franky::FrictionCompensationParams Struct Reference

#include <torque_control_utils.hpp>

Public Member Functions
	FrictionCompensationParams ()=default
	FrictionCompensationParams (const Vector7d &coulomb, const Vector7d &viscous, const Vector7d &max_torque, double velocity_epsilon=0.03)
void	validate () const
	Throw std::invalid_argument if any parameter is out of range.

Public Attributes
Vector7d	coulomb {Vector7d::Zero()}
Vector7d	viscous {Vector7d::Zero()}
Vector7d	max_torque {Vector7d::Ones()}
double	velocity_epsilon {0.03}

Constructor & Destructor Documentation

FrictionCompensationParams() [1/2]

franky::FrictionCompensationParams::FrictionCompensationParams ( )

default

FrictionCompensationParams() [2/2]

franky::FrictionCompensationParams::FrictionCompensationParams ( const Vector7d &  coulomb, const Vector7d &  viscous, const Vector7d &  max_torque, double  velocity_epsilon = 0.03  )

inline

Member Function Documentation

validate()

void franky::FrictionCompensationParams::validate ( ) const

inline

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

Fields are mutable, so consumers of this struct call this again at the point of use.

Member Data Documentation

coulomb

Vector7d franky::FrictionCompensationParams::coulomb {Vector7d::Zero()}

Coulomb friction compensation gains in [Nm].

max_torque

Vector7d franky::FrictionCompensationParams::max_torque {Vector7d::Ones()}

Absolute per-joint clamp for friction compensation in [Nm].

velocity_epsilon

double franky::FrictionCompensationParams::velocity_epsilon {0.03}

Velocity scale for the smooth Coulomb sign transition in [rad/s].

viscous

Vector7d franky::FrictionCompensationParams::viscous {Vector7d::Zero()}

Viscous friction compensation gains in [Nms/rad].

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

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