cartesian impedance parameters More...
#include <FRIData.hh>
Public Member Functions | |
CartesianImpedance () | |
Public Attributes | |
float | D [6 *6] |
Damping matrix (ref-frame: base, ref-point: flanche) | |
float | ft [6] |
Desired force/torque (ref-frame: base, ref-point: flanche) | |
float | K [6 *6] |
Stiffness matrix (ref-frame: base, ref-point: flanche) | |
float | K_null |
Joint nullspace stiffness (Nm/rad) | |
Static Public Attributes | |
static const float | DEFAULT_DAMPING = 0.7 |
static const float | DEFAULT_ROT_STIFFNESS = 50 |
static const float | DEFAULT_TRANS_STIFFNESS = 50 |
cartesian impedance parameters
Definition at line 57 of file FRIData.hh.
Definition at line 79 of file FRIComm.cc.
float CartesianImpedance::D[6 *6] |
Damping matrix (ref-frame: base, ref-point: flanche)
Definition at line 65 of file FRIData.hh.
const float CartesianImpedance::DEFAULT_DAMPING = 0.7 [static] |
Definition at line 62 of file FRIData.hh.
const float CartesianImpedance::DEFAULT_ROT_STIFFNESS = 50 [static] |
Definition at line 61 of file FRIData.hh.
const float CartesianImpedance::DEFAULT_TRANS_STIFFNESS = 50 [static] |
Definition at line 60 of file FRIData.hh.
float CartesianImpedance::ft[6] |
Desired force/torque (ref-frame: base, ref-point: flanche)
Definition at line 66 of file FRIData.hh.
float CartesianImpedance::K[6 *6] |
Stiffness matrix (ref-frame: base, ref-point: flanche)
Definition at line 64 of file FRIData.hh.
Joint nullspace stiffness (Nm/rad)
Definition at line 67 of file FRIData.hh.