Class Torques

Inheritance Relationships

Base Type

Class Documentation

class Torques : public franka::Finishable

Stores joint-level torque commands without gravity and friction.

Public Functions

Torques(const std::array<double, 7> &torques) noexcept

Creates a new Torques instance.

Parameters:

torques[in] Desired joint-level torques without gravity and friction in [Nm].

Torques(std::initializer_list<double> torques)

Creates a new Torques instance.

Parameters:

torques[in] Desired joint-level torques without gravity and friction in [Nm].

Throws:

std::invalid_argument – if the given initializer list has an invalid number of arguments.

Public Members

std::array<double, 7> tau_J = {}

Desired torques in [Nm].