franka::ActiveControl Class Reference

Documented in ActiveControlBase. More...

#include <active_control.h>

Inheritance diagram for franka::ActiveControl:

Collaboration diagram for franka::ActiveControl:

Public Member Functions
std::pair< RobotState, Duration >	readOnce () override
	Waits for a robot state update and returns it.
void	writeOnce (const Torques &) override
	Updates torque commands of an active control.
void	writeOnce (const JointPositions &, const std::optional< const Torques > &) override
	Updates the joint position and torque commands of an active control.
void	writeOnce (const JointVelocities &, const std::optional< const Torques > &) override
	Updates the joint velocity and torque commands of an active control.
void	writeOnce (const CartesianPose &, const std::optional< const Torques > &) override
	Updates the cartesian position and torque commands of an active control.
void	writeOnce (const CartesianVelocities &, const std::optional< const Torques > &) override
	Updates the cartesian velocity and torque commands of an active control.
void	writeOnce (const JointPositions &motion_generator_input) override
	Updates the joint position commands of an active control, with internal controller.
void	writeOnce (const JointVelocities &motion_generator_input) override
	Updates the joint velocity commands of an active control, with internal controller.
void	writeOnce (const CartesianPose &motion_generator_input) override
	Updates the cartesian pose commands of an active control, with internal controller.
void	writeOnce (const CartesianVelocities &motion_generator_input) override
	Updates the cartesian velocity commands of an active control, with internal controller.

Protected Member Functions
	ActiveControl (std::shared_ptr< Robot::Impl > robot_impl, uint32_t motion_id, std::unique_lock< std::mutex > control_lock)
	Construct a new ActiveControl object.

Protected Attributes
std::shared_ptr< Robot::Impl >	robot_impl
	shared pointer to Robot::Impl instance for read and write accesses
uint32_t	motion_id
	motion id of running motion
std::unique_lock< std::mutex >	control_lock
	control-lock preventing parallel control processes
bool	control_finished
	flag indicating if control process is finished
std::optional< Duration >	last_read_access
	duration to last read access

Detailed Description

Documented in ActiveControlBase.

Constructor & Destructor Documentation

ActiveControl()

franka::ActiveControl::ActiveControl ( std::shared_ptr< Robot::Impl >  robot_impl, uint32_t  motion_id, std::unique_lock< std::mutex >  control_lock  )

protected

Construct a new ActiveControl object.

Parameters

robot_impl	shared_ptr to the Robot::Impl in the Robot
motion_id	id of the managed motion
control_lock	of the Robot, preventing other read and write accesses during the active control

Member Function Documentation

readOnce()

std::pair< RobotState, Duration > franka::ActiveControl::readOnce ( )

overridevirtual

Waits for a robot state update and returns it.

Returns

Current robot state & time since last read operation

Exceptions

NetworkException	if the connection is lost, e.g. after a timeout.
ProtocolException	if robot returns an unexpected message.
ControlException	if robot is in an error state.

Implements franka::ActiveControlBase.

writeOnce() [1/9]

void franka::ActiveControl::writeOnce ( const CartesianPose &  , const std::optional< const Torques > &    )

inlineoverridevirtual

Updates the cartesian position and torque commands of an active control.

hint: implemented in ActiveMotionGenerator<CartesianPose>

Implements franka::ActiveControlBase.

writeOnce() [2/9]

void franka::ActiveControl::writeOnce ( const CartesianPose &  motion_generator_input )

inlineoverridevirtual

Updates the cartesian pose commands of an active control, with internal controller.

Parameters

motion_generator_input

the new motion generator input

Implements franka::ActiveControlBase.

writeOnce() [3/9]

void franka::ActiveControl::writeOnce ( const CartesianVelocities &  , const std::optional< const Torques > &    )

inlineoverridevirtual

Updates the cartesian velocity and torque commands of an active control.

hint: implemented in ActiveMotionGenerator<CartesianVelocities>

Implements franka::ActiveControlBase.

writeOnce() [4/9]

void franka::ActiveControl::writeOnce ( const CartesianVelocities &  motion_generator_input )

inlineoverridevirtual

Updates the cartesian velocity commands of an active control, with internal controller.

Parameters

motion_generator_input

the new motion generator input

Implements franka::ActiveControlBase.

writeOnce() [5/9]

void franka::ActiveControl::writeOnce ( const JointPositions &  , const std::optional< const Torques > &    )

inlineoverridevirtual

Updates the joint position and torque commands of an active control.

hint: implemented in ActiveMotionGenerator<JointPositions>

Implements franka::ActiveControlBase.

writeOnce() [6/9]

void franka::ActiveControl::writeOnce ( const JointPositions &  motion_generator_input )

inlineoverridevirtual

Updates the joint position commands of an active control, with internal controller.

Parameters

motion_generator_input

the new motion generator input

Implements franka::ActiveControlBase.

writeOnce() [7/9]

void franka::ActiveControl::writeOnce ( const JointVelocities &  , const std::optional< const Torques > &    )

inlineoverridevirtual

Updates the joint velocity and torque commands of an active control.

hint: implemented in ActiveMotionGenerator<JointVelocities>

Implements franka::ActiveControlBase.

writeOnce() [8/9]

void franka::ActiveControl::writeOnce ( const JointVelocities &  motion_generator_input )

inlineoverridevirtual

Updates the joint velocity commands of an active control, with internal controller.

Parameters

motion_generator_input

the new motion generator input

Implements franka::ActiveControlBase.

writeOnce() [9/9]

void franka::ActiveControl::writeOnce ( const Torques &  )

inlineoverridevirtual

Updates torque commands of an active control.

hint: implemented in ActiveTorqueControl

Implements franka::ActiveControlBase.

Reimplemented in franka::ActiveTorqueControl.

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The documentation for this class was generated from the following file:

• include/franka/active_control.h