control_tools.h File Reference

Contains helper functions for writing control loops. More...

#include <algorithm>
#include <array>
#include <cmath>
#include <stdexcept>
#include <string>

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Functions
bool	franka::isValidElbow (const std::array< double, 2 > &elbow) noexcept
	Determines whether the given elbow configuration is valid or not.
bool	franka::isHomogeneousTransformation (const std::array< double, 16 > &transform) noexcept
	Determines whether the given array represents a valid homogeneous transformation matrix.
bool	franka::hasRealtimeKernel ()
	Determines whether the current OS kernel is a realtime kernel.
bool	franka::setCurrentThreadToHighestSchedulerPriority (std::string *error_message)
	Sets the current thread to the highest possible scheduler priority.
template<size_t N>
void	franka::checkFinite (const std::array< double, N > &array)
	Checks if all elements of an array of the size N have a finite value.
void	franka::checkMatrix (const std::array< double, 16 > &transform)
	Checks if all elements of the transformation matrix are finite and if it is a homogeneous transformation.
void	franka::checkElbow (const std::array< double, 2 > &elbow)
	Checks if all elements of the elbow vector are finite and if the elbow configuration is valid.

Detailed Description

Contains helper functions for writing control loops.

Function Documentation

checkElbow()

void franka::checkElbow ( const std::array< double, 2 > &  elbow )

inline

Checks if all elements of the elbow vector are finite and if the elbow configuration is valid.

Parameters

elbow

the elbow vector to check

checkFinite()

template<size_t N>

void franka::checkFinite ( const std::array< double, N > &  array )

inline

Checks if all elements of an array of the size N have a finite value.

Template Parameters

N	the size of the array

Parameters

array

the array to be checked

checkMatrix()

void franka::checkMatrix ( const std::array< double, 16 > &  transform )

inline

Checks if all elements of the transformation matrix are finite and if it is a homogeneous transformation.

Parameters

transform

the transformation matrix to check

hasRealtimeKernel()

bool franka::hasRealtimeKernel

(

)

Determines whether the current OS kernel is a realtime kernel.

On Linux, this checks for the existence of /sys/kernel/realtime. On Windows, this always returns true.

Returns

True if running a realtime kernel, false otherwise.

isHomogeneousTransformation()

bool franka::isHomogeneousTransformation ( const std::array< double, 16 > &  transform )

inlinenoexcept

Determines whether the given array represents a valid homogeneous transformation matrix.

Parameters

[in]

transform

4x4 matrix in column-major format.

Returns

True if the array represents a homogeneous transformation matrix, otherwise false.

isValidElbow()

bool franka::isValidElbow ( const std::array< double, 2 > &  elbow )

inlinenoexcept

Determines whether the given elbow configuration is valid or not.

Parameters

[in]

elbow

Elbow configuration.

Returns

True if valid, otherwise false.

setCurrentThreadToHighestSchedulerPriority()

bool franka::setCurrentThreadToHighestSchedulerPriority

(

std::string *

error_message

)

Sets the current thread to the highest possible scheduler priority.

Parameters

[out]

error_message

Contains an error message if the scheduler priority cannot be set successfully.

Returns

True if successful, false otherwise.