franka::RobotState Struct Reference

Describes the robot state. More...

#include <robot_state.h>

Collaboration diagram for franka::RobotState:

Public Attributes
std::array< double, 16 >	O_T_EE {}
	\(^{O}T_{EE}\) Measured end effector pose in base frame. More...
std::array< double, 16 >	O_T_EE_d {}
	\({^OT_{EE}}_{d}\) Last desired end effector pose of motion generation in base frame. More...
std::array< double, 16 >	F_T_EE {}
	\(^{F}T_{EE}\) End effector frame pose in flange frame. More...
std::array< double, 16 >	F_T_NE {}
	\(^{F}T_{NE}\) Nominal end effector frame pose in flange frame. More...
std::array< double, 16 >	NE_T_EE {}
	\(^{NE}T_{EE}\) End effector frame pose in nominal end effector frame. More...
std::array< double, 16 >	EE_T_K {}
	\(^{EE}T_{K}\) Stiffness frame pose in end effector frame. More...
double	m_ee {}
	\(m_{EE}\) Configured mass of the end effector.
std::array< double, 9 >	I_ee {}
	\(I_{EE}\) Configured rotational inertia matrix of the end effector load with respect to center of mass.
std::array< double, 3 >	F_x_Cee {}
	\(^{F}x_{C_{EE}}\) Configured center of mass of the end effector load with respect to flange frame.
double	m_load {}
	\(m_{load}\) Configured mass of the external load.
std::array< double, 9 >	I_load {}
	\(I_{load}\) Configured rotational inertia matrix of the external load with respect to center of mass.
std::array< double, 3 >	F_x_Cload {}
	\(^{F}x_{C_{load}}\) Configured center of mass of the external load with respect to flange frame.
double	m_total {}
	\(m_{total}\) Sum of the mass of the end effector and the external load.
std::array< double, 9 >	I_total {}
	\(I_{total}\) Combined rotational inertia matrix of the end effector load and the external load with respect to the center of mass.
std::array< double, 3 >	F_x_Ctotal {}
	\(^{F}x_{C_{total}}\) Combined center of mass of the end effector load and the external load with respect to flange frame.
std::array< double, 2 >	elbow {}
	Elbow configuration. More...
std::array< double, 2 >	elbow_d {}
	Desired elbow configuration. More...
std::array< double, 2 >	elbow_c {}
	Commanded elbow configuration. More...
std::array< double, 2 >	delbow_c {}
	Commanded elbow velocity. More...
std::array< double, 2 >	ddelbow_c {}
	Commanded elbow acceleration. More...
std::array< double, 7 >	tau_J {}
	\(\tau_{J}\) Measured link-side joint torque sensor signals. More...
std::array< double, 7 >	tau_J_d {}
	\({\tau_J}_d\) Desired link-side joint torque sensor signals without gravity. More...
std::array< double, 7 >	dtau_J {}
	\(\dot{\tau_{J}}\) Derivative of measured link-side joint torque sensor signals. More...
std::array< double, 7 >	q {}
	\(q\) Measured joint position. More...
std::array< double, 7 >	q_d {}
	\(q_d\) Desired joint position. More...
std::array< double, 7 >	dq {}
	\(\dot{q}\) Measured joint velocity. More...
std::array< double, 7 >	dq_d {}
	\(\dot{q}_d\) Desired joint velocity. More...
std::array< double, 7 >	ddq_d {}
	\(\dot{q}_d\) Desired joint acceleration. More...
std::array< double, 7 >	joint_contact {}
	Indicates which contact level is activated in which joint. More...
std::array< double, 6 >	cartesian_contact {}
	Indicates which contact level is activated in which Cartesian dimension \((x,y,z,R,P,Y)\). More...
std::array< double, 7 >	joint_collision {}
	Indicates which contact level is activated in which joint. More...
std::array< double, 6 >	cartesian_collision {}
	Indicates which contact level is activated in which Cartesian dimension \((x,y,z,R,P,Y)\). More...
std::array< double, 7 >	tau_ext_hat_filtered {}
	\(\hat{\tau}_{\text{ext}}\) External torque, filtered. More...
std::array< double, 6 >	O_F_ext_hat_K {}
	\(^OF_{K,\text{ext}}\) Estimated external wrench (force, torque) acting on stiffness frame, expressed relative to the base frame. More...
std::array< double, 6 >	K_F_ext_hat_K {}
	\(^{K}F_{K,\text{ext}}\) Estimated external wrench (force, torque) acting on stiffness frame, expressed relative to the stiffness frame. More...
std::array< double, 6 >	O_dP_EE_d {}
	\({^OdP_{EE}}_{d}\) Desired end effector twist in base frame. More...
std::array< double, 16 >	O_T_EE_c {}
	\({^OT_{EE}}_{c}\) Last commanded end effector pose of motion generation in base frame. More...
std::array< double, 6 >	O_dP_EE_c {}
	\({^OdP_{EE}}_{c}\) Last commanded end effector twist in base frame. More...
std::array< double, 6 >	O_ddP_EE_c {}
	\({^OddP_{EE}}_{c}\) Last commanded end effector acceleration in base frame. More...
std::array< double, 7 >	theta {}
	\(\theta\) Motor position. More...
std::array< double, 7 >	dtheta {}
	\(\dot{\theta}\) Motor velocity. More...
Errors	current_errors {}
	Current error state.
Errors	last_motion_errors {}
	Contains the errors that aborted the previous motion.
double	control_command_success_rate {}
	Percentage of the last 100 control commands that were successfully received by the robot. More...
RobotMode	robot_mode = RobotMode::kUserStopped
	Current robot mode.
Duration	time {}
	Strictly monotonically increasing timestamp since robot start. More...

Detailed Description

Describes the robot state.

Examples:

cartesian_impedance_control.cpp, communication_test.cpp, echo_robot_state.cpp, force_control.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, motion_with_control.cpp, and print_joint_poses.cpp.

Member Data Documentation

cartesian_collision

std::array<double, 6> franka::RobotState::cartesian_collision {}

Indicates which contact level is activated in which Cartesian dimension \((x,y,z,R,P,Y)\).

After contact disappears, the value stays the same until a reset command is sent.

See also

Robot::setCollisionBehavior for setting sensitivity values.

Robot::automaticErrorRecovery for performing a reset after a collision.

cartesian_contact

std::array<double, 6> franka::RobotState::cartesian_contact {}

Indicates which contact level is activated in which Cartesian dimension \((x,y,z,R,P,Y)\).

After contact disappears, the value turns to zero.

See also

Robot::setCollisionBehavior for setting sensitivity values.

control_command_success_rate

double franka::RobotState::control_command_success_rate {}

Percentage of the last 100 control commands that were successfully received by the robot.

Shows a value of zero if no control or motion generator loop is currently running.

Range: \([0, 1]\).

Examples:

communication_test.cpp.

ddelbow_c

std::array<double, 2> franka::RobotState::ddelbow_c {}

Commanded elbow acceleration.

The values of the array are:

• [0] Acceleration of the 3rd joint in [rad/s^2].
• [1] Sign of the 4th joint. Can be +1 or -1.

ddq_d

std::array<double, 7> franka::RobotState::ddq_d {}

\(\dot{q}_d\) Desired joint acceleration.

Unit: \([\frac{rad}{s^2}]\)

delbow_c

std::array<double, 2> franka::RobotState::delbow_c {}

Commanded elbow velocity.

The values of the array are:

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

dq

std::array<double, 7> franka::RobotState::dq {}

\(\dot{q}\) Measured joint velocity.

Unit: \([\frac{rad}{s}]\)

Examples:

cartesian_impedance_control.cpp, and motion_with_control.cpp.

dq_d

std::array<double, 7> franka::RobotState::dq_d {}

\(\dot{q}_d\) Desired joint velocity.

Unit: \([\frac{rad}{s}]\)

dtau_J

std::array<double, 7> franka::RobotState::dtau_J {}

\(\dot{\tau_{J}}\) Derivative of measured link-side joint torque sensor signals.

Unit: \([\frac{Nm}{s}]\)

dtheta

std::array<double, 7> franka::RobotState::dtheta {}

\(\dot{\theta}\) Motor velocity.

Unit: \([rad]\)

EE_T_K

std::array<double, 16> franka::RobotState::EE_T_K {}

\(^{EE}T_{K}\) Stiffness frame pose in end effector frame.

Pose is represented as a 4x4 matrix in column-major format.

See also K frame.

elbow

std::array<double, 2> franka::RobotState::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.

elbow_c

std::array<double, 2> franka::RobotState::elbow_c {}

Commanded 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.

Examples:

generate_elbow_motion.cpp.

elbow_d

std::array<double, 2> franka::RobotState::elbow_d {}

Desired 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.

F_T_EE

std::array<double, 16> franka::RobotState::F_T_EE {}

\(^{F}T_{EE}\) End effector frame pose in flange frame.

Pose is represented as a 4x4 matrix in column-major format.

See also

F_T_NE

NE_T_EE

Robot for an explanation of the NE and EE frames.

F_T_NE

std::array<double, 16> franka::RobotState::F_T_NE {}

\(^{F}T_{NE}\) Nominal end effector frame pose in flange frame.

Pose is represented as a 4x4 matrix in column-major format.

See also

F_T_EE

NE_T_EE

Robot for an explanation of the NE and EE frames.

joint_collision

std::array<double, 7> franka::RobotState::joint_collision {}

Indicates which contact level is activated in which joint.

After contact disappears, the value stays the same until a reset command is sent.

See also

Robot::setCollisionBehavior for setting sensitivity values.

Robot::automaticErrorRecovery for performing a reset after a collision.

joint_contact

std::array<double, 7> franka::RobotState::joint_contact {}

Indicates which contact level is activated in which joint.

After contact disappears, value turns to zero.

See also

Robot::setCollisionBehavior for setting sensitivity values.

K_F_ext_hat_K

std::array<double, 6> franka::RobotState::K_F_ext_hat_K {}

\(^{K}F_{K,\text{ext}}\) Estimated external wrench (force, torque) acting on stiffness frame, expressed relative to the stiffness frame.

See also K frame. Unit: \([N,N,N,Nm,Nm,Nm]\).

NE_T_EE

std::array<double, 16> franka::RobotState::NE_T_EE {}

\(^{NE}T_{EE}\) End effector frame pose in nominal end effector frame.

Pose is represented as a 4x4 matrix in column-major format.

See also

Robot::setEE to change this frame.

F_T_EE

F_T_NE

Robot for an explanation of the NE and EE frames.

O_ddP_EE_c

std::array<double, 6> franka::RobotState::O_ddP_EE_c {}

\({^OddP_{EE}}_{c}\) Last commanded end effector acceleration in base frame.

Unit: \([\frac{m}{s^2},\frac{m}{s^2},\frac{m}{s^2},\frac{rad}{s^2},\frac{rad}{s^2},\frac{rad}{s^2}]\).

O_dP_EE_c

std::array<double, 6> franka::RobotState::O_dP_EE_c {}

\({^OdP_{EE}}_{c}\) Last commanded end effector twist in base frame.

Unit: \([\frac{m}{s},\frac{m}{s},\frac{m}{s},\frac{rad}{s},\frac{rad}{s},\frac{rad}{s}]\).

O_dP_EE_d

std::array<double, 6> franka::RobotState::O_dP_EE_d {}

\({^OdP_{EE}}_{d}\) Desired end effector twist in base frame.

Unit: \([\frac{m}{s},\frac{m}{s},\frac{m}{s},\frac{rad}{s},\frac{rad}{s},\frac{rad}{s}]\).

O_F_ext_hat_K

std::array<double, 6> franka::RobotState::O_F_ext_hat_K {}

\(^OF_{K,\text{ext}}\) Estimated external wrench (force, torque) acting on stiffness frame, expressed relative to the base frame.

See also K frame. Unit: \([N,N,N,Nm,Nm,Nm]\).

O_T_EE

std::array<double, 16> franka::RobotState::O_T_EE {}

\(^{O}T_{EE}\) Measured end effector pose in base frame.

Pose is represented as a 4x4 matrix in column-major format.

Examples:

cartesian_impedance_control.cpp.

O_T_EE_c

std::array<double, 16> franka::RobotState::O_T_EE_c {}

\({^OT_{EE}}_{c}\) Last commanded end effector pose of motion generation in base frame.

Pose is represented as a 4x4 matrix in column-major format.

Examples:

generate_cartesian_pose_motion.cpp, and generate_elbow_motion.cpp.

O_T_EE_d

std::array<double, 16> franka::RobotState::O_T_EE_d {}

\({^OT_{EE}}_{d}\) Last desired end effector pose of motion generation in base frame.

Pose is represented as a 4x4 matrix in column-major format.

q

std::array<double, 7> franka::RobotState::q {}

\(q\) Measured joint position.

Unit: \([rad]\)

Examples:

cartesian_impedance_control.cpp, and motion_with_control.cpp.

q_d

std::array<double, 7> franka::RobotState::q_d {}

\(q_d\) Desired joint position.

Unit: \([rad]\)

Examples:

generate_joint_position_motion.cpp, and motion_with_control.cpp.

tau_ext_hat_filtered

std::array<double, 7> franka::RobotState::tau_ext_hat_filtered {}

\(\hat{\tau}_{\text{ext}}\) External torque, filtered.

Unit: \([Nm]\).

tau_J

std::array<double, 7> franka::RobotState::tau_J {}

\(\tau_{J}\) Measured link-side joint torque sensor signals.

Unit: \([Nm]\)

Examples:

force_control.cpp.

tau_J_d

std::array<double, 7> franka::RobotState::tau_J_d {}

\({\tau_J}_d\) Desired link-side joint torque sensor signals without gravity.

Unit: \([Nm]\)

theta

std::array<double, 7> franka::RobotState::theta {}

\(\theta\) Motor position.

Unit: \([rad]\)

time

Duration franka::RobotState::time {}

Strictly monotonically increasing timestamp since robot start.

Inside of control loops time_step parameter of Robot::control can be used instead.

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

• include/franka/robot_state.h