Parameters for joint impedance motions. More...

#include <joint_impedance_base.hpp>

Public Member Functions
void	validate () const
	Throw std::invalid_argument if any parameter is out of range.

Public Attributes
Vector7d	stiffness {defaultJointImpedanceStiffness()}

Vector7d	damping {defaultJointImpedanceDamping()}

Vector7d	error_clip {Vector7d::Constant(0.5)}

Vector7d	constant_torque_offset {Vector7d::Zero()}

bool	compensate_coriolis {true}

TorqueSafetyParams	safety {}

FrictionCompensationParams	friction {}

std::optional< CartesianImpedanceGains >	cartesian_gains {std::nullopt}

Detailed Description

Parameters for joint impedance motions.

Member Function Documentation

◆ validate()

void franky::JointImpedanceParams::validate ( ) const

inline

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

Member Data Documentation

◆ cartesian_gains

std::optional<CartesianImpedanceGains> franky::JointImpedanceParams::cartesian_gains {std::nullopt}

Optional Cartesian-space stiffness/damping projected through the current Jacobian.

◆ compensate_coriolis

bool franky::JointImpedanceParams::compensate_coriolis {true}

Compensate Coriolis forces using the robot model.

◆ constant_torque_offset

Vector7d franky::JointImpedanceParams::constant_torque_offset {Vector7d::Zero()}

Constant torque offset added to every command in [Nm].

◆ damping

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

Joint damping gains in [Nms/rad].

◆ error_clip

Vector7d franky::JointImpedanceParams::error_clip {Vector7d::Constant(0.5)}

Maximum absolute joint position error [rad] used by the joint-space controller.

◆ friction

FrictionCompensationParams franky::JointImpedanceParams::friction {}

Joint friction compensation settings.

◆ safety

TorqueSafetyParams franky::JointImpedanceParams::safety {}

Shared torque safety limits and soft joint-limit repulsion settings.

◆ stiffness

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

Joint stiffness gains in [Nm/rad].

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

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

Public Member Functions

Public Attributes