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 scaled_cartesian(stiffness: f64) -> ImpedanceGains

CARTESIAN rescaled to a translational stiffness of stiffness N/m: the six stiffnesses in proportion, the six dampings with the square root of the same ratio, so every axis keeps the preset’s damping ratio. The joint gains are the preset’s, untouched.

This is the one place the rule lives. A Cartesian stiffness an operator can move is a single number, and the law needs twelve; anything that turns the one into the twelve — a node’s configuration, a live retune — calls this rather than restating it.

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