7#include <Eigen/Geometry>
51 void initImpl(
const RobotState &robot_state,
const std::optional<franka::Torques> &previous_command)
override;
53 std::tuple<Affine, bool>
update(
54 const RobotState &robot_state, franka::Duration time_step, franka::Duration time)
override;
58 franka::Duration duration_;
Cartesian impedance motion.
Definition cartesian_impedance_motion.hpp:19
void initImpl(const RobotState &robot_state, const std::optional< franka::Torques > &previous_command) override
Definition cartesian_impedance_motion.cpp:19
std::tuple< Affine, bool > update(const RobotState &robot_state, franka::Duration time_step, franka::Duration time) override
Definition cartesian_impedance_motion.cpp:27
Base class for client-side cartesian impedance motions.
Definition impedance_motion.hpp:22
Affine target() const
Definition impedance_motion.hpp:65
Definition dynamics_limit.cpp:8
Eigen::Affine3d Affine
Definition types.hpp:16
Parameters for the Cartesian impedance motion.
Definition cartesian_impedance_motion.hpp:25
bool return_when_finished
Definition cartesian_impedance_motion.hpp:27
double finish_wait_factor
Definition cartesian_impedance_motion.hpp:34
Parameters for the impedance motion.
Definition impedance_motion.hpp:27
Full state of the robot.
Definition robot_state.hpp:20