Class List

Here are all the classes, structs, enums, and types with brief descriptions:

Core Robot Control

Robot	Maintains a network connection to the robot, provides the current robot state, gives access to the model library and allows to control the robot
ActiveControlBase	Allows the user to read the state of a Robot and to send new control commands after starting a control process
Model	Calculates poses of joints and dynamic properties of the robot

Gripper Control

Gripper	Maintains a network connection to the gripper, provides the current gripper state, and allows the execution of commands
GripperState	Describes the gripper state

Robot State

RobotState	Describes the robot state including joint positions, velocities, torques, and errors
RobotMode	Enumerates different robot operation modes
Errors	Enumerates errors that can occur while controlling a Robot

Motion Types

JointPositions	Stores values for joint position motion generation
JointVelocities	Stores values for joint velocity motion generation
CartesianPose	Stores values for Cartesian pose motion generation
CartesianVelocities	Stores values for Cartesian velocity motion generation
Torques	Stores values for torque control

Configuration Types

Duration	Represents a duration with millisecond resolution
RealtimeConfig	Enumeration for real-time scheduling requirements
ControllerMode	Enumeration for controller mode selection (joint or Cartesian impedance)

Exceptions

FrankaException	Base class for all exceptions used by libfranka
CommandException	Thrown if an error occurs during command execution
ControlException	Thrown if an error occurs during motion generation or torque control
NetworkException	Thrown if a connection to the robot cannot be established, or when a timeout occurs
InvalidOperationException	Thrown if an operation cannot be performed
RealtimeException	Thrown if real-time scheduling requirements cannot be met

See Also

• Class Hierarchy - View the inheritance structure

• Module Reference - Browse by module