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 &masses, 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 &  masses, const hebi::GroupFeedback &  feedback  )

static

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