Struct FrameTaskOptions

• Defined in File frame.hpp

Struct Documentation

struct FrameTaskOptions

Optional parameters for FrameTask configuration.

Public Members

double position_cost = 1.0

Cost weight for position error (default: 1.0).

double orientation_cost = 1.0

Cost weight for orientation error (default: 1.0).

double task_gain = 1.0

Proportional gain for error feedback (default: 1.0).

double lm_damping = 0.0

Levenberg-Marquardt damping for regularization (default: 0.0).

double max_position_error = std::numeric_limits<double>::infinity()

Maximum position error magnitude in meters (default: unlimited). Limits the position error norm to prevent large jumps that can invalidate CBF linearization. Recommended: 0.1-0.2m for systems with barriers.

double max_rotation_error = std::numeric_limits<double>::infinity()

Maximum rotation error magnitude in radians (default: unlimited). Limits the rotation error norm to prevent large jumps. Recommended: 0.5-1.0 rad for systems with barriers.