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iiwa_common.h
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iiwa_common.h
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#pragma once
#include "drake/common/eigen_types.h"
#include "drake/manipulation/kuka_iiwa/iiwa_constants.h"
namespace drake {
namespace examples {
namespace kuka_iiwa_arm {
// These details have moved to files under drake/manipulation/kuka_iiwa.
// These forwarding aliases are placed here for compatibility purposes.
using manipulation::kuka_iiwa::kIiwaArmNumJoints;
using manipulation::kuka_iiwa::get_iiwa_max_joint_velocities;
/// Used to set the feedback gains for the simulated position controlled KUKA.
void SetPositionControlledIiwaGains(Eigen::VectorXd* Kp,
Eigen::VectorXd* Ki,
Eigen::VectorXd* Kd);
/// Used to set the feedback gains for the simulated torque controlled KUKA.
void SetTorqueControlledIiwaGains(Eigen::VectorXd* stiffness,
Eigen::VectorXd* damping_ratio);
} // namespace kuka_iiwa_arm
} // namespace examples
} // namespace drake