Contains functions for calculating torques generated by virtual walls. More...
#include <array>#include <memory>
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Classes | |
| class | franka_example_controllers::JointWall |
| A class that offers an implementation of a virtual wall for a single joint. More... | |
| class | franka_example_controllers::JointWallContainer< num_dof > |
| A class that organizes multiple virtual joint walls. More... | |
Namespaces | |
| franka_example_controllers | |
Detailed Description
Contains functions for calculating torques generated by virtual walls.
|<-— PD_zone_width ---—>|<—D_zone_width—>| |<—D_zone_width—>|<— PD_zone_width —>| |:::::::::::::::::::::::::::|- - - - - - - - - - | | - - - - - - - - - -|:::::::::::::::::::::::| ^ soft_lower_joint_position_limit normal ^ range soft_upper_joint_position_limit ^ PD_zone_boundary_min ^ ^ PD_zone_boundary_max D_zone_boundary_min ^ ^ D_zone_boundary_max
Definition in file joint_wall.h.