cartesian_impedance_motion.hpp

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#pragma once
 
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <map>
#include <optional>
 
#include "franky/motion/impedance_motion.hpp"
 
namespace franky {
 
class CartesianImpedanceMotion : public ImpedanceMotion {
 public:
  struct Params : public ImpedanceMotion::Params {
    bool return_when_finished{true};
    double finish_wait_factor{1.2};
  };
 
  explicit CartesianImpedanceMotion(const Affine &target, franka::Duration duration);
 
  explicit CartesianImpedanceMotion(const Affine &target, franka::Duration duration, const Params &params);
 
 protected:
  void initImpl(const RobotState &robot_state, const std::optional<franka::Torques> &previous_command) override;
 
  std::tuple<Affine, bool> update(
      const RobotState &robot_state, franka::Duration time_step, franka::Duration time) override;
 
 private:
  Affine initial_pose_;
  franka::Duration duration_;
  Params params_;
};
 
}  // namespace franky