hebi::util Namespace Reference

Classes
class	MobileIO

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.