franka::ActiveTorqueControl Class Reference

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

#include <active_torque_control.h>

Inheritance diagram for franka::ActiveTorqueControl:

Collaboration diagram for franka::ActiveTorqueControl:

Public Member Functions
void	writeOnce (const Torques &control_input) override
	Updates the joint-level based torque commands of an active joint effort 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 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 ActiveTorqueControl in startTorqueControl 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

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

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

Member Function Documentation

writeOnce()

void franka::ActiveTorqueControl::writeOnce ( const Torques &  control_input )

overridevirtual

Updates the joint-level based torque commands of an active joint effort control.

Parameters

control_input

the new joint-level based torques

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.

Reimplemented from franka::ActiveControl.

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

• include/franka/active_torque_control.h