HEBI C++ API  3.4.0
Functions
hebi::util Namespace Reference

Functions

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

Function Documentation

◆ getGravCompEfforts()

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

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