Class Hierarchy

Go to the graphical class hierarchy

This inheritance list is sorted roughly, but not completely, alphabetically:

[detail level 123]

▼Cfranka::ActiveControlBase	Allows the user to read the state of a Robot and to send new control commands after starting a control process of a Robot
▼Cfranka::ActiveControl	Documented in ActiveControlBase
Cfranka::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
Cfranka::ActiveTorqueControl	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
Cfranka::Duration	Represents a duration with millisecond resolution
Cfranka::Errors	Enumerates errors that can occur while controlling a franka::Robot
▼Cfranka::Finishable	Helper type for control and motion generation loops
Cfranka::CartesianPose	Stores values for Cartesian pose motion generation
Cfranka::CartesianVelocities	Stores values for Cartesian velocity motion generation
Cfranka::JointPositions	Stores values for joint position motion generation
Cfranka::JointVelocities	Stores values for joint velocity motion generation
Cfranka::Torques	Stores joint-level torque commands without gravity and friction
Cfranka::Gripper	Maintains a network connection to the gripper, provides the current gripper state, and allows the execution of commands
Cfranka::GripperState	Describes the gripper state
Cfranka::Model	Calculates poses of joints and dynamic properties of the robot
CMotionGenerator	An example showing how to generate a joint pose motion to a goal position
Cfranka::Record	One row of the log contains a robot command of timestamp n and a corresponding robot state of timestamp n+1
Cfranka::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
Cfranka::RobotCommand	Command sent to the robot
▼CRobotModelBase	Robot dynamic parameters computed from the URDF model with Pinocchio
Cfranka::RobotModel	Implements RobotModelBase using Pinocchio
Cfranka::RobotState	Describes the robot state
▼Cstd::runtime_error
▼Cfranka::Exception	Base class for all exceptions used by libfranka
Cfranka::CommandException	CommandException is thrown if an error occurs during command execution
Cfranka::ControlException	ControlException is thrown if an error occurs during motion generation or torque control
Cfranka::IncompatibleVersionException	IncompatibleVersionException is thrown if the robot does not support this version of libfranka
Cfranka::InvalidOperationException	InvalidOperationException is thrown if an operation cannot be performed
Cfranka::ModelException	ModelException is thrown if an error occurs when loading the model library
Cfranka::NetworkException	NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occurs
Cfranka::ProtocolException	ProtocolException is thrown if the robot returns an incorrect message
Cfranka::RealtimeException	RealtimeException is thrown if realtime priority cannot be set
Cfranka::VacuumGripper	Maintains a network connection to the vacuum gripper, provides the current vacuum gripper state, and allows the execution of commands
Cfranka::VacuumGripperState	Describes the vacuum gripper state