franky::CartesianImpedanceMotion Class Reference

Cartesian impedance motion. More...

#include <cartesian_impedance_motion.hpp>

Inheritance diagram for franky::CartesianImpedanceMotion:

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

Public Member Functions
	CartesianImpedanceMotion (const Affine &target)
	CartesianImpedanceMotion (const Affine &target, const Params &params)
	CartesianImpedanceMotion (const Affine &target, const Twist &target_twist)
	CartesianImpedanceMotion (const Affine &target, const Twist &target_twist, const Params &params)
const Twist &	target_twist () const
const Params &	params () const
Public Member Functions inherited from franky::CartesianImpedanceBase
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
void	initImpl (const RobotState &robot_state, const std::optional< franka::Torques > &previous_command) override
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) override
Protected Member Functions inherited from franky::CartesianImpedanceBase
	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 ()
Robot *	robot () const

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 &)>
Protected Attributes inherited from franky::CartesianImpedanceBase
Affine	target_

Detailed Description

Cartesian impedance motion.

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.

Analogous to JointImpedanceMotion, this motion regulates toward a fixed target pose (and optional target twist) and does not terminate on its own. It runs until it is preempted or stopped.

Constructor & Destructor Documentation

CartesianImpedanceMotion() [1/4]

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

explicit

Parameters

target

The target pose.

CartesianImpedanceMotion() [2/4]

franky::CartesianImpedanceMotion::CartesianImpedanceMotion ( const Affine &  target, const Params &  params  )

explicit

Parameters

target	The target pose.
params	Parameters for the motion.

CartesianImpedanceMotion() [3/4]

franky::CartesianImpedanceMotion::CartesianImpedanceMotion	(	const Affine &	target,
		const Twist &	target_twist
	)

Parameters

target	The target pose.
target_twist	The target twist in the base frame. The damping term acts on twist error rather than resisting all motion toward zero.

CartesianImpedanceMotion() [4/4]

franky::CartesianImpedanceMotion::CartesianImpedanceMotion	(	const Affine &	target,
		const Twist &	target_twist,
		const Params &	params
	)

Parameters

target	The target pose.
target_twist	The target twist in the base frame. The damping term acts on twist error rather than resisting all motion toward zero.
params	Parameters for the motion.

Member Function Documentation

initImpl()

void franky::CartesianImpedanceMotion::initImpl ( const RobotState &  robot_state, const std::optional< franka::Torques > &  previous_command  )

overrideprotectedvirtual

Reimplemented from franky::Motion< franka::Torques >.

nextCommandImpl()

franka::Torques franky::CartesianImpedanceMotion::nextCommandImpl ( const RobotState &  robot_state, franka::Duration  time_step, franka::Duration  rel_time, franka::Duration  abs_time, const std::optional< franka::Torques > &  previous_command  )

overrideprotectedvirtual

Implements franky::Motion< franka::Torques >.

params()

const Params & franky::CartesianImpedanceMotion::params ( ) const

inline

target_twist()

const Twist & franky::CartesianImpedanceMotion::target_twist ( ) const

inline

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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_motion.hpp
• /home/runner/work/franky/franky/src/motion/cartesian_impedance_motion.cpp