Class List

Here are the classes, structs, unions and interfaces with brief descriptions:

[detail level 12]

▼Nfranka
CActiveControl	Documented in ActiveControlBase
CActiveControlBase	Allows the user to read the state of a Robot and to send new control commands after starting a control process of a Robot
CActiveMotionGenerator	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
CActiveTorqueControl	Allows the user to read the state of a Robot and to send new torque control commands after starting a control process of a Robot
CCartesianPose	Stores values for Cartesian pose motion generation
CCartesianVelocities	Stores values for Cartesian velocity motion generation
CCommandException	CommandException is thrown if an error occurs during command execution
CControlException	ControlException is thrown if an error occurs during motion generation or torque control
CDuration	Represents a duration with millisecond resolution
CErrors	Enumerates errors that can occur while controlling a franka::Robot
CException	Base class for all exceptions used by libfranka
CFinishable	Helper type for control and motion generation loops
CGripper	Maintains a network connection to the gripper, provides the current gripper state, and allows the execution of commands
CGripperState	Describes the gripper state
CIncompatibleVersionException	IncompatibleVersionException is thrown if the robot does not support this version of libfranka
CInvalidOperationException	InvalidOperationException is thrown if an operation cannot be performed
CJointPositions	Stores values for joint position motion generation
CJointVelocities	Stores values for joint velocity motion generation
CModel	Calculates poses of joints and dynamic properties of the robot
CModelException	ModelException is thrown if an error occurs when loading the model library
CNetworkException	NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occurs
CProtocolException	ProtocolException is thrown if the robot returns an incorrect message
CRealtimeException	RealtimeException is thrown if realtime priority cannot be set
CRecord	One row of the log contains a robot command of timestamp n and a corresponding robot state of timestamp n+1
CRobot	Maintains a network connection to the robot, provides the current robot state, gives access to the model library and allows to control the robot
CRobotCommand	Command sent to the robot
CRobotModel	Implements RobotModelBase using Pinocchio
CRobotState	Describes the robot state
CTorques	Stores joint-level torque commands without gravity and friction
CVacuumGripper	Maintains a network connection to the vacuum gripper, provides the current vacuum gripper state, and allows the execution of commands
CVacuumGripperState	Describes the vacuum gripper state
CMotionGenerator	An example showing how to generate a joint pose motion to a goal position
CRobotModelBase	Robot dynamic parameters computed from the URDF model with Pinocchio