franka::ActiveControlBase Class Reference

Allows the user to read the state of a Robot and to send new control commands after starting a control process of a Robot. More...

#include <active_control_base.h>

Inheritance diagram for franka::ActiveControlBase:

Public Member Functions
virtual std::pair< RobotState, Duration >	readOnce ()=0
	Waits for a robot state update and returns it.
virtual void	writeOnce (const Torques &)=0
	Updates torque commands of an active control.
virtual void	writeOnce (const JointPositions &, const std::optional< const Torques > &)=0
	Updates the joint position and torque commands of an active control.
virtual void	writeOnce (const JointVelocities &, const std::optional< const Torques > &)=0
	Updates the joint velocity and torque commands of an active control.
virtual void	writeOnce (const CartesianPose &, const std::optional< const Torques > &)=0
	Updates the cartesian position and torque commands of an active control.
virtual void	writeOnce (const CartesianVelocities &, const std::optional< const Torques > &)=0
	Updates the cartesian velocity and torque commands of an active control.
virtual void	writeOnce (const JointPositions &motion_generator_input)=0
	Updates the joint position commands of an active control, with internal controller.
virtual void	writeOnce (const JointVelocities &motion_generator_input)=0
	Updates the joint velocity commands of an active control, with internal controller.
virtual void	writeOnce (const CartesianPose &motion_generator_input)=0
	Updates the cartesian pose commands of an active control, with internal controller.
virtual void	writeOnce (const CartesianVelocities &motion_generator_input)=0
	Updates the cartesian velocity commands of an active control, with internal controller.

Detailed Description

Allows the user to read the state of a Robot and to send new control commands after starting a control process of a Robot.

hint: To create an ActiveControlBase, see franka::ActiveTorqueControl or franka::ActiveMotionGenerator

Member Function Documentation

readOnce()

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

pure virtual

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.

Implemented in franka::ActiveControl.

writeOnce() [1/9]

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

pure virtual

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

hint: implemented in ActiveMotionGenerator<CartesianPose>

Implemented in franka::ActiveControl.

writeOnce() [2/9]

virtual void franka::ActiveControlBase::writeOnce ( const CartesianPose &  motion_generator_input )

pure virtual

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

Parameters

motion_generator_input

the new motion generator input

Implemented in franka::ActiveControl.

writeOnce() [3/9]

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

pure virtual

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

hint: implemented in ActiveMotionGenerator<CartesianVelocities>

Implemented in franka::ActiveControl.

writeOnce() [4/9]

virtual void franka::ActiveControlBase::writeOnce ( const CartesianVelocities &  motion_generator_input )

pure virtual

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

Parameters

motion_generator_input

the new motion generator input

Implemented in franka::ActiveControl.

writeOnce() [5/9]

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

pure virtual

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

hint: implemented in ActiveMotionGenerator<JointPositions>

Implemented in franka::ActiveControl.

writeOnce() [6/9]

virtual void franka::ActiveControlBase::writeOnce ( const JointPositions &  motion_generator_input )

pure virtual

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

Parameters

motion_generator_input

the new motion generator input

Implemented in franka::ActiveControl.

writeOnce() [7/9]

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

pure virtual

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

hint: implemented in ActiveMotionGenerator<JointVelocities>

Implemented in franka::ActiveControl.

writeOnce() [8/9]

virtual void franka::ActiveControlBase::writeOnce ( const JointVelocities &  motion_generator_input )

pure virtual

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

Parameters

motion_generator_input

the new motion generator input

Implemented in franka::ActiveControl.

writeOnce() [9/9]

virtual void franka::ActiveControlBase::writeOnce ( const Torques &  )

pure virtual

Updates torque commands of an active control.

hint: implemented in ActiveTorqueControl

Implemented in franka::ActiveControl, and franka::ActiveTorqueControl.

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

• include/franka/active_control_base.h