Parameters for the impedance motion. More...
#include <impedance_motion.hpp>
Inheritance diagram for franky::ImpedanceMotion::Params:
Public Attributes | |
| 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 impedance motion.
Member Data Documentation
◆ force_constraints
| Eigen::Vector<double, 6> franky::ImpedanceMotion::Params::force_constraints |
The force constraints in [N, Nm] for each joint.
◆ force_constraints_active
| Eigen::Vector<bool, 6> franky::ImpedanceMotion::Params::force_constraints_active {Eigen::Vector<bool, 6>::Zero()} |
Allows to enable or disable individual force constraints.
◆ rotational_stiffness
| double franky::ImpedanceMotion::Params::rotational_stiffness {200} |
The rotational stiffness in [1, 300] Nm/rad.
◆ target_type
| ReferenceType franky::ImpedanceMotion::Params::target_type {ReferenceType::kAbsolute} |
The type of the target reference (relative or absolute).
◆ translational_stiffness
| double franky::ImpedanceMotion::Params::translational_stiffness {2000} |
The translational stiffness in [10, 3000] N/m.
The documentation for this struct was generated from the following file:
- /home/runner/work/franky/franky/include/franky/motion/impedance_motion.hpp
