franka::Duration time_step, franka::Duration time)
override;
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