franka::CartesianVelocities Class Reference

Stores values for Cartesian velocity motion generation. More...

#include <control_types.h>

Inheritance diagram for franka::CartesianVelocities:

Collaboration diagram for franka::CartesianVelocities:

Public Member Functions
	CartesianVelocities (const std::array< double, 6 > &cartesian_velocities) noexcept
	Creates a new CartesianVelocities instance.
	CartesianVelocities (const std::array< double, 6 > &cartesian_velocities, const std::array< double, 2 > &elbow) noexcept
	Creates a new CartesianVelocities instance.
	CartesianVelocities (std::initializer_list< double > cartesian_velocities)
	Creates a new CartesianVelocities instance.
	CartesianVelocities (std::initializer_list< double > cartesian_velocities, std::initializer_list< double > elbow)
	Creates a new CartesianVelocities instance.
bool	hasElbow () const noexcept
	Determines whether there is a stored elbow configuration.

Public Attributes
std::array< double, 6 >	O_dP_EE {}
	Cartesian velocity with respect to the base frame O with \((\dot x, \dot y, \dot z)\) in \([m/s]\) and \((\omega_x, \omega_y, \omega_z)\) in \([rad/s]\).
std::array< double, 2 >	elbow {}
	Elbow configuration.
Public Attributes inherited from franka::Finishable
bool	motion_finished = false
	Determines whether to finish a currently running motion.

Detailed Description

Stores values for Cartesian velocity motion generation.

The Cartesian velocity of the end-effector is expressed in a frame parallel to the fixed/base frame, whose origin is the same as the end-effector frame. Rotations are thus expressed around the end-effector and parallel to the base frame.

Examples

generate_cartesian_velocity_motion.cpp, and generate_cartesian_velocity_motion_external_control_loop.cpp.

Constructor & Destructor Documentation

CartesianVelocities() [1/4]

franka::CartesianVelocities::CartesianVelocities ( const std::array< double, 6 > &  cartesian_velocities )

noexcept

Creates a new CartesianVelocities instance.

Parameters

[in]

cartesian_velocities

Desired Cartesian velocity with respect to the base frame O with \((\dot x, \dot y, \dot z)\) in \([m/s]\) and \((\omega_x, \omega_y, \omega_z)\) in \([rad/s]\).

CartesianVelocities() [2/4]

franka::CartesianVelocities::CartesianVelocities ( const std::array< double, 6 > &  cartesian_velocities, const std::array< double, 2 > &  elbow  )

noexcept

Creates a new CartesianVelocities instance.

Parameters

[in]	cartesian_velocities	Desired Cartesian velocity with respect to the base frame O with \((\dot x, \dot y, \dot z)\) in \([m/s]\) and \((\omega_x, \omega_y, \omega_z)\) in \([rad/s]\).
[in]	elbow	Elbow configuration (see elbow member for more details).

CartesianVelocities() [3/4]

franka::CartesianVelocities::CartesianVelocities

(

std::initializer_list< double >

cartesian_velocities

)

Creates a new CartesianVelocities instance.

Parameters

[in]

cartesian_velocities

Desired Cartesian velocity with respect to the base frame O with \((\dot x, \dot y, \dot z)\) in \([m/s]\) and \((\omega_x, \omega_y, \omega_z)\) in \([rad/s]\).

Exceptions

std::invalid_argument

if the given initializer list has an invalid number of arguments.

CartesianVelocities() [4/4]

franka::CartesianVelocities::CartesianVelocities	(	std::initializer_list< double >	cartesian_velocities,
		std::initializer_list< double >	elbow
	)

Creates a new CartesianVelocities instance.

Parameters

[in]	cartesian_velocities	Desired Cartesian velocity with respect to the base frame O with \((\dot x, \dot y, \dot z)\) in \([m/s]\) and \((\omega_x, \omega_y, \omega_z)\) in \([rad/s]\).
[in]	elbow	Elbow configuration (see elbow member for more details).

Exceptions

std::invalid_argument

if a given initializer list has an invalid number of arguments.

Member Function Documentation

hasElbow()

bool franka::CartesianVelocities::hasElbow ( ) const

noexcept

Determines whether there is a stored elbow configuration.

Returns

True if there is a stored elbow configuration, false otherwise.

Member Data Documentation

elbow

std::array<double, 2> franka::CartesianVelocities::elbow {}

Elbow configuration.

The values of the array are:

• elbow[0]: Position of the 3rd joint in \([rad]\).
• elbow[1]: Flip direction of the elbow (4th joint):
  • +1 if \(q_4 > \alpha\)
  • 0 if \(q_4 == \alpha \)
  • -1 if \(q_4 < \alpha \)
  with \(\alpha = -0.467002423653011\) \(rad\)

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

• include/franka/control_types.h