libfranka  0.14.1
FCI C++ API
active_torque_control.h
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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 "active_control.h"
6 
12 namespace franka {
13 
22  public:
32  void writeOnce(const Torques& control_input) override;
33 
39  friend class Robot;
40 
41  private:
50  ActiveTorqueControl(std::shared_ptr<Robot::Impl> robot_impl,
51  uint32_t motion_id,
52  std::unique_lock<std::mutex> control_lock)
53  : ActiveControl(std::move(robot_impl), motion_id, std::move(control_lock)){};
54 };
55 
56 } // namespace franka
Implements the ActiveControlBase abstract class.
Documented in ActiveControlBase.
Definition: active_control.h:21
uint32_t motion_id
motion id of running motion
Definition: active_control.h:84
std::shared_ptr< Robot::Impl > robot_impl
shared pointer to Robot::Impl instance for read and write accesses
Definition: active_control.h:81
std::unique_lock< std::mutex > control_lock
control-lock preventing parallel control processes
Definition: active_control.h:87
Allows the user to read the state of a Robot and to send new torque control commands after starting a...
Definition: active_torque_control.h:21
void writeOnce(const Torques &control_input) override
Updates the joint-level based torque commands of an active joint effort control.
Maintains a network connection to the robot, provides the current robot state, gives access to the mo...
Definition: robot.h:68
Stores joint-level torque commands without gravity and friction.
Definition: control_types.h:45