torque_control_utils.hpp File Reference

#include <algorithm>
#include <cmath>
#include <optional>
#include <stdexcept>
#include <string>
#include "franky/types.hpp"

Go to the source code of this file.

Classes
struct	franky::TorqueSafetyParams
struct	franky::FrictionCompensationParams

Namespaces
namespace	franky

Functions
void	franky::validateNonNegativeFinite (double value, const char *name)
	Throw std::invalid_argument if value is negative or non-finite.
template<typename Derived >
void	franky::validateFinite (const Eigen::MatrixBase< Derived > &values, const char *name)
	Throw std::invalid_argument if any element of values is non-finite.
void	franky::validateNonNegativeFinite (const Vector7d &values, const char *name)
	Throw std::invalid_argument if any element of values is negative or non-finite.
Vector7d	franky::saturateTorqueRate (const Vector7d &tau_d_calculated, const Vector7d &tau_reference, double max_delta_tau)
Vector7d	franky::computeJointLimitTorque (const Vector7d &q, const Vector7d &dq, const Vector7d &lower_joint_limits, const Vector7d &upper_joint_limits, double joint_limit_activation_distance, double joint_limit_stiffness, double joint_limit_damping, double joint_limit_max_torque)
Vector7d	franky::computeFrictionCompensation (const Vector7d &dq, const FrictionCompensationParams &params)