franky/cartesian__velocity__motion_8hpp_source.html

#pragma once


#include "franky/motion/cartesian_velocity_waypoint_motion.hpp"


namespace franky {


class CartesianVelocityMotion : public CartesianVelocityWaypointMotion {

 public:

  explicit CartesianVelocityMotion(

      const RobotVelocity &target,

      const franka::Duration &duration = franka::Duration(1000),

      double state_estimate_weight = 0.0,

      const RelativeDynamicsFactor &relative_dynamics_factor = 1.0,

      const Affine &frame = Affine::Identity());

};


}  // namespace franky

cartesian_velocity_waypoint_motion.hpp

franky::CartesianVelocityMotion
Cartesian velocity motion with a single target velocity.
Definition cartesian_velocity_motion.hpp:10

franky::CartesianVelocityWaypointMotion
Cartesian velocity waypoint motion.
Definition cartesian_velocity_waypoint_motion.hpp:22

franky::RelativeDynamicsFactor
Relative dynamics factors.
Definition relative_dynamics_factor.hpp:13

franky::RobotVelocity
Cartesian velocity of a robot.
Definition robot_velocity.hpp:19

franky
Definition dynamics_limit.cpp:8

franky::Affine
Eigen::Affine3d Affine
Definition types.hpp:16