franka::JointVelocities Class Reference

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

#include <control_types.h>

Inheritance diagram for franka::JointVelocities:

Collaboration diagram for franka::JointVelocities:

Public Member Functions
	JointVelocities (const std::array< double, 7 > &joint_velocities) noexcept
	Creates a new JointVelocities instance.
	JointVelocities (std::initializer_list< double > joint_velocities)
	Creates a new JointVelocities instance.

Public Attributes
std::array< double, 7 >	dq {}
	Desired joint velocities in \([\frac{rad}{s}]\).
Public Attributes inherited from franka::Finishable
bool	motion_finished = false
	Determines whether to finish a currently running motion.

Detailed Description

Stores values for joint velocity motion generation.

Examples

generate_consecutive_motions.cpp, generate_joint_velocity_motion.cpp, generate_joint_velocity_motion_external_control_loop.cpp, motion_with_control.cpp, and motion_with_control_external_control_loop.cpp.

Constructor & Destructor Documentation

JointVelocities() [1/2]

franka::JointVelocities::JointVelocities ( const std::array< double, 7 > &  joint_velocities )

noexcept

Creates a new JointVelocities instance.

Parameters

[in]

joint_velocities

Desired joint velocities in \([\frac{rad}{s}]\).

JointVelocities() [2/2]

franka::JointVelocities::JointVelocities

(

std::initializer_list< double >

joint_velocities

)

Creates a new JointVelocities instance.

Parameters

[in]

joint_velocities

Desired joint velocities in \([\frac{rad}{s}]\).

Exceptions

std::invalid_argument

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

---

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

• include/franka/control_types.h