Searched refs:tau_cart_d (Results 1 – 1 of 1) sorted by relevance
87 Eigen::VectorXd tau_joint_d(7), tau_cart_d(6); in control_thread() local92 tau_cart_d[i] = 0; in control_thread()206 &stop, &zero_torques, &robot_state, &tau_cart_d, &tau_error_integral, in control_thread()245 tau_cart_d[i] = filter_gain * ft_cart_des[i] + (1 - filter_gain) * tau_cart_d[i]; in control_thread()248 tau_d << jacobian.transpose() * tau_cart_d; in control_thread()263 log_tau_diff << ft_cart_des[i] - tau_cart_d[i] << " "; in control_thread()