Struct JointCharacteristic

• Defined in File trossen_arm.hpp

Struct Documentation

struct JointCharacteristic

Joint characteristic.

Public Members

float effort_correction

Effort correction in motor effort unit / Nm or N.

Note

It must be within [0.5, 2.0]

float friction_transition_velocity

Friction transition velocity in rad/s for arm joints or m/s for the gripper joint.

Note

It must be positive

float friction_constant_term

Friction constant term in Nm for arm joints or N for the gripper joint.

float friction_coulomb_coef

Friction coulomb coef in Nm/Nm for arm joints or N/N for the gripper joint.

float friction_viscous_coef

Friction viscous coef in Nm/(rad/s) for arm joints or N/(m/s) for the gripper joint.

float continuity_factor

Scaling factor in 1 that scales the base continuity constraint.

Note

It must be within [1.0, 10.0]