Parameters for the exponential cartesian impedance motion. More...
#include <exponential_impedance_motion.hpp>
Inheritance diagram for franky::ExponentialImpedanceMotion::Params:
Public Attributes | |
| double | exponential_decay {0.005} |
 Public Attributes inherited from franky::ImpedanceMotion::Params | |
| ReferenceType | target_type {ReferenceType::kAbsolute} |
| double | translational_stiffness {2000} |
| double | rotational_stiffness {200} |
| Eigen::Vector< double, 6 > | force_constraints |
| Eigen::Vector< bool, 6 > | force_constraints_active {Eigen::Vector<bool, 6>::Zero()} |
Detailed Description
Parameters for the exponential cartesian impedance motion.
- See also
- ImpedanceMotion::Params
Member Data Documentation
◆ exponential_decay
| double franky::ExponentialImpedanceMotion::Params::exponential_decay {0.005} |
The exponential decay factor for the impedance controller.
The documentation for this struct was generated from the following file:
- /home/runner/work/franky/franky/include/franky/motion/exponential_impedance_motion.hpp
