Parameters for the torque-control stop motion (StopMotion<franka::Torques>). More...

Public Attributes
Vector7d	damping {defaultJointImpedanceDamping()}

double	ramp_duration {0.2}

double	velocity_epsilon {0.02}

double	max_duration {2.0}

bool	compensate_coriolis {true}

double	max_delta_tau {1.0}

Detailed Description

Parameters for the torque-control stop motion (StopMotion<franka::Torques>).

Member Data Documentation

bool franky::TorqueStopParams::compensate_coriolis {true}

Compensate Coriolis forces.

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

Pure joint damping [Nms/rad] used to bring the arm to rest.

double franky::TorqueStopParams::max_delta_tau {1.0}

Per-tick torque-rate limit [Nm] for smoothness.

double franky::TorqueStopParams::max_duration {2.0}

Maximum duration [s] before the motion finishes regardless of velocity.

double franky::TorqueStopParams::ramp_duration {0.2}

Duration [s] over which the inherited command is ramped into the damping-only law. Set to 0 to switch immediately.

double franky::TorqueStopParams::velocity_epsilon {0.02}

Finish once every joint speed is below this [rad/s] (after the ramp completes).

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