franky::ManipulabilityTask Struct Reference

Manipulability maximization objective projected into the Cartesian nullspace. More...

#include <cartesian_impedance_base.hpp>

Public Member Functions
	ManipulabilityTask ()=default
	ManipulabilityTask (double gain, double damping=0.0, std::optional< double > max_torque=std::nullopt)

Public Attributes
double	gain {0.0}
double	damping {0.0}
std::optional< double >	max_torque {std::nullopt}

Detailed Description

Manipulability maximization objective projected into the Cartesian nullspace.

Constructor & Destructor Documentation

ManipulabilityTask() [1/2]

franky::ManipulabilityTask::ManipulabilityTask ( )

default

ManipulabilityTask() [2/2]

franky::ManipulabilityTask::ManipulabilityTask ( double  gain, double  damping = 0.0, std::optional< double >  max_torque = std::nullopt  )

inline

Member Data Documentation

damping

double franky::ManipulabilityTask::damping {0.0}

Joint damping applied to this task before projection [Nms/rad].

gain

double franky::ManipulabilityTask::gain {0.0}

Gain applied to the manipulability gradient.

max_torque

std::optional<double> franky::ManipulabilityTask::max_torque {std::nullopt}

Per-joint absolute torque clamp for this task [Nm]. Unset means no clamp.

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

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