20 std::array<bool, 41> errors_{};
49 Errors(
const std::array<bool, 41>& errors);
56 explicit operator bool() const noexcept;
65 explicit operator std::
string() const;
256std::ostream& operator<<(std::ostream& ostream, const
Errors& errors);
Enumerates errors that can occur while controlling a franka::Robot.
Definition errors.h:18
const bool & cartesian_motion_generator_acceleration_discontinuity
True if commanded acceleration in Cartesian motion generators is discontinuous (target values are too...
Definition errors.h:158
const bool & tau_j_range_violation
True if the measured torque signal is out of the safe range.
Definition errors.h:220
const bool & cartesian_motion_generator_velocity_discontinuity
True if commanded velocity in Cartesian motion generators is discontinuous (target values are too far...
Definition errors.h:153
const bool & joint_p2p_insufficient_torque_for_planning
True if the robot is overloaded for the required motion.
Definition errors.h:216
const bool & cartesian_motion_generator_joint_velocity_discontinuity
True if the joint velocity in Cartesian motion generators is discontinuous after IK calculation.
Definition errors.h:179
const bool & cartesian_motion_generator_joint_acceleration_discontinuity
True if the joint acceleration in Cartesian motion generators is discontinuous after IK calculation.
Definition errors.h:184
const bool & cartesian_velocity_violation
True if the robot exceeded Cartesian velocity limits.
Definition errors.h:86
const bool & cartesian_position_limits_violation
True if the robot moved past any of the virtual walls.
Definition errors.h:74
const bool & cartesian_motion_generator_joint_velocity_limits_violation
True if the joint velocity limits would be exceeded after IK calculation.
Definition errors.h:174
const bool & joint_position_limits_violation
True if the robot moved past the joint limits.
Definition errors.h:70
Errors(const Errors &other)
Copy constructs a new Errors instance.
const bool & cartesian_reflex
True if a collision was detected, i.e. the robot exceeded a torque threshold in a Cartesian motion.
Definition errors.h:100
const bool & communication_constraints_violation
True if minimum network communication quality could not be held during a motion.
Definition errors.h:206
const bool & base_acceleration_initialization_timeout
True if the gravity vector could not be initialized by measureing the base acceleration.
Definition errors.h:241
const bool & cartesian_spline_motion_generator_violation
True if the generated motion violates a joint limit.
Definition errors.h:233
const bool & cartesian_motion_generator_elbow_sign_inconsistent
True if commanded elbow values in Cartesian motion generators are inconsistent.
Definition errors.h:162
const bool & joint_motion_generator_acceleration_discontinuity
True if commanded acceleration in joint motion generators is discontinuous (target values are too far...
Definition errors.h:135
const bool & power_limit_violation
True if commanded values would result in exceeding the power limit.
Definition errors.h:210
Errors & operator=(Errors other)
Assigns this Errors instance from another Errors value.
const bool & cartesian_motion_generator_start_elbow_invalid
True if the first elbow value in Cartesian motion generators is too far from initial one.
Definition errors.h:166
const bool & cartesian_motion_generator_joint_position_limits_violation
True if the joint position limits would be exceeded after IK calculation.
Definition errors.h:170
const bool & joint_position_motion_generator_start_pose_invalid
True if an external joint position motion generator was started with a pose too far from the current ...
Definition errors.h:117
const bool & joint_move_in_wrong_direction
True if the robot is in joint position limits violation error and the user guides the robot further t...
Definition errors.h:229
const bool & joint_velocity_violation
True if the robot exceeded joint velocity limits.
Definition errors.h:82
const bool & base_acceleration_invalid_reading
True if the base acceleration O_ddP_O cannot be determined.
Definition errors.h:245
const bool & cartesian_motion_generator_velocity_limits_violation
True if an external Cartesian motion generator would move with too high velocity.
Definition errors.h:148
const bool & joint_motion_generator_position_limits_violation
True if an external joint motion generator would move into a joint limit.
Definition errors.h:121
const bool & cartesian_position_motion_generator_invalid_frame
True if the Cartesian pose is not a valid transformation matrix.
Definition errors.h:188
const bool & start_elbow_sign_inconsistent
True if the start elbow sign was inconsistent.
Definition errors.h:202
const bool & cartesian_position_motion_generator_start_pose_invalid
True if an external Cartesian position motion generator was started with a pose too far from the curr...
Definition errors.h:140
const bool & joint_motion_generator_velocity_discontinuity
True if commanded velocity in joint motion generators is discontinuous (target values are too far apa...
Definition errors.h:130
const bool & cartesian_motion_generator_elbow_limit_violation
True if an external Cartesian motion generator would move into an elbow limit.
Definition errors.h:144
const bool & max_goal_pose_deviation_violation
True if internal motion generator did not reach the goal pose.
Definition errors.h:104
const bool & max_path_pose_deviation_violation
True if internal motion generator deviated from the path.
Definition errors.h:108
const bool & self_collision_avoidance_violation
True if the robot would have collided with itself.
Definition errors.h:78
Errors(const std::array< bool, 41 > &errors)
Creates a new Errors instance from the given array.
const bool & joint_motion_generator_velocity_limits_violation
True if an external joint motion generator exceeded velocity limits.
Definition errors.h:125
const bool & force_controller_desired_force_tolerance_violation
True if desired force exceeds the safety thresholds.
Definition errors.h:192
const bool & force_control_safety_violation
True if the robot exceeded safety threshold during force control.
Definition errors.h:90
const bool & instability_detected
True if an instability is detected.
Definition errors.h:224
Errors()
Creates an empty Errors instance.
const bool & joint_via_motion_generator_planning_joint_limit_violation
True if the generated motion violates a joint limit.
Definition errors.h:237
const bool & controller_torque_discontinuity
True if the torque set by the external controller is discontinuous.
Definition errors.h:196
const bool & joint_reflex
True if a collision was detected, i.e. the robot exceeded a torque threshold in a joint motion.
Definition errors.h:95
const bool & cartesian_velocity_profile_safety_violation
True if Cartesian velocity profile for internal motions was exceeded.
Definition errors.h:112