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, franka::Duration duration)

	CartesianImpedanceMotion (const Affine &target, franka::Duration duration, const Params &params)

Public Member Functions inherited from franky::ImpedanceMotion
	ImpedanceMotion (Affine target, const Params &params)

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.

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

std::tuple< Affine, bool >	update (const RobotState &robot_state, franka::Duration time_step, franka::Duration time) override

Protected Member Functions inherited from franky::ImpedanceMotion
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

Affine	intermediate_target () const

Affine	target () 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 &)>

Detailed Description

Cartesian impedance motion.

This motion is a 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

◆ CartesianImpedanceMotion() [1/2]

franky::CartesianImpedanceMotion::CartesianImpedanceMotion	(	const Affine &	target,
		franka::Duration	duration
	)

explicit

Parameters

target	The target pose.
duration	The duration of the motion in [s].

◆ CartesianImpedanceMotion() [2/2]

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

explicit

Parameters

target	The target pose.
duration	The duration of the motion in [s].
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 >.

◆ update()

std::tuple< Affine, bool > franky::CartesianImpedanceMotion::update	(	const RobotState &	robot_state,
		franka::Duration	time_step,
		franka::Duration	time
	)

overrideprotectedvirtual

Implements franky::ImpedanceMotion.

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

Classes

Public Member Functions

Protected Member Functions