MotionGenerator Class Reference

An example showing how to generate a joint pose motion to a goal position. More...

#include <examples_common.h>

Public Member Functions
	MotionGenerator (double speed_factor, const std::array< double, 7 > q_goal)
	Creates a new MotionGenerator instance for a target q. More...
franka::JointPositions	operator() (const franka::RobotState &robot_state, franka::Duration period)
	Sends joint position calculations. More...

Detailed Description

An example showing how to generate a joint pose motion to a goal position.

Adapted from: Wisama Khalil and Etienne Dombre. 2002. Modeling, Identification and Control of Robots (Kogan Page Science Paper edition).

Examples:

communication_test.cpp, generate_cartesian_pose_motion.cpp, generate_cartesian_velocity_motion.cpp, generate_consecutive_motions.cpp, generate_elbow_motion.cpp, generate_joint_position_motion.cpp, generate_joint_velocity_motion.cpp, joint_impedance_control.cpp, joint_point_to_point_motion.cpp, and motion_with_control.cpp.

Constructor & Destructor Documentation

MotionGenerator()

MotionGenerator::MotionGenerator	(	double	speed_factor,
		const std::array< double, 7 >	q_goal
	)

Creates a new MotionGenerator instance for a target q.

Parameters

[in]	speed_factor	General speed factor in range [0, 1].
[in]	q_goal	Target joint positions.

Member Function Documentation

operator()()

franka::JointPositions MotionGenerator::operator()	(	const franka::RobotState &	robot_state,
		franka::Duration	period
	)

Sends joint position calculations.

Parameters

[in]	robot_state	Current state of the robot.
[in]	period	Duration of execution.

Returns

Joint positions for use inside a control loop.

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

• examples/examples_common.h
• examples/examples_common.cpp