robot_state.h

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// Copyright (c) 2024 Franka Robotics GmbH
// Use of this source code is governed by the Apache-2.0 license, see LICENSE
#pragma once
 
#include <array>
#include <ostream>
 
#include <franka/duration.h>
#include <franka/errors.h>
 
namespace franka {
 
enum class RobotMode {
  kOther,
  kIdle,
  kMove,
  kGuiding,
  kReflex,
  kUserStopped,
  kAutomaticErrorRecovery
};
 
struct RobotState {
  std::array<double, 16> O_T_EE{};  // NOLINT(readability-identifier-naming)
 
  std::array<double, 16> O_T_EE_d{};  // NOLINT(readability-identifier-naming)
 
  std::array<double, 16> F_T_EE{};  // NOLINT(readability-identifier-naming)
 
  std::array<double, 16> F_T_NE{};  // NOLINT(readability-identifier-naming)
 
  std::array<double, 16> NE_T_EE{};  // NOLINT(readability-identifier-naming)
 
  std::array<double, 16> EE_T_K{};  // NOLINT(readability-identifier-naming)
 
  double m_ee{};
 
  std::array<double, 9> I_ee{};  // NOLINT(readability-identifier-naming)
 
  std::array<double, 3> F_x_Cee{};  // NOLINT(readability-identifier-naming)
 
  double m_load{};
 
  std::array<double, 9> I_load{};  // NOLINT(readability-identifier-naming)
 
  std::array<double, 3> F_x_Cload{};  // NOLINT(readability-identifier-naming)
 
  double m_total{};
 
  std::array<double, 9> I_total{};  // NOLINT(readability-identifier-naming)
 
  std::array<double, 3> F_x_Ctotal{};  // NOLINT(readability-identifier-naming)
 
  std::array<double, 2> elbow{};
 
  std::array<double, 2> elbow_d{};
 
  std::array<double, 2> elbow_c{};
 
  std::array<double, 2> delbow_c{};
 
  std::array<double, 2> ddelbow_c{};
 
  std::array<double, 7> tau_J{};  // NOLINT(readability-identifier-naming)
 
  std::array<double, 7> tau_J_d{};  // NOLINT(readability-identifier-naming)
 
  std::array<double, 7> dtau_J{};  // NOLINT(readability-identifier-naming)
 
  std::array<double, 7> q{};
 
  std::array<double, 7> q_d{};
 
  std::array<double, 7> dq{};
 
  std::array<double, 7> dq_d{};
 
  std::array<double, 7> ddq_d{};
 
  std::array<double, 7> joint_contact{};
 
  std::array<double, 6> cartesian_contact{};
 
  std::array<double, 7> joint_collision{};
 
  std::array<double, 6> cartesian_collision{};
 
  std::array<double, 7> tau_ext_hat_filtered{};
 
  std::array<double, 6> O_F_ext_hat_K{};  // NOLINT(readability-identifier-naming)
 
  std::array<double, 6> K_F_ext_hat_K{};  // NOLINT(readability-identifier-naming)
 
  std::array<double, 6> O_dP_EE_d{};  // NOLINT(readability-identifier-naming)
 
  std::array<double, 3> O_ddP_O{};  // NOLINT(readability-identifier-naming)
 
  std::array<double, 16> O_T_EE_c{};  // NOLINT(readability-identifier-naming)
 
  std::array<double, 6> O_dP_EE_c{};  // NOLINT(readability-identifier-naming)
 
  std::array<double, 6> O_ddP_EE_c{};  // NOLINT(readability-identifier-naming)
 
  std::array<double, 7> theta{};
 
  std::array<double, 7> dtheta{};
 
  Errors current_errors{};
 
  Errors last_motion_errors{};
 
  double control_command_success_rate{};
 
  RobotMode robot_mode = RobotMode::kUserStopped;
 
  Duration time{};
};
 
std::ostream& operator<<(std::ostream& ostream, const franka::RobotState& robot_state);
 
std::ostream& operator<<(std::ostream& ostream, RobotMode robot_mode);
 
}  // namespace franka