franky::JointImpedanceGains Struct Reference

#include <joint_impedance_base.hpp>

Public Member Functions
	JointImpedanceGains ()=default
	JointImpedanceGains (const std::optional< Vector7d > &stiffness, const std::optional< Vector7d > &damping=std::nullopt)
void	validate () const
	Throw std::invalid_argument if any gain is negative or non-finite.

Public Attributes
Vector7d	stiffness {defaultJointImpedanceStiffness()}
Vector7d	damping {defaultJointImpedanceDamping()}

Constructor & Destructor Documentation

JointImpedanceGains() [1/2]

franky::JointImpedanceGains::JointImpedanceGains ( )

default

JointImpedanceGains() [2/2]

franky::JointImpedanceGains::JointImpedanceGains ( const std::optional< Vector7d > &  stiffness, const std::optional< Vector7d > &  damping = std::nullopt  )

inlineexplicit

Member Function Documentation

validate()

void franky::JointImpedanceGains::validate ( ) const

inline

Throw std::invalid_argument if any gain is negative or non-finite.

Member Data Documentation

damping

Vector7d franky::JointImpedanceGains::damping {defaultJointImpedanceDamping()}

stiffness

Vector7d franky::JointImpedanceGains::stiffness {defaultJointImpedanceStiffness()}

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

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