libfranka  0.14.1
FCI C++ API
active_control_base.h
Go to the documentation of this file.
1 // Copyright (c) 2023 Franka Robotics GmbH
2 // Use of this source code is governed by the Apache-2.0 license, see LICENSE
3 #pragma once
4 
5 #include <franka/control_types.h>
6 #include <franka/exception.h>
7 #include <franka/robot_state.h>
8 #include <memory>
9 #include <optional>
10 #include <utility>
11 
17 namespace franka {
18 
28  public:
29  virtual ~ActiveControlBase() = default;
30 
40  virtual std::pair<RobotState, Duration> readOnce() = 0;
41 
48  virtual void writeOnce(const Torques& /* control_input */) = 0;
49 
56  virtual void writeOnce(const JointPositions& /* motion_generator_input */,
57  const std::optional<const Torques>& /*control_input*/) = 0;
58 
65  virtual void writeOnce(const JointVelocities& /* motion_generator_input */,
66  const std::optional<const Torques>& /* control_input */) = 0;
73  virtual void writeOnce(const CartesianPose& /* motion_generator_input */,
74  const std::optional<const Torques>& /* control_input */) = 0;
75 
82  virtual void writeOnce(const CartesianVelocities& /* motion_generator_input */,
83  const std::optional<const Torques>& /* control_input */) = 0;
90  virtual void writeOnce(const JointPositions& motion_generator_input) = 0;
91 
98  virtual void writeOnce(const JointVelocities& motion_generator_input) = 0;
105  virtual void writeOnce(const CartesianPose& motion_generator_input) = 0;
106 
113  virtual void writeOnce(const CartesianVelocities& motion_generator_input) = 0;
114 
115  protected:
116  ActiveControlBase() = default;
117 };
118 
119 } // namespace franka
Allows the user to read the state of a Robot and to send new control commands after starting a contro...
Definition: active_control_base.h:27
virtual void writeOnce(const Torques &)=0
Updates torque commands of an active control.
virtual void writeOnce(const CartesianVelocities &motion_generator_input)=0
Updates the cartesian velocity commands of an active control, with internal controller.
virtual void writeOnce(const JointVelocities &, const std::optional< const Torques > &)=0
Updates the joint velocity and torque commands of an active control.
virtual void writeOnce(const CartesianPose &, const std::optional< const Torques > &)=0
Updates the cartesian position and torque commands of an active control.
virtual void writeOnce(const JointPositions &motion_generator_input)=0
Updates the joint position commands of an active control, with internal controller.
virtual void writeOnce(const CartesianPose &motion_generator_input)=0
Updates the cartesian pose commands of an active control, with internal controller.
virtual void writeOnce(const JointPositions &, const std::optional< const Torques > &)=0
Updates the joint position and torque commands of an active control.
virtual void writeOnce(const CartesianVelocities &, const std::optional< const Torques > &)=0
Updates the cartesian velocity and torque commands of an active control.
virtual void writeOnce(const JointVelocities &motion_generator_input)=0
Updates the joint velocity commands of an active control, with internal controller.
virtual std::pair< RobotState, Duration > readOnce()=0
Waits for a robot state update and returns it.
Stores values for Cartesian pose motion generation.
Definition: control_types.h:127
Stores values for Cartesian velocity motion generation.
Definition: control_types.h:211
Stores values for joint position motion generation.
Definition: control_types.h:72
Stores values for joint velocity motion generation.
Definition: control_types.h:99
Stores joint-level torque commands without gravity and friction.
Definition: control_types.h:45
Contains helper types for returning motion generation and joint-level torque commands.
Contains exception definitions.
Contains the franka::RobotState types.