Enumerates errors that can occur while controlling a franka::Robot. More...

#include <errors.h>

Public Member Functions
	Errors ()
	Creates an empty Errors instance.

	Errors (const Errors &other)
	Copy constructs a new Errors instance.

Errors &	operator= (Errors other)
	Assigns this Errors instance from another Errors value.

	Errors (const std::array< bool, 41 > &errors)
	Creates a new Errors instance from the given array.

	operator bool () const noexcept
	Check if any error flag is set to true.

	operator std::string () const
	Creates a string with names of active errors: "[active_error_name2, active_error_name_2, ... active_error_name_n]" If no errors are active, the string contains empty brackets: "[]".

Public Attributes
const bool &	joint_position_limits_violation
	True if the robot moved past the joint limits.

const bool &	cartesian_position_limits_violation
	True if the robot moved past any of the virtual walls.

const bool &	self_collision_avoidance_violation
	True if the robot would have collided with itself.

const bool &	joint_velocity_violation
	True if the robot exceeded joint velocity limits.

const bool &	cartesian_velocity_violation
	True if the robot exceeded Cartesian velocity limits.

const bool &	force_control_safety_violation
	True if the robot exceeded safety threshold during force control.

const bool &	joint_reflex
	True if a collision was detected, i.e. the robot exceeded a torque threshold in a joint motion.

const bool &	cartesian_reflex
	True if a collision was detected, i.e. the robot exceeded a torque threshold in a Cartesian motion.

const bool &	max_goal_pose_deviation_violation
	True if internal motion generator did not reach the goal pose.

const bool &	max_path_pose_deviation_violation
	True if internal motion generator deviated from the path.

const bool &	cartesian_velocity_profile_safety_violation
	True if Cartesian velocity profile for internal motions was exceeded.

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 pose.

const bool &	joint_motion_generator_position_limits_violation
	True if an external joint motion generator would move into a joint limit.

const bool &	joint_motion_generator_velocity_limits_violation
	True if an external joint motion generator exceeded velocity limits.

const bool &	joint_motion_generator_velocity_discontinuity
	True if commanded velocity in joint motion generators is discontinuous (target values are too far apart).

const bool &	joint_motion_generator_acceleration_discontinuity
	True if commanded acceleration in joint motion generators is discontinuous (target values are too far apart).

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 current pose.

const bool &	cartesian_motion_generator_elbow_limit_violation
	True if an external Cartesian motion generator would move into an elbow limit.

const bool &	cartesian_motion_generator_velocity_limits_violation
	True if an external Cartesian motion generator would move with too high velocity.

const bool &	cartesian_motion_generator_velocity_discontinuity
	True if commanded velocity in Cartesian motion generators is discontinuous (target values are too far apart).

const bool &	cartesian_motion_generator_acceleration_discontinuity
	True if commanded acceleration in Cartesian motion generators is discontinuous (target values are too far apart).

const bool &	cartesian_motion_generator_elbow_sign_inconsistent
	True if commanded elbow values in Cartesian motion generators are inconsistent.

const bool &	cartesian_motion_generator_start_elbow_invalid
	True if the first elbow value in Cartesian motion generators is too far from initial one.

const bool &	cartesian_motion_generator_joint_position_limits_violation
	True if the joint position limits would be exceeded after IK calculation.

const bool &	cartesian_motion_generator_joint_velocity_limits_violation
	True if the joint velocity limits would be exceeded after IK calculation.

const bool &	cartesian_motion_generator_joint_velocity_discontinuity
	True if the joint velocity in Cartesian motion generators is discontinuous after IK calculation.

const bool &	cartesian_motion_generator_joint_acceleration_discontinuity
	True if the joint acceleration in Cartesian motion generators is discontinuous after IK calculation.

const bool &	cartesian_position_motion_generator_invalid_frame
	True if the Cartesian pose is not a valid transformation matrix.

const bool &	force_controller_desired_force_tolerance_violation
	True if desired force exceeds the safety thresholds.

const bool &	controller_torque_discontinuity
	True if the torque set by the external controller is discontinuous.

const bool &	start_elbow_sign_inconsistent
	True if the start elbow sign was inconsistent.

const bool &	communication_constraints_violation
	True if minimum network communication quality could not be held during a motion.

const bool &	power_limit_violation
	True if commanded values would result in exceeding the power limit.

const bool &	joint_p2p_insufficient_torque_for_planning
	True if the robot is overloaded for the required motion.

const bool &	tau_j_range_violation
	True if the measured torque signal is out of the safe range.

const bool &	instability_detected
	True if an instability is detected.

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 towards the limit.

const bool &	cartesian_spline_motion_generator_violation
	True if the generated motion violates a joint limit.

const bool &	joint_via_motion_generator_planning_joint_limit_violation
	True if the generated motion violates a joint limit.

const bool &	base_acceleration_initialization_timeout
	True if the gravity vector could not be initialized by measureing the base acceleration.

const bool &	base_acceleration_invalid_reading
	True if the base acceleration O_ddP_O cannot be determined.

Detailed Description

Enumerates errors that can occur while controlling a franka::Robot.

Constructor & Destructor Documentation

◆ Errors() [1/2]

franka::Errors::Errors ( const Errors & other )

Copy constructs a new Errors instance.

Parameters

[in] other Other Errors instance.

◆ Errors() [2/2]

franka::Errors::Errors ( const std::array< bool, 41 > & errors )

Creates a new Errors instance from the given array.

Parameters

errors Array of error flags.

Member Function Documentation

◆ operator bool()

franka::Errors::operator bool ( ) const

explicitnoexcept

Check if any error flag is set to true.

Returns: True if any errors are set.

◆ operator std::string()

franka::Errors::operator std::string ( ) const

explicit

Creates a string with names of active errors: "[active_error_name2, active_error_name_2, ... active_error_name_n]" If no errors are active, the string contains empty brackets: "[]".

Returns: string with names of active errors

◆ operator=()

Errors & franka::Errors::operator= ( Errors other )

Assigns this Errors instance from another Errors value.

Parameters

[in] other Other Errors instance.

Returns: Errors instance.

Member Data Documentation

◆ joint_p2p_insufficient_torque_for_planning

const bool& franka::Errors::joint_p2p_insufficient_torque_for_planning

True if the robot is overloaded for the required motion.

Applies only to motions started from Desk.

◆ start_elbow_sign_inconsistent

const bool& franka::Errors::start_elbow_sign_inconsistent

True if the start elbow sign was inconsistent.

Applies only to motions started from Desk.

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

include/franka/errors.h

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Errors() [1/2]

◆ Errors() [2/2]

Member Function Documentation

◆ operator bool()

◆ operator std::string()

◆ operator=()

Member Data Documentation

◆ joint_p2p_insufficient_torque_for_planning

◆ start_elbow_sign_inconsistent