HEBI C++ API
3.10.0
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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) |
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inline |
Small helper function to return gravity vector from a hebi feedback quaternion.
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static |
A helper function to get the torques which approximately balance out the effect of gravity on the arm.