29 kAutomaticErrorRecovery
41 std::array<double, 16> O_T_EE{};
48 std::array<double, 16> O_T_EE_d{};
59 std::array<double, 16> F_T_EE{};
70 std::array<double, 16> F_T_NE{};
82 std::array<double, 16> NE_T_EE{};
91 std::array<double, 16> EE_T_K{};
103 std::array<double, 9> I_ee{};
109 std::array<double, 3> F_x_Cee{};
121 std::array<double, 9> I_load{};
127 std::array<double, 3> F_x_Cload{};
140 std::array<double, 9> I_total{};
147 std::array<double, 3> F_x_Ctotal{};
156 std::array<double, 2> elbow{};
165 std::array<double, 2> elbow_d{};
174 std::array<double, 2> elbow_c{};
183 std::array<double, 2> delbow_c{};
192 std::array<double, 2> ddelbow_c{};
198 std::array<double, 7> tau_J{};
204 std::array<double, 7> tau_J_d{};
210 std::array<double, 7> dtau_J{};
216 std::array<double, 7> q{};
222 std::array<double, 7> q_d{};
228 std::array<double, 7> dq{};
234 std::array<double, 7> dq_d{};
240 std::array<double, 7> ddq_d{};
248 std::array<double, 7> joint_contact{};
256 std::array<double, 6> cartesian_contact{};
265 std::array<double, 7> joint_collision{};
274 std::array<double, 6> cartesian_collision{};
280 std::array<double, 7> tau_ext_hat_filtered{};
288 std::array<double, 6> O_F_ext_hat_K{};
296 std::array<double, 6> K_F_ext_hat_K{};
303 std::array<double, 6> O_dP_EE_d{};
310 std::array<double, 16> O_T_EE_c{};
317 std::array<double, 6> O_dP_EE_c{};
325 std::array<double, 6> O_ddP_EE_c{};
331 std::array<double, 7> theta{};
337 std::array<double, 7> dtheta{};
356 double control_command_success_rate{};
Contains the franka::Errors type.
std::ostream & operator<<(std::ostream &ostream, const Errors &errors)
Streams the errors as JSON array.
Enumerates errors that can occur while controlling a franka::Robot.
Definition: errors.h:18
Represents a duration with millisecond resolution.
Definition: duration.h:19
Definition: command_types.h:13
Contains the franka::Duration type.
Describes the robot state.
Definition: robot_state.h:35
RobotMode
Describes the robot's current mode.
Definition: robot_state.h:22