libfranka  0.8.0
FCI C++ API
Public Member Functions | Public Attributes | List of all members
franka::Torques Class Reference

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

#include <control_types.h>

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Public Member Functions

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

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, and motion_with_control.cpp.

Constructor & Destructor Documentation

◆ Torques() [1/2]

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

Creates a new Torques instance.

Parameters
[in]torquesDesired joint-level torques without gravity and friction in [Nm].

◆ Torques() [2/2]

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

Creates a new Torques instance.

Parameters
[in]torquesDesired joint-level torques without gravity and friction in [Nm].
Exceptions
std::invalid_argumentif the given initializer list has an invalid number of arguments.

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