HEBI C++ API  3.10.0
hebi::util Namespace Reference

Namespaces

 file
 

Classes

class  MobileIO
 

Functions

Eigen::Vector3d gravityFromQuaternion (const hebi::Quaternionf &q)
 
static Eigen::VectorXd getGravCompEfforts (const hebi::robot_model::RobotModel &model, const Eigen::VectorXd &, const hebi::GroupFeedback &feedback)
 

Function Documentation

◆ gravityFromQuaternion()

Eigen::Vector3d hebi::util::gravityFromQuaternion ( const hebi::Quaternionf q)
inline

Small helper function to return gravity vector from a hebi feedback quaternion.

◆ getGravCompEfforts()

static Eigen::VectorXd hebi::util::getGravCompEfforts ( const hebi::robot_model::RobotModel model,
const Eigen::VectorXd &  ,
const hebi::GroupFeedback feedback 
)
static

A helper function to get the torques which approximately balance out the effect of gravity on the arm.