From 21dd3ad89715bba8b3f2ac008047aa5ac86f4fa5 Mon Sep 17 00:00:00 2001 From: Simon Gabl <simon.gabl@franka.de> Date: Mon, 29 Jan 2018 15:39:17 +0100 Subject: [PATCH] Fix typo. --- franka_example_controllers/src/force_example_controller.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/franka_example_controllers/src/force_example_controller.cpp b/franka_example_controllers/src/force_example_controller.cpp index 4b3f0ca..a31848a 100644 --- a/franka_example_controllers/src/force_example_controller.cpp +++ b/franka_example_controllers/src/force_example_controller.cpp @@ -115,7 +115,7 @@ void ForceExampleController::update(const ros::Time& /*time*/, const ros::Durati tau_ext = tau_measured - gravity - tau_ext_initial_; tau_d << jacobian.transpose() * desired_force_torque; tau_error_ = tau_error_ + period.toSec() * (tau_d - tau_ext); - // FF + PI control (PI gains are intially all 0) + // FF + PI control (PI gains are initially all 0) tau_cmd = tau_d + k_p_ * (tau_d - tau_ext) + k_i_ * tau_error_; tau_cmd << saturateTorqueRate(tau_cmd, tau_J_d); -- GitLab