Struct ImpedanceGains 

pub struct ImpedanceGains {
    pub cartesian_stiffness: [f64; 6],
    pub cartesian_damping: [f64; 6],
    pub joint_stiffness: [f64; 7],
    pub joint_damping: [f64; 7],
}

The stiffness and damping of the law, all finite and non-negative.

Fields

cartesian_stiffness: [f64; 6]

Kx, base frame, translation first: N/m, then Nm/rad.

cartesian_damping: [f64; 6]

Kxd, base frame, translation first: N s/m, then Nm s/rad.

joint_stiffness: [f64; 7]

Kq, per joint, Nm/rad.

joint_damping: [f64; 7]

Kqd, per joint, Nm s/rad.

Implementations

impl ImpedanceGains

pub const CARTESIAN: ImpedanceGains

The default for a Cartesian target: DROID’s stiffness (a medium spring, 750 N/m) and soft joint springs that settle the redundancy, with the Cartesian damping raised to about a damping ratio of 0.8 from the arm’s apparent masses at the ready pose (0.94 kg along x and y, 3.9 kg along z; DROID’s 37 N s/m leaves z at 0.34 and ringing).

pub const DROID: ImpedanceGains

DROID’s production gains as they are, the parity preset: with ImpedanceOptions::velocity_feedforward and ImpedanceOptions::project_joint_gains both false the law is polymetis’s HybridJointImpedanceControl, for replaying DROID-trained policies.

pub const JOINT: ImpedanceGains

A joint PD for a joint target, the gains of examples/fer_joint_impedance.rs.

pub fn validate(&self) -> FrankaResult<()>

Errors

FrankaError::InvalidArgument if a gain is not finite or negative.

Trait Implementations

impl Clone for ImpedanceGains

fn clone(&self) -> ImpedanceGains

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Copy for ImpedanceGains

impl Debug for ImpedanceGains

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl PartialEq for ImpedanceGains

fn eq(&self, other: &ImpedanceGains) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl StructuralPartialEq for ImpedanceGains