franky::NullspaceGains Struct Reference

Runtime-adjustable gains for a nullspace task. More...

#include <cartesian_impedance_base.hpp>

Public Attributes
Vector7d	posture_stiffness {Vector7d::Zero()}
std::optional< Vector7d >	posture_damping {std::nullopt}
std::optional< double >	posture_max_torque {std::nullopt}
double	manipulability_gain {0.0}
double	manipulability_damping {0.0}
std::optional< double >	manipulability_max_torque {std::nullopt}

Detailed Description

Runtime-adjustable gains for a nullspace task.

Member Data Documentation

manipulability_damping

double franky::NullspaceGains::manipulability_damping {0.0}

manipulability_gain

double franky::NullspaceGains::manipulability_gain {0.0}

manipulability_max_torque

std::optional<double> franky::NullspaceGains::manipulability_max_torque {std::nullopt}

posture_damping

std::optional<Vector7d> franky::NullspaceGains::posture_damping {std::nullopt}

posture_max_torque

std::optional<double> franky::NullspaceGains::posture_max_torque {std::nullopt}

posture_stiffness

Vector7d franky::NullspaceGains::posture_stiffness {Vector7d::Zero()}

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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