Contains helper functions for writing control loops. More...

#include <array>
#include <cmath>
#include <string>

Include dependency graph for control_tools.h:

Functions
bool	franka::isValidElbow (const std::array< double, 2 > &elbow) noexcept
	Determines whether the given elbow configuration is valid or not. More...

bool	franka::isHomogeneousTransformation (const std::array< double, 16 > &transform) noexcept
	Determines whether the given array represents a valid homogeneous transformation matrix. More...

bool	franka::hasRealtimeKernel ()
	Determines whether the current OS kernel is a realtime kernel. More...

bool	franka::setCurrentThreadToHighestSchedulerPriority (std::string *error_message)
	Sets the current thread to the highest possible scheduler priority. More...

Detailed Description

Contains helper functions for writing control loops.

Function Documentation

bool franka::hasRealtimeKernel ( )

Determines whether the current OS kernel is a realtime kernel.

On Linux, this checks for the existence of /sys/kernel/realtime. On Windows, this always returns true.

bool franka::isHomogeneousTransformation ( const std::array< double, 16 > & transform )

inlinenoexcept

Determines whether the given array represents a valid homogeneous transformation matrix.

Parameters

[in] transform 4x4 matrix in column-major format.

Returns: True if the array represents a homogeneous transformation matrix, otherwise false.

bool franka::isValidElbow ( const std::array< double, 2 > & elbow )

inlinenoexcept

Determines whether the given elbow configuration is valid or not.

Parameters

[in] elbow Elbow configuration.

bool franka::setCurrentThreadToHighestSchedulerPriority ( std::string * error_message )

Sets the current thread to the highest possible scheduler priority.

Parameters

[out] error_message Contains an error message if the scheduler priority cannot be set successfully.