Allows the user to read the state of a Robot and to send new motion generator commands after starting a control process of a Robot.
More...
#include <active_motion_generator.h>
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void | writeOnce (const MotionGeneratorType &motion_generator_input, const std::optional< const Torques > &control_input) override |
| Updates the motion generator commands of an active control. More...
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std::pair< RobotState, Duration > | readOnce () override |
| Waits for a robot state update and returns it. More...
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void | writeOnce (const Torques &) override |
| Updates torque commands of an active control. More...
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void | writeOnce (const JointPositions &, const std::optional< const Torques > &) override |
| Updates the joint position and torque commands of an active control. More...
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void | writeOnce (const JointVelocities &, const std::optional< const Torques > &) override |
| Updates the joint velocity and torque commands of an active control. More...
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void | writeOnce (const CartesianPose &, const std::optional< const Torques > &) override |
| Updates the cartesian position and torque commands of an active control. More...
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void | writeOnce (const CartesianVelocities &, const std::optional< const Torques > &) override |
| Updates the cartesian velocity and torque commands of an active control. More...
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void | writeOnce (const JointPositions &motion_generator_input) override |
| Updates the joint position commands of an active control, with internal controller. More...
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void | writeOnce (const JointVelocities &motion_generator_input) override |
| Updates the joint velocity commands of an active control, with internal controller. More...
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void | writeOnce (const CartesianPose &motion_generator_input) override |
| Updates the cartesian pose commands of an active control, with internal controller. More...
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void | writeOnce (const CartesianVelocities &motion_generator_input) override |
| Updates the cartesian velocity commands of an active control, with internal controller. More...
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class | Robot |
| franka::Robot as friend to allow construction of ActiveMotionGenerator<MotionGeneratorType> in start<MotionGeneratorType>Control methods
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template<typename MotionGeneratorType>
class franka::ActiveMotionGenerator< MotionGeneratorType >
Allows the user to read the state of a Robot and to send new motion generator commands after starting a control process of a Robot.
hint: To create an ActiveMotionGenerator, see franka::Robot
◆ writeOnce()
template<typename MotionGeneratorType >
Updates the motion generator commands of an active control.
- Parameters
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motion_generator_input | the new motion generator input |
control_input | optional: the external control input for each joint, if an external controller is used |
- Exceptions
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ControlException | if an error related to torque control or motion generation occurred, or the motion was already finished. |
NetworkException | if the connection is lost, e.g. after a timeout. |
The documentation for this class was generated from the following file: