control_types.h File Reference

Contains helper types for returning motion generation and joint-level torque commands. More...

#include <array>
#include <cmath>
#include <initializer_list>

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Classes
struct	franka::Finishable
	Helper type for control and motion generation loops. More...
class	franka::Torques
	Stores joint-level torque commands without gravity and friction. More...
class	franka::JointPositions
	Stores values for joint position motion generation. More...
class	franka::JointVelocities
	Stores values for joint velocity motion generation. More...
class	franka::CartesianPose
	Stores values for Cartesian pose motion generation. More...
class	franka::CartesianVelocities
	Stores values for Cartesian velocity motion generation. More...

Enumerations
enum class	franka::ControllerMode { kJointImpedance , kCartesianImpedance }
	Available controller modes for a franka::Robot.
enum class	franka::RealtimeConfig { kEnforce , kIgnore }
	Used to decide whether to enforce realtime mode for a control loop thread. More...

Functions
Torques	franka::MotionFinished (Torques command) noexcept
	Helper method to indicate that a motion should stop after processing the given command.
JointPositions	franka::MotionFinished (JointPositions command) noexcept
	Helper method to indicate that a motion should stop after processing the given command.
JointVelocities	franka::MotionFinished (JointVelocities command) noexcept
	Helper method to indicate that a motion should stop after processing the given command.
CartesianPose	franka::MotionFinished (CartesianPose command) noexcept
	Helper method to indicate that a motion should stop after processing the given command.
CartesianVelocities	franka::MotionFinished (CartesianVelocities command) noexcept
	Helper method to indicate that a motion should stop after processing the given command.

Detailed Description

Contains helper types for returning motion generation and joint-level torque commands.

Enumeration Type Documentation

RealtimeConfig

enum class franka::RealtimeConfig

strong

Used to decide whether to enforce realtime mode for a control loop thread.

See also

Robot::Robot

Function Documentation

MotionFinished() [1/5]

CartesianPose franka::MotionFinished ( CartesianPose  command )

inlinenoexcept

Helper method to indicate that a motion should stop after processing the given command.

Parameters

[in]

command

Last command to be executed before the motion terminates.

Returns

Command with motion_finished set to true.

See also

Documentation on callbacks

MotionFinished() [2/5]

CartesianVelocities franka::MotionFinished ( CartesianVelocities  command )

inlinenoexcept

Helper method to indicate that a motion should stop after processing the given command.

Parameters

[in]

command

Last command to be executed before the motion terminates.

Returns

Command with motion_finished set to true.

See also

Documentation on callbacks

MotionFinished() [3/5]

JointPositions franka::MotionFinished ( JointPositions  command )

inlinenoexcept

Helper method to indicate that a motion should stop after processing the given command.

Parameters

[in]

command

Last command to be executed before the motion terminates.

Returns

Command with motion_finished set to true.

See also

Documentation on callbacks

MotionFinished() [4/5]

JointVelocities franka::MotionFinished ( JointVelocities  command )

inlinenoexcept

Helper method to indicate that a motion should stop after processing the given command.

Parameters

[in]

command

Last command to be executed before the motion terminates.

Returns

Command with motion_finished set to true.

See also

Documentation on callbacks

MotionFinished() [5/5]

Torques franka::MotionFinished ( Torques  command )

inlinenoexcept

Helper method to indicate that a motion should stop after processing the given command.

Parameters

[in]

command

Last command to be executed before the motion terminates.

Returns

Command with motion_finished set to true.

See also

Documentation on callbacks

Examples

generate_cartesian_pose_motion.cpp, generate_cartesian_pose_motion_external_control_loop.cpp, generate_cartesian_velocity_motion.cpp, generate_cartesian_velocity_motion_external_control_loop.cpp, generate_consecutive_motions.cpp, generate_elbow_motion.cpp, generate_joint_position_motion.cpp, generate_joint_position_motion_external_control_loop.cpp, generate_joint_velocity_motion.cpp, generate_joint_velocity_motion_external_control_loop.cpp, joint_impedance_control.cpp, motion_with_control.cpp, and motion_with_control_external_control_loop.cpp.