Franky 1.0.2
A High-Level Motion API for Franka
Loading...
Searching...
No Matches
cartesian_waypoint_motion.hpp
Go to the documentation of this file.
1#pragma once
2
3#include <franka/robot_state.h>
4
5#include <atomic>
6#include <optional>
7#include <ruckig/ruckig.hpp>
8
12#include "franky/robot.hpp"
13#include "franky/robot_pose.hpp"
14#include "franky/util.hpp"
15
16namespace franky {
17
23class CartesianWaypointMotion : public PositionWaypointMotion<franka::CartesianPose, CartesianState> {
24 public:
37 const std::vector<PositionWaypoint<CartesianState>> &waypoints,
38 const RelativeDynamicsFactor &relative_dynamics_factor = 1.0, bool return_when_finished = true,
39 Affine ee_frame = Affine::Identity());
40
41 protected:
43 const RobotState &robot_state, const std::optional<franka::CartesianPose> &previous_command,
44 ruckig::InputParameter<7> &input_parameter) override;
45
46 void setNewWaypoint(
47 const RobotState &robot_state, const std::optional<franka::CartesianPose> &previous_command,
48 const PositionWaypoint<CartesianState> &new_waypoint, ruckig::InputParameter<7> &input_parameter) override;
49
50 [[nodiscard]] std::tuple<Vector7d, Vector7d, Vector7d> getAbsoluteInputLimits() const override;
51
52 [[nodiscard]] franka::CartesianPose getControlSignal(
53 const RobotState &robot_state, const franka::Duration &time_step,
54 const std::optional<franka::CartesianPose> &previous_command,
55 const ruckig::InputParameter<7> &input_parameter) override;
56
57 [[nodiscard]] std::tuple<Vector7d, Vector7d, Vector7d> getDesiredState(const RobotState &robot_state) const override;
58
59 private:
60 CartesianState target_state_;
61 Affine ref_frame_;
62 Affine ee_frame_;
63
64 static Vector7d vec_cart_rot_elbow(double cart, double rot, double elbow) {
65 return {cart, cart, cart, rot, rot, rot, elbow};
66 }
67};
68
69} // namespace franky
Definition cartesian_state.hpp:17
Cartesian waypoint motion.
Definition cartesian_waypoint_motion.hpp:23
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
std::tuple< Vector7d, Vector7d, Vector7d > getDesiredState(const RobotState &robot_state) const override
Definition cartesian_waypoint_motion.cpp:136
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