Class GravityCompensationEffort

• Defined in File arm.hpp

Inheritance Relationships

Base Type

• public hebi::arm::plugin::Plugin (Class Plugin)

Class Documentation

class GravityCompensationEffort : public hebi::arm::plugin::Plugin

Plugin for providing gravity compensating torques for the arm.

The PluginConfig structure should have the following parameters, in addition to the enabled and ramp_time parameters defined for the base Plugin class. required: (none) optional: imu_feedback_index: float (should be integer but float is basic yaml number; defaults to “0”) imu_frame_index: float (should be integer; which frame index this should be transformed by; defaults to “0”) imu_rotation_offset: vector<float> (row-major 3x3 rotation matrix to transform feedback by; defaults to “eye(3)”)

Public Functions

virtual bool onAssociated(const Arm &arm) override

Public Static Functions

static std::unique_ptr<GravityCompensationEffort> create(const PluginConfig&)

static inline std::string pluginTypeName()

Protected Functions

virtual bool applyParameterImpl(const std::string &name, double value) override

virtual bool applyParameterImpl(const std::string &name, const std::vector<double> &value) override

virtual bool updateImpl(Arm &arm, double dt) override