5#include <ruckig/ruckig.hpp>
7#include <franka/robot_state.h>
39 bool return_when_finished =
true,
40 Affine ee_frame = Affine::Identity());
45 const std::optional<franka::CartesianPose> &previous_command,
46 ruckig::InputParameter<7> &input_parameter)
override;
50 const std::optional<franka::CartesianPose> &previous_command,
52 ruckig::InputParameter<7> &input_parameter)
override;
58 const franka::Duration &time_step,
59 const std::optional<franka::CartesianPose> &previous_command,
60 const ruckig::InputParameter<7> &input_parameter)
override;
62 [[nodiscard]]
virtual std::tuple<Vector7d, Vector7d, Vector7d>
getStateEstimate(
70 static inline Vector7d vec_cart_rot_elbow(
double cart,
double rot,
double elbow) {
71 return {cart, cart, cart, rot, rot, rot, elbow};
Definition cartesian_state.hpp:17
Cartesian waypoint motion.
Definition cartesian_waypoint_motion.hpp:23
virtual std::tuple< Vector7d, Vector7d, Vector7d > getStateEstimate(const RobotState &robot_state) const override
Definition cartesian_waypoint_motion.cpp:136
std::tuple< Vector7d, Vector7d, Vector7d > getAbsoluteInputLimits() const override
Definition cartesian_waypoint_motion.cpp:124
franka::CartesianPose getControlSignal(const RobotState &robot_state, const franka::Duration &time_step, const std::optional< franka::CartesianPose > &previous_command, const ruckig::InputParameter< 7 > &input_parameter) override
Definition cartesian_waypoint_motion.cpp:41
void initWaypointMotion(const RobotState &robot_state, const std::optional< franka::CartesianPose > &previous_command, ruckig::InputParameter< 7 > &input_parameter) override
Definition cartesian_waypoint_motion.cpp:18
void setNewWaypoint(const RobotState &robot_state, const std::optional< franka::CartesianPose > &previous_command, const PositionWaypoint< CartesianState > &new_waypoint, ruckig::InputParameter< 7 > &input_parameter) override
Definition cartesian_waypoint_motion.cpp:53
A motion following multiple positional waypoints in a time-optimal way. Works with arbitrary initial ...
Definition position_waypoint_motion.hpp:32
Relative dynamics factors.
Definition relative_dynamics_factor.hpp:13
Definition dynamics_limit.cpp:8
Eigen::Vector< double, 7 > Vector7d
Definition types.hpp:12
Eigen::Affine3d Affine
Definition types.hpp:16
A position waypoint with a target and optional parameters.
Definition position_waypoint_motion.hpp:20
Full state of the robot.
Definition robot_state.hpp:20