franky::CartesianImpedanceBase Class Reference

Base class for client-side cartesian impedance motions. More...

#include <cartesian_impedance_base.hpp>

Inheritance diagram for franky::CartesianImpedanceBase:

Classes
struct	Params
	Parameters for the impedance motion. More...

Public Member Functions
const Affine &	target () const
void	setGains (const CartesianImpedanceGains &gains)
CartesianImpedanceGains	getGains () const
void	setNullspaceGains (const NullspaceGains &gains)
NullspaceGains	getNullspaceGains () const
Public Member Functions inherited from franky::Motion< franka::Torques >
virtual	~Motion ()=default
void	addReaction (std::shared_ptr< Reaction< franka::Torques > > reaction)
	Add a reaction to the motion.
void	addReactionFront (std::shared_ptr< Reaction< franka::Torques > > reaction)
	Add a reaction to the front of the reaction list.
std::vector< std::shared_ptr< Reaction< franka::Torques > > >	reactions ()
	Currently registered reactions of the motion.
void	registerCallback (CallbackType callback)
	Register a callback that is called in every step of the motion.
void	init (Robot *robot, const RobotState &robot_state, const std::optional< franka::Torques > &previous_command)
	Initialize the motion. Motions can only be started once; this function throws a MotionReuseException on any subsequent call.
bool	has_started () const
	Whether this motion has already been started. Started motions cannot be started again.
franka::Torques	nextCommand (const RobotState &robot_state, franka::Duration time_step, franka::Duration rel_time, franka::Duration abs_time, const std::optional< franka::Torques > &previous_command)
	Get the next command of the motion.
std::shared_ptr< Motion< franka::Torques > >	checkAndCallReactions (const RobotState &robot_state, franka::Duration rel_time, franka::Duration abs_time)
	Check and call reactions.

Protected Member Functions
	CartesianImpedanceBase (Affine target, const Params &params, double gains_time_constant=0.1)
franka::Torques	computeCommand (const RobotState &robot_state, const CartesianReference &reference, double dt)
const Params &	base_params () const
Protected Member Functions inherited from franky::Motion< franka::Torques >
	Motion ()
virtual void	initImpl (const RobotState &robot_state, const std::optional< franka::Torques > &previous_command)
virtual franka::Torques	nextCommandImpl (const RobotState &robot_state, franka::Duration time_step, franka::Duration rel_time, franka::Duration abs_time, const std::optional< franka::Torques > &previous_command)=0
Robot *	robot () const

Protected Attributes
Affine	target_

Additional Inherited Members
Public Types inherited from franky::Motion< franka::Torques >
using	CallbackType = std::function< void(const RobotState &, franka::Duration, franka::Duration, franka::Duration, const franka::Torques &)>

Detailed Description

Base class for client-side cartesian impedance motions.

This motion implements a cartesian impedance controller on the client side and does not use Franka's internal impedance controller. Instead, it uses Franka's internal torque controller and calculates the torques itself.

Constructor & Destructor Documentation

CartesianImpedanceBase()

franky::CartesianImpedanceBase::CartesianImpedanceBase ( Affine  target, const Params &  params, double  gains_time_constant = 0.1  )

explicitprotected

Parameters

target	The target pose.
params	Parameters for the motion.
gains_time_constant	Smoothing time constant for gain transitions [s]. Default 0.1s.

Member Function Documentation

base_params()

const Params & franky::CartesianImpedanceBase::base_params ( ) const

inlineprotected

computeCommand()

franka::Torques franky::CartesianImpedanceBase::computeCommand ( const RobotState &  robot_state, const CartesianReference &  reference, double  dt  )

protected

getGains()

CartesianImpedanceGains franky::CartesianImpedanceBase::getGains ( ) const

inline

getNullspaceGains()

NullspaceGains franky::CartesianImpedanceBase::getNullspaceGains ( ) const

inline

setGains()

void franky::CartesianImpedanceBase::setGains ( const CartesianImpedanceGains &  gains )

inline

setNullspaceGains()

void franky::CartesianImpedanceBase::setNullspaceGains ( const NullspaceGains &  gains )

inline

target()

const Affine & franky::CartesianImpedanceBase::target ( ) const

inline

Member Data Documentation

target_

Affine franky::CartesianImpedanceBase::target_

protected

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The documentation for this class was generated from the following files:

• /home/runner/work/franky/franky/include/franky/motion/cartesian_impedance_base.hpp
• /home/runner/work/franky/franky/src/motion/cartesian_impedance_base.cpp