Stores joint-level torque commands without gravity and friction. More...

Inheritance diagram for franka::Torques:

Collaboration diagram for franka::Torques:

Public Member Functions
	Torques (const std::array< double, 7 > &torques) noexcept
	Creates a new Torques instance.
	Torques (std::initializer_list< double > torques)
	Creates a new Torques instance.

Public Attributes
std::array< double, 7 >	tau_J {}
	Desired torques in [Nm].
Public Attributes inherited from franka::Finishable
bool	motion_finished = false
	Determines whether to finish a currently running motion.

Detailed Description

Stores joint-level torque commands without gravity and friction.

Examples: cartesian_impedance_control.cpp, communication_test.cpp, force_control.cpp, joint_impedance_control.cpp, motion_with_control.cpp, and motion_with_control_external_control_loop.cpp.

Constructor & Destructor Documentation

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

noexcept

Creates a new Torques instance.

Parameters

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

franka::Torques::Torques ( std::initializer_list< double > torques )

Creates a new Torques instance.

Parameters

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

Exceptions

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

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