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062343d4

Commit 062343d4 authored 4 years ago by Raphael Grimm

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Move run for Cartesian impedance controller to class and use it in NJointController

parent f6ce7c8e

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source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTaskSpaceImpedanceController.cpp 136 additions, 99 deletions

.../NJointControllers/NJointTaskSpaceImpedanceController.cpp
source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTaskSpaceImpedanceController.h 48 additions, 10 deletions

...it/NJointControllers/NJointTaskSpaceImpedanceController.h

with 184 additions and 109 deletions

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