joint_impedance_base.hpp File Reference

#include <memory>
#include <optional>
#include "franky/motion/cartesian_impedance_base.hpp"
#include "franky/motion/motion.hpp"
#include "franky/motion/torque_control_utils.hpp"
#include "franky/types.hpp"
#include "franky/wait_free_triple_buffer.hpp"

Go to the source code of this file.

Classes
struct	franky::JointReference
	Joint-space reference for joint impedance motions. More...
struct	franky::JointImpedanceGains
struct	franky::JointImpedanceParams
	Parameters for joint impedance motions. More...
class	franky::JointImpedanceBase
	Base class for client-side joint impedance motions. More...

Namespaces
namespace	franky

Functions
Vector7d	franky::defaultJointImpedanceStiffness ()
Vector7d	franky::defaultJointImpedanceDamping (const Vector7d &stiffness)
Vector7d	franky::defaultJointImpedanceDamping ()