Class Torques
Defined in File control_types.h
Inheritance Relationships
Base Type
public franka::Finishable
(Struct Finishable)
Class Documentation
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class Torques : public franka::Finishable
Stores joint-level torque commands without gravity and friction.
Public Functions
Public Members
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std::array<double, 7> tau_J = {}
Desired torques in [Nm].
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std::array<double, 7> tau_J = {}