Functions
static Eigen::VectorXd	getGravCompEfforts (const hebi::robot_model::RobotModel &model, const Eigen::VectorXd &masses, const hebi::GroupFeedback &feedback)

Function Documentation

static Eigen::VectorXd hebi::util::getGravCompEfforts	(	const hebi::robot_model::RobotModel &	model,
		const Eigen::VectorXd &	masses,
		const hebi::GroupFeedback &	feedback
	)

static

A helper function to get the torques which approximately balance out the effect of gravity on the arm.

Definition at line 14 of file grav_comp.hpp.

Functions