Joint-space reference for joint impedance motions. More...

#include <joint_impedance_base.hpp>

Public Member Functions
void	validate () const
	Throw std::invalid_argument if any value is non-finite.

Public Attributes
Vector7d	q {Vector7d::Zero()}

Vector7d	dq {Vector7d::Zero()}

Vector7d	tau_ff {Vector7d::Zero()}

Detailed Description

Joint-space reference for joint impedance motions.

The impedance controller tracks the joint position and velocity reference and adds the optional per-cycle feedforward torque term to the commanded torques.

Member Function Documentation

◆ validate()

void franky::JointReference::validate ( ) const

inline

Throw std::invalid_argument if any value is non-finite.

Member Data Documentation

◆ dq

Vector7d franky::JointReference::dq {Vector7d::Zero()}

◆ q

Vector7d franky::JointReference::q {Vector7d::Zero()}

◆ tau_ff

Vector7d franky::JointReference::tau_ff {Vector7d::Zero()}

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