Stores joint-level torque commands without gravity and friction. More...
#include <control_types.h>
Inheritance diagram for franka::Torques:
Public Member Functions | |
| Torques (const std::array< double, 7 > &torques) noexcept | |
| Creates a new Torques instance. More... | |
| Torques (std::initializer_list< double > torques) | |
| Creates a new Torques instance. More... | |
Public Attributes | |
| std::array< double, 7 > | tau_J {} |
| Desired torques in [Nm]. More... | |
 Public Attributes inherited from franka::Finishable | |
| bool | motion_finished = false |
| Determines whether to finish a currently running motion. More... | |
Detailed Description
Stores joint-level torque commands without gravity and friction.
Definition at line 45 of file control_types.h.
Constructor & Destructor Documentation
|
noexcept |
Creates a new Torques instance.
- Parameters
-
[in] torques Desired joint-level torques without gravity and friction in [Nm].
| franka::Torques::Torques | ( | std::initializer_list< double > | torques | ) |
Creates a new Torques instance.
- Parameters
-
[in] torques Desired joint-level torques without gravity and friction in [Nm].
- Exceptions
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std::invalid_argument if the given initializer list has an invalid number of arguments.
Member Data Documentation
| std::array<double, 7> franka::Torques::tau_J {} |
Desired torques in [Nm].
Definition at line 66 of file control_types.h.
The documentation for this class was generated from the following file: