franka::ControlException Struct Reference

ControlException is thrown if an error occurs during motion generation or torque control. More...

#include <exception.h>

Inheritance diagram for franka::ControlException:

Collaboration diagram for franka::ControlException:

Public Member Functions
	ControlException (const std::string &what, std::vector< franka::Record > log={}) noexcept
	Creates the exception with an explanatory string and a Log object.

Public Attributes
const std::vector< franka::Record >	log
	Vector of states and commands logged just before the exception occurred.

Detailed Description

ControlException is thrown if an error occurs during motion generation or torque control.

The exception holds a vector with the last received robot states. The number of recorded states can be configured in the Robot constructor.

Examples

generate_consecutive_motions.cpp, motion_with_control.cpp, and motion_with_control_external_control_loop.cpp.

Constructor & Destructor Documentation

ControlException()

franka::ControlException::ControlException ( const std::string &  what, std::vector< franka::Record >  log = {}  )

explicitnoexcept

Creates the exception with an explanatory string and a Log object.

Parameters

[in]	what	Explanatory string.
[in]	log	Vector of last received states and commands.

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

• include/franka/exception.h