franky::CartesianImpedanceGains Struct Reference

#include <cartesian_impedance_base.hpp>

Public Member Functions
	CartesianImpedanceGains ()=default
	CartesianImpedanceGains (Matrix6d stiffness, std::optional< Matrix6d > damping=std::nullopt)
void	validate () const
	Throw std::invalid_argument if any gain is non-finite.

Static Public Member Functions
static CartesianImpedanceGains	isotropic (double translational_stiffness, double rotational_stiffness, std::optional< double > translational_damping=std::nullopt, std::optional< double > rotational_damping=std::nullopt)
static CartesianImpedanceGains	diagonal (const Vector6d &stiffness, std::optional< Vector6d > damping=std::nullopt)

Public Attributes
Matrix6d	stiffness {defaultCartesianImpedanceStiffness()}
std::optional< Matrix6d >	damping {std::nullopt}

Constructor & Destructor Documentation

CartesianImpedanceGains() [1/2]

franky::CartesianImpedanceGains::CartesianImpedanceGains ( )

default

CartesianImpedanceGains() [2/2]

franky::CartesianImpedanceGains::CartesianImpedanceGains ( Matrix6d  stiffness, std::optional< Matrix6d >  damping = std::nullopt  )

inlineexplicit

Member Function Documentation

diagonal()

static CartesianImpedanceGains franky::CartesianImpedanceGains::diagonal ( const Vector6d &  stiffness, std::optional< Vector6d >  damping = std::nullopt  )

inlinestatic

isotropic()

static CartesianImpedanceGains franky::CartesianImpedanceGains::isotropic ( double  translational_stiffness, double  rotational_stiffness, std::optional< double >  translational_damping = std::nullopt, std::optional< double >  rotational_damping = std::nullopt  )

inlinestatic

validate()

void franky::CartesianImpedanceGains::validate ( ) const

inline

Throw std::invalid_argument if any gain is non-finite.

Member Data Documentation

damping

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

stiffness

Matrix6d franky::CartesianImpedanceGains::stiffness {defaultCartesianImpedanceStiffness()}

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

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