Searched refs:tau_error_integral (Results 1 – 1 of 1) sorted by relevance
| /dports/misc/visp/visp-3.4.0/modules/robot/src/real-robot/franka/ |
| H A D | vpForceTorqueGenerator_impl.cpp | 76 Eigen::VectorXd initial_tau_ext(7), tau_error_integral(7); in control_thread() local
96 tau_error_integral.setZero(); in control_thread()
147 &stop, &zero_torques, &robot_state, &tau_joint_d, &tau_error_integral, in control_thread()
172 tau_error_integral += period.toSec() * (tau_joint_d - tau_ext); in control_thread()
180 tau_cmd << tau_joint_d + k_p * (tau_joint_d - tau_ext) + k_i * tau_error_integral; in control_thread()
206 &stop, &zero_torques, &robot_state, &tau_cart_d, &tau_error_integral, in control_thread()
241 tau_error_integral += period.toSec() * (tau_d - tau_ext); in control_thread()
251 tau_cmd << tau_d + k_p * (tau_d - tau_ext) + k_i * tau_error_integral; in control_thread()
|