libfranka  0.8.0
FCI C++ API
Classes | Enumerations | Functions
control_types.h File Reference

Contains helper types for returning motion generation and joint-level torque commands. More...

#include <array>
#include <cmath>
#include <initializer_list>
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Classes

struct  franka::Finishable
 Helper type for control and motion generation loops. More...
 
class  franka::Torques
 Stores joint-level torque commands without gravity and friction. More...
 
class  franka::JointPositions
 Stores values for joint position motion generation. More...
 
class  franka::JointVelocities
 Stores values for joint velocity motion generation. More...
 
class  franka::CartesianPose
 Stores values for Cartesian pose motion generation. More...
 
class  franka::CartesianVelocities
 Stores values for Cartesian velocity motion generation. More...
 

Enumerations

enum  franka::ControllerMode { kJointImpedance, kCartesianImpedance }
 Available controller modes for a franka::Robot.
 
enum  franka::RealtimeConfig { kEnforce, kIgnore }
 Used to decide whether to enforce realtime mode for a control loop thread. More...
 

Functions

Torques franka::MotionFinished (Torques command) noexcept
 Helper method to indicate that a motion should stop after processing the given command. More...
 
JointPositions franka::MotionFinished (JointPositions command) noexcept
 Helper method to indicate that a motion should stop after processing the given command. More...
 
JointVelocities franka::MotionFinished (JointVelocities command) noexcept
 Helper method to indicate that a motion should stop after processing the given command. More...
 
CartesianPose franka::MotionFinished (CartesianPose command) noexcept
 Helper method to indicate that a motion should stop after processing the given command. More...
 
CartesianVelocities franka::MotionFinished (CartesianVelocities command) noexcept
 Helper method to indicate that a motion should stop after processing the given command. More...
 

Detailed Description

Contains helper types for returning motion generation and joint-level torque commands.

Enumeration Type Documentation

◆ RealtimeConfig

Used to decide whether to enforce realtime mode for a control loop thread.

See also
Robot::Robot

Function Documentation

◆ MotionFinished() [1/5]

Torques franka::MotionFinished ( Torques  command)
inlinenoexcept

Helper method to indicate that a motion should stop after processing the given command.

Parameters
[in]commandLast command to be executed before the motion terminates.
Returns
Command with motion_finished set to true.
See also
Documentation on callbacks
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, and motion_with_control.cpp.

◆ MotionFinished() [2/5]

JointPositions franka::MotionFinished ( JointPositions  command)
inlinenoexcept

Helper method to indicate that a motion should stop after processing the given command.

Parameters
[in]commandLast command to be executed before the motion terminates.
Returns
Command with motion_finished set to true.
See also
Documentation on callbacks

◆ MotionFinished() [3/5]

JointVelocities franka::MotionFinished ( JointVelocities  command)
inlinenoexcept

Helper method to indicate that a motion should stop after processing the given command.

Parameters
[in]commandLast command to be executed before the motion terminates.
Returns
Command with motion_finished set to true.
See also
Documentation on callbacks

◆ MotionFinished() [4/5]

CartesianPose franka::MotionFinished ( CartesianPose  command)
inlinenoexcept

Helper method to indicate that a motion should stop after processing the given command.

Parameters
[in]commandLast command to be executed before the motion terminates.
Returns
Command with motion_finished set to true.
See also
Documentation on callbacks

◆ MotionFinished() [5/5]

CartesianVelocities franka::MotionFinished ( CartesianVelocities  command)
inlinenoexcept

Helper method to indicate that a motion should stop after processing the given command.

Parameters
[in]commandLast command to be executed before the motion terminates.
Returns
Command with motion_finished set to true.
See also
Documentation on callbacks