Sample application for the class LWRCartImpedanceController. More...

#include <LWRCartImpedanceController.h>
#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include <errno.h>
#include <math.h>

Defines
#define	NUMBER_OF_FRAME_ELEMENTS 12
#define	NUMBER_OF_CART_DOFS 6
#define	NUMBER_OF_JOINTS 7
#define	RUN_TIME_IN_SECONDS 10.0
Functions
int	main (int argc, char *argv[])

Detailed Description

Sample application for the class LWRCartImpedanceController.

This simple application feature a sample of how to use the Cartesian impedance controller of the KUKA Fast Research Interface for the Light-Weight Robot IV. For details about the actual interface class (i.e., class LWRCartImpedanceController), please refer to the file LWRCartImpedanceController.h.

GNU Lesser Public License
This file is part of the Fast Research Interface Library.

The Fast Research Interface Library is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

The Fast Research Interface Library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with the Fast Research Interface Library. If not, see http://www.gnu.org/licenses.

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