franky::CartesianReference Struct Reference

Cartesian impedance reference expressed in the base frame. More...

#include <cartesian_impedance_base.hpp>

Public Member Functions
void	validate () const
	Throw std::invalid_argument if any value is non-finite.

Public Attributes
Affine	target {Affine::Identity()}
std::optional< Twist >	target_twist {}
std::optional< TwistAcceleration >	target_acceleration {}

Detailed Description

Cartesian impedance reference expressed in the base frame.

Member Function Documentation

validate()

void franky::CartesianReference::validate ( ) const

inline

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

Member Data Documentation

target

Affine franky::CartesianReference::target {Affine::Identity()}

Desired end-effector pose.

target_acceleration

std::optional<TwistAcceleration> franky::CartesianReference::target_acceleration {}

Desired end-effector acceleration in the base frame.

When present, the controller adds a model-based inertial feedforward wrench Lambda(q) * target_acceleration before mapping through J^T.

target_twist

std::optional<Twist> franky::CartesianReference::target_twist {}

Desired end-effector twist in the base frame.

When present, the damping term acts on twist error rather than resisting all motion toward zero.

---

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

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