Parameters for the impedance motion. More...

#include <cartesian_impedance_base.hpp>

Inheritance diagram for franky::CartesianImpedanceBase::Params:

Public Member Functions
void	validate () const
	Throw std::invalid_argument if any parameter is out of range.

Public Attributes
Matrix6d	stiffness {defaultCartesianImpedanceStiffness()}

std::optional< Matrix6d >	damping {std::nullopt}

Eigen::Vector3d	translational_error_clip {Eigen::Vector3d::Constant(0.10)}

Eigen::Vector3d	rotational_error_clip {Eigen::Vector3d::Constant(0.25)}

std::array< std::optional< double >, 6 >	force_constraints {}

std::vector< NullspaceTask >	nullspace_tasks {}

TorqueSafetyParams	safety {}

FrictionCompensationParams	friction {}

Detailed Description

Parameters for the impedance motion.

Member Function Documentation

◆ validate()

void franky::CartesianImpedanceBase::Params::validate ( ) const

inline

Throw std::invalid_argument if any parameter is out of range.

Member Data Documentation

◆ damping

std::optional<Matrix6d> franky::CartesianImpedanceBase::Params::damping {std::nullopt}

Cartesian damping matrix. If unset, critical damping is used.

◆ force_constraints

std::array<std::optional<double>, 6> franky::CartesianImpedanceBase::Params::force_constraints {}

Per-axis force/torque constraints [N, Nm]. nullopt on an axis means unconstrained.

◆ friction

FrictionCompensationParams franky::CartesianImpedanceBase::Params::friction {}

Per-joint friction feedforward. Defaults to zero (disabled).

◆ nullspace_tasks

std::vector<NullspaceTask> franky::CartesianImpedanceBase::Params::nullspace_tasks {}

Nullspace objectives.

Each task contributes a joint-space torque that is summed and projected into the Jacobian nullspace.

◆ rotational_error_clip

Eigen::Vector3d franky::CartesianImpedanceBase::Params::rotational_error_clip {Eigen::Vector3d::Constant(0.25)}

Maximum absolute Cartesian orientation error [rad] used by the task-space controller.

The rotational error is clamped elementwise in the base frame before the impedance wrench is computed. This bounds the commanded Cartesian torque.

◆ safety

TorqueSafetyParams franky::CartesianImpedanceBase::Params::safety {}

Shared torque safety limits and soft joint-limit repulsion settings.

◆ stiffness

Matrix6d franky::CartesianImpedanceBase::Params::stiffness {defaultCartesianImpedanceStiffness()}

Cartesian stiffness matrix [N/m, Nm/rad], ordered [x, y, z, rx, ry, rz].

◆ translational_error_clip

Eigen::Vector3d franky::CartesianImpedanceBase::Params::translational_error_clip {Eigen::Vector3d::Constant(0.10)}

Maximum absolute Cartesian position error [m] used by the task-space controller.

The translational error is clamped elementwise before the impedance wrench is computed. This bounds the commanded Cartesian force when the reference jumps or contact prevents the end effector from reaching the target.

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

/home/runner/work/franky/franky/include/franky/motion/cartesian_impedance_base.hpp

Public Member Functions

Public Attributes