franka::ActiveMotionGenerator< MotionGeneratorType > Class Template Reference

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

#include <active_motion_generator.h>

Inheritance diagram for franka::ActiveMotionGenerator< MotionGeneratorType >:

Collaboration diagram for franka::ActiveMotionGenerator< MotionGeneratorType >:

Public Member Functions
void	writeOnce (const MotionGeneratorType &motion_generator_input, const std::optional< const Torques > &control_input) override
	Updates the motion generator commands of an active control.
Public Member Functions inherited from franka::ActiveControl
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.

Friends
class	Robot
	franka::Robot as friend to allow construction of ActiveMotionGenerator<MotionGeneratorType> in start<MotionGeneratorType>Control methods

Additional Inherited Members
Protected Member Functions inherited from franka::ActiveControl
	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 inherited from franka::ActiveControl
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

template<typename MotionGeneratorType>
class franka::ActiveMotionGenerator< MotionGeneratorType >

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

hint: To create an ActiveMotionGenerator, see franka::Robot

Member Function Documentation

writeOnce()

template<typename MotionGeneratorType >

void franka::ActiveMotionGenerator< MotionGeneratorType >::writeOnce ( const MotionGeneratorType &  motion_generator_input, const std::optional< const Torques > &  control_input  )

override

Updates the motion generator commands of an active control.

Parameters

motion_generator_input	the new motion generator input
control_input	optional: the external control input for each joint, if an external controller is used

Exceptions

ControlException	if an error related to torque control or motion generation occurred, or the motion was already finished.
NetworkException	if the connection is lost, e.g. after a timeout.

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

• include/franka/active_motion_generator.h