Parameters for the Cartesian impedance motion. More...
#include <cartesian_impedance_motion.hpp>
Inheritance diagram for franky::CartesianImpedanceMotion::Params:
Public Attributes | |
| ReferenceType | target_type {ReferenceType::kAbsolute} |
 Public Attributes inherited from franky::CartesianImpedanceBase::Params | |
| 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 {} |
Additional Inherited Members | |
| Public Member Functions inherited from franky::CartesianImpedanceBase::Params | |
| void | validate () const |
| Throw std::invalid_argument if any parameter is out of range. | |
Detailed Description
Parameters for the Cartesian impedance motion.
- See also
- CartesianImpedanceBase::Params
Member Data Documentation
◆ target_type
| ReferenceType franky::CartesianImpedanceMotion::Params::target_type {ReferenceType::kAbsolute} |
The type of the target reference (relative or absolute).
The documentation for this struct was generated from the following file:
- /home/runner/work/franky/franky/include/franky/motion/cartesian_impedance_motion.hpp
