libfranka  0.8.0
FCI C++ API
Public Member Functions | Public Attributes | List of all members
franka::CartesianVelocities Class Reference

Stores values for Cartesian velocity motion generation. More...

#include <control_types.h>

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Public Member Functions

 CartesianVelocities (const std::array< double, 6 > &cartesian_velocities) noexcept
 Creates a new CartesianVelocities instance. More...
 
 CartesianVelocities (const std::array< double, 6 > &cartesian_velocities, const std::array< double, 2 > &elbow) noexcept
 Creates a new CartesianVelocities instance. More...
 
 CartesianVelocities (std::initializer_list< double > cartesian_velocities)
 Creates a new CartesianVelocities instance. More...
 
 CartesianVelocities (std::initializer_list< double > cartesian_velocities, std::initializer_list< double > elbow)
 Creates a new CartesianVelocities instance. More...
 
bool hasElbow () const noexcept
 Determines whether there is a stored elbow configuration. More...
 

Public Attributes

std::array< double, 6 > O_dP_EE {}
 Desired Cartesian velocity w.r.t. More...
 
std::array< double, 2 > elbow {}
 Elbow configuration. More...
 
- Public Attributes inherited from franka::Finishable
bool motion_finished = false
 Determines whether to finish a currently running motion.
 

Detailed Description

Stores values for Cartesian velocity motion generation.

Examples:
generate_cartesian_velocity_motion.cpp.

Constructor & Destructor Documentation

◆ CartesianVelocities() [1/4]

franka::CartesianVelocities::CartesianVelocities ( const std::array< double, 6 > &  cartesian_velocities)
noexcept

Creates a new CartesianVelocities instance.

Parameters
[in]cartesian_velocitiesDesired Cartesian velocity w.r.t. O-frame {dx in [m/s], dy in [m/s], dz in [m/s], omegax in [rad/s], omegay in [rad/s], omegaz in [rad/s]}.

◆ CartesianVelocities() [2/4]

franka::CartesianVelocities::CartesianVelocities ( const std::array< double, 6 > &  cartesian_velocities,
const std::array< double, 2 > &  elbow 
)
noexcept

Creates a new CartesianVelocities instance.

Parameters
[in]cartesian_velocitiesDesired Cartesian velocity w.r.t. O-frame {dx in [m/s], dy in [m/s], dz in [m/s], omegax in [rad/s], omegay in [rad/s], omegaz in [rad/s]}.
[in]elbowElbow configuration (see elbow member for more details).

◆ CartesianVelocities() [3/4]

franka::CartesianVelocities::CartesianVelocities ( std::initializer_list< double >  cartesian_velocities)

Creates a new CartesianVelocities instance.

Parameters
[in]cartesian_velocitiesDesired Cartesian velocity w.r.t. O-frame {dx in [m/s], dy in [m/s], dz in [m/s], omegax in [rad/s], omegay in [rad/s], omegaz in [rad/s]}.
Exceptions
std::invalid_argumentif the given initializer list has an invalid number of arguments.

◆ CartesianVelocities() [4/4]

franka::CartesianVelocities::CartesianVelocities ( std::initializer_list< double >  cartesian_velocities,
std::initializer_list< double >  elbow 
)

Creates a new CartesianVelocities instance.

Parameters
[in]cartesian_velocitiesDesired Cartesian velocity w.r.t. O-frame {dx in [m/s], dy in [m/s], dz in [m/s], omegax in [rad/s], omegay in [rad/s], omegaz in [rad/s]}.
[in]elbowElbow configuration (see elbow member for more details).
Exceptions
std::invalid_argumentif a given initializer list has an invalid number of arguments.

Member Function Documentation

◆ hasElbow()

bool franka::CartesianVelocities::hasElbow ( ) const
noexcept

Determines whether there is a stored elbow configuration.

Returns
True if there is a stored elbow configuration, false otherwise.

Member Data Documentation

◆ elbow

std::array<double, 2> franka::CartesianVelocities::elbow {}

Elbow configuration.

The values of the array are:

  • [0] Position of the 3rd joint in [rad].
  • [1] Sign of the 4th joint. Can be +1 or -1.

◆ O_dP_EE

std::array<double, 6> franka::CartesianVelocities::O_dP_EE {}

Desired Cartesian velocity w.r.t.

O-frame {dx in [m/s], dy in [m/s], dz in [m/s], omegax in [rad/s], omegay in [rad/s], omegaz in [rad/s]}.


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