franka::CartesianPose Class Reference

Stores values for Cartesian pose motion generation. More...

#include <control_types.h>

Inheritance diagram for franka::CartesianPose:

Collaboration diagram for franka::CartesianPose:

Public Member Functions
	CartesianPose (const std::array< double, 16 > &cartesian_pose) noexcept
	Creates a new CartesianPose instance.
	CartesianPose (const std::array< double, 16 > &cartesian_pose, const std::array< double, 2 > &elbow) noexcept
	Creates a new CartesianPose instance.
	CartesianPose (std::initializer_list< double > cartesian_pose)
	Creates a new CartesianPose instance.
	CartesianPose (std::initializer_list< double > cartesian_pose, std::initializer_list< double > elbow)
	Creates a new CartesianPose instance.
bool	hasElbow () const noexcept
	Determines whether there is a stored elbow configuration.

Public Attributes
std::array< double, 16 >	O_T_EE {}
	Homogeneous transformation \(^O{\mathbf{T}_{EE}}_{d}\), column major, that transforms from the end effector frame \(EE\) to base frame \(O\).
std::array< double, 2 >	elbow {}
	Elbow configuration.
Public Attributes inherited from franka::Finishable
bool	motion_finished = false
	Determines whether to finish a currently running motion.

Detailed Description

Stores values for Cartesian pose motion generation.

Examples

generate_cartesian_pose_motion.cpp, generate_cartesian_pose_motion_external_control_loop.cpp, generate_elbow_motion.cpp, and joint_impedance_control.cpp.

Constructor & Destructor Documentation

CartesianPose() [1/4]

franka::CartesianPose::CartesianPose ( const std::array< double, 16 > &  cartesian_pose )

noexcept

Creates a new CartesianPose instance.

Parameters

[in]

cartesian_pose

Desired vectorized homogeneous transformation matrix \(^O {\mathbf{T}_{EE}}_{d}\), column major, that transforms from the end effector frame \(EE\) to base frame \(O\). Equivalently, it is the desired end effector pose in base frame.

CartesianPose() [2/4]

franka::CartesianPose::CartesianPose ( const std::array< double, 16 > &  cartesian_pose, const std::array< double, 2 > &  elbow  )

noexcept

Creates a new CartesianPose instance.

Parameters

[in]	cartesian_pose	Desired vectorized homogeneous transformation matrix \(^O {\mathbf{T}_{EE}}_{d}\), column major, that transforms from the end effector frame \(EE\) to base frame \(O\). Equivalently, it is the desired end effector pose in base frame.
[in]	elbow	Elbow configuration (see elbow member for more details).

CartesianPose() [3/4]

franka::CartesianPose::CartesianPose

(

std::initializer_list< double >

cartesian_pose

)

Creates a new CartesianPose instance.

Parameters

[in]

cartesian_pose

Desired vectorized homogeneous transformation matrix \(^O {\mathbf{T}_{EE}}_{d}\), column major, that transforms from the end effector frame \(EE\) to base frame \(O\). Equivalently, it is the desired end effector pose in base frame.

Exceptions

std::invalid_argument

if the given initializer list has an invalid number of arguments.

CartesianPose() [4/4]

franka::CartesianPose::CartesianPose	(	std::initializer_list< double >	cartesian_pose,
		std::initializer_list< double >	elbow
	)

Creates a new CartesianPose instance.

Parameters

[in]	cartesian_pose	Desired vectorized homogeneous transformation matrix \(^O {\mathbf{T}_{EE}}_{d}\), column major, that transforms from the end effector frame \(EE\) to base frame \(O\). Equivalently, it is the desired end effector pose in base frame.
[in]	elbow	Elbow configuration (see elbow member for more details).

Exceptions

std::invalid_argument

if a given initializer list has an invalid number of arguments.

Member Function Documentation

hasElbow()

bool franka::CartesianPose::hasElbow ( ) const

noexcept

Determines whether there is a stored elbow configuration.

Returns

True if there is a stored elbow configuration, false otherwise.

Member Data Documentation

elbow

std::array<double, 2> franka::CartesianPose::elbow {}

Elbow configuration.

The values of the array are:

• elbow[0]: Position of the 3rd joint in \([rad]\).
• elbow[1]: Flip direction of the elbow (4th joint):
  • +1 if \(q_4 > q_{elbow-flip}\)
  • 0 if \(q_4 == q_{elbow-flip} \)
  • -1 if \(q_4 < q_{elbow-flip} \)
  with \(q_{elbow-flip}\) as specified in the robot interface specification page in the FCI Documentation.

O_T_EE

std::array<double, 16> franka::CartesianPose::O_T_EE {}

Homogeneous transformation \(^O{\mathbf{T}_{EE}}_{d}\), column major, that transforms from the end effector frame \(EE\) to base frame \(O\).

Equivalently, it is the desired end effector pose in base frame.

Examples

joint_impedance_control.cpp.

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The documentation for this class was generated from the following file:

• include/franka/control_types.h