franky.RelativeDynamicsFactor

class franky.RelativeDynamicsFactor

Bases: pybind11_object

Relative dynamics factors

This class encapsulates the relative dynamics factors, which are used to scale the maximum velocity, acceleration, and jerk of a trajectory.

__init__(*args, **kwargs)

Overloaded function.

  1. __init__(self: franky._franky.RelativeDynamicsFactor) -> None

Default constructor which initializes all values to 1.0.

  1. __init__(self: franky._franky.RelativeDynamicsFactor, value: typing.SupportsFloat | typing.SupportsIndex) -> None

Constructor which initializes all values to the given value.

Parameters:

value – The value to initialize all factors with. Must be in the range (0, 1].

  1. __init__(self: franky._franky.RelativeDynamicsFactor, velocity: typing.SupportsFloat | typing.SupportsIndex, acceleration: typing.SupportsFloat | typing.SupportsIndex, jerk: typing.SupportsFloat | typing.SupportsIndex) -> None

Parameters:

  • velocity – The factor for the velocity. Must be in the range (0, 1].

  • acceleration – The factor for the acceleration. Must be in the range (0, 1].

  • jerk – The factor for the jerk. Must be in the range (0, 1].

MAX_DYNAMICS = <franky._franky.RelativeDynamicsFactor object>
property acceleration

Acceleration factor.

property jerk

Jerk factor.

property max_dynamics

Whether the maximum dynamics should be used.

property velocity

Velocity factor.