cartesian_impedance_motion.hpp

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#pragma once
 
#include <optional>
 
#include "franky/motion/cartesian_impedance_base.hpp"
#include "franky/motion/reference_type.hpp"
#include "franky/twist.hpp"
 
namespace franky {
 
class CartesianImpedanceMotion : public CartesianImpedanceBase {
 public:
  struct Params : public CartesianImpedanceBase::Params {
    ReferenceType target_type{ReferenceType::kAbsolute};
  };
 
  explicit CartesianImpedanceMotion(const Affine &target);
 
  explicit CartesianImpedanceMotion(const Affine &target, const Params &params);
 
  CartesianImpedanceMotion(const Affine &target, const Twist &target_twist);
 
  CartesianImpedanceMotion(const Affine &target, const Twist &target_twist, const Params &params);
 
  [[nodiscard]] const Twist &target_twist() const { return target_twist_; }
  [[nodiscard]] const Params &params() const { return params_; }
 
 protected:
  void initImpl(const RobotState &robot_state, const std::optional<franka::Torques> &previous_command) override;
 
  franka::Torques nextCommandImpl(
      const RobotState &robot_state, franka::Duration time_step, franka::Duration rel_time, franka::Duration abs_time,
      const std::optional<franka::Torques> &previous_command) override;
 
 private:
  Affine original_target_;
  Twist target_twist_;
  Params params_;
};
 
}  // namespace franky