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Subsections

$K_{pp}$, $K_{vp}$, $K_{po}$, $K_{vo}$

Syntax

void set_Kpp(const double Kpp);
void set_Kvp(const double Kvp);
void set_Kpo(const double Kpo);
void set_Kvo(const double Kvo);

Description

These functions sets the end effector position error gain, $K_{pp}$, the velocity error gain, $K_{vp}$, the orientation error gain $K_{po}$, and the orientation angular rate gain, $K_{vo}$.

Return Value

None



Richard Gourdeau 2004-07-06