franky.CartesianState

class franky.CartesianState

Bases: pybind11_object

Cartesian state of a robot.

This class encapsulates the cartesian state of a robot, which comprises the end effector pose and the end effector velocity.

__init__(*args, **kwargs)

Overloaded function.

  1. __init__(self: franky._franky.CartesianState, pose: franky._franky.RobotPose) -> None

  2. __init__(self: franky._franky.CartesianState, pose: franky._franky.RobotPose, velocity: franky._franky.RobotVelocity) -> None

Parameters:

  • pose – The pose of the end effector.

  • velocity – The velocity of the end effector.

  1. __init__(self: franky._franky.CartesianState, arg0: franky._franky.CartesianState) -> None

change_end_effector_frame(self: franky._franky.CartesianState, transform: franky._franky.Affine) → franky._franky.CartesianState

Change the end effector frame of the state by the given affine transform.

Parameters:

transform – The pose of the new end-effector in the frame of the old end-effector.

Returns:

The state with a new end-effector frame.

transform_with(self: franky._franky.CartesianState, transform: franky._franky.Affine) → franky._franky.CartesianState

Transform the frame of the state by applying the given affine transform.

Parameters:

transform – The transformation to apply.

Returns:

The state after the transformation.

property pose

Pose component of the state.

property velocity

Velocity component of the state.