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fw gain compression: add docs

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bresch
2025-11-24 15:59:10 +01:00
committed by Mathieu Bresciani
parent 3646032296
commit 4fbff2cdd9
9 changed files with 37 additions and 5 deletions
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msg/GainCompression.msg
+3 -4
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@@ -1,6 +1,5 @@
uint64 timestamp # Time since system start (microseconds)
float32[3] compression_gains # [-] Multiplicative gain to modify the output of the controller per axis [@frame FRD], [@range 0, 1]
float32[3] spectral_damper_hpf # Squared output of the spectral damper’s high-pass filter [@frame FRD]
float32[3] spectral_damper_out # Spectral damper's output squared [@frame FRD]
float32[3] input # Torque input [@frame FRD]
float32[3] compression_gains # [-] [@frame FRD] [@range 0, 1] Multiplicative gain to modify the output of the controller per axis
float32[3] spectral_damper_hpf # [-] [@frame FRD] Squared output of spectral damper high-pass filter
float32[3] spectral_damper_out # [-] [@frame FRD] Spectral damper output squared