Joint-posture objective projected into the Cartesian nullspace. More...

#include <cartesian_impedance_base.hpp>

Public Member Functions
	PostureTask ()=default

	PostureTask (const Vector7d &target, const Vector7d &stiffness, std::optional< Vector7d > damping=std::nullopt, std::optional< double > max_torque=std::nullopt)

	PostureTask (const Vector7d &target, double stiffness, std::optional< double > damping=std::nullopt, std::optional< double > max_torque=std::nullopt)

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

Vector7d	stiffness {Vector7d::Zero()}

std::optional< Vector7d >	damping {std::nullopt}

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

Detailed Description

Joint-posture objective projected into the Cartesian nullspace.

Constructor & Destructor Documentation

◆ PostureTask() [1/3]

franky::PostureTask::PostureTask ( )

default

◆ PostureTask() [2/3]

franky::PostureTask::PostureTask	(	const Vector7d &	target,
		const Vector7d &	stiffness,
		std::optional< Vector7d >	damping = `std::nullopt`,
		std::optional< double >	max_torque = `std::nullopt`
	)

inline

◆ PostureTask() [3/3]

franky::PostureTask::PostureTask	(	const Vector7d &	target,
		double	stiffness,
		std::optional< double >	damping = `std::nullopt`,
		std::optional< double >	max_torque = `std::nullopt`
	)

inline

Convenience constructor applying the same scalar gains to all joints.

Member Data Documentation

◆ damping

std::optional<Vector7d> franky::PostureTask::damping {std::nullopt}

Per-joint posture damping in [Nms/rad].

If unset, the controller uses critical damping, 2*sqrt(stiffness), per joint.

◆ max_torque

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

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

◆ stiffness

Vector7d franky::PostureTask::stiffness {Vector7d::Zero()}

Per-joint posture stiffness in [Nm/rad].

A joint with zero stiffness is not pushed by this task. Note that the task torque is projected into the Jacobian nullspace, so pushing a single joint still moves all joints that participate in the self-motion.

◆ target

Vector7d franky::PostureTask::target {Vector7d::Zero()}

Preferred joint posture [rad].

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

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

Public Member Functions

Public Attributes