Struct JointCharacteristic

• Defined in File trossen_arm_type.hpp

Struct Documentation

struct JointCharacteristic

Joint characteristic.

Public Members

double effort_correction = {1.0}

Effort correction in motor effort unit / Nm or N.

Note

It must be within [0.2, 5.0]

double friction_transition_velocity = {0.0}

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

Note

It must be positive

double friction_constant_term = {0.0}

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

double friction_coulomb_coef = {0.0}

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

double friction_viscous_coef = {0.0}

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

double position_offset = {0.0}

Position_offset in rad for arm joints or m for the gripper joint.