Commands data for real-time joint torque control. More...

#include <data.hpp>

Public Member Functions
	RtJointTorqueCmd ()=default

	RtJointTorqueCmd (const std::vector< double > &tau_d, bool enable_gravity_comp=true, bool enable_soft_limits=true, double friction_comp_scale=100.0)

Public Attributes
std::vector< double >	tau_d = {}

bool	enable_gravity_comp = true

bool	enable_soft_limits = true

double	friction_comp_scale = 100.0

Detailed Description

Commands data for real-time joint torque control.

See also: Robot::StreamJointTorque().

Definition at line 622 of file data.hpp.

Constructor & Destructor Documentation

◆ RtJointTorqueCmd() [1/2]

flexiv::rdk::RtJointTorqueCmd::RtJointTorqueCmd ( )

default

Default constructor

◆ RtJointTorqueCmd() [2/2]

flexiv::rdk::RtJointTorqueCmd::RtJointTorqueCmd	(	const std::vector< double > &	tau_d,
		bool	enable_gravity_comp = `true`,
		bool	enable_soft_limits = `true`,
		double	friction_comp_scale = `100.0`
	)

inline

Custom constructor

Definition at line 628 of file data.hpp.

Member Data Documentation

◆ enable_gravity_comp

bool flexiv::rdk::RtJointTorqueCmd::enable_gravity_comp = true

Enable/disable robot gravity compensation

Definition at line 641 of file data.hpp.

◆ enable_soft_limits

bool flexiv::rdk::RtJointTorqueCmd::enable_soft_limits = true

Enable/disable soft limits to keep the joints from moving outside allowed position range, which will trigger a safety fault that requires recovery operation

Definition at line 645 of file data.hpp.

◆ friction_comp_scale

double flexiv::rdk::RtJointTorqueCmd::friction_comp_scale = 100.0

Percentage of joint friction to be compensated. Valid range: [0, 100]. Setting to 100 means to compensate all joint friction, and 0 means no friction compensation at all. Under-compensation increases natural damping of the joints, which can be useful in some cases, e.g. zero-torque floating.

Definition at line 651 of file data.hpp.

◆ tau_d

std::vector<double> flexiv::rdk::RtJointTorqueCmd::tau_d = {}

Target joint torques: \( \tau_d \in \mathbb{R}^{n \times 1} \). Unit: \( [Nm] \)

Definition at line 638 of file data.hpp.

The documentation for this struct was generated from the following file:

include/flexiv/rdk/data.hpp

Public Member Functions

Public Attributes