franky::CartesianImpedanceTrackingMotion Class Reference

Cartesian impedance tracking motion. More...

#include <cartesian_impedance_tracking_motion.hpp>

Inheritance diagram for franky::CartesianImpedanceTrackingMotion:

Public Types
using	Params = CartesianImpedanceBase::Params
using	ReferenceCallback = std::function< CartesianReference(const RobotState &, franka::Duration, franka::Duration, franka::Duration)>
Public Types inherited from franky::Motion< franka::Torques >
using	CallbackType = std::function< void(const RobotState &, franka::Duration, franka::Duration, franka::Duration, const franka::Torques &)>

Public Member Functions
	CartesianImpedanceTrackingMotion (const Params &params=Params{}, double gains_time_constant=0.1)
	CartesianImpedanceTrackingMotion (ReferenceCallback reference_callback, const Params &params=Params{}, double gains_time_constant=0.1)
void	setReference (const CartesianReference &reference)
std::optional< CartesianReference >	getReference () 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
Protected Attributes inherited from franky::CartesianImpedanceBase
Affine	target_

Detailed Description

Cartesian impedance tracking motion.

This motion keeps the same Cartesian impedance controller alive while reading the latest reference from a handle or callback every control cycle.

Member Typedef Documentation

Params

using franky::CartesianImpedanceTrackingMotion::Params = CartesianImpedanceBase::Params

ReferenceCallback

using franky::CartesianImpedanceTrackingMotion::ReferenceCallback = std::function<CartesianReference(const RobotState &, franka::Duration, franka::Duration, franka::Duration)>

Constructor & Destructor Documentation

CartesianImpedanceTrackingMotion() [1/2]

franky::CartesianImpedanceTrackingMotion::CartesianImpedanceTrackingMotion ( const Params &  params = Params{}, double  gains_time_constant = 0.1  )

explicit

CartesianImpedanceTrackingMotion() [2/2]

franky::CartesianImpedanceTrackingMotion::CartesianImpedanceTrackingMotion ( ReferenceCallback  reference_callback, const Params &  params = Params{}, double  gains_time_constant = 0.1  )

explicit

Member Function Documentation

getReference()

std::optional< CartesianReference > franky::CartesianImpedanceTrackingMotion::getReference ( ) const

inline

initImpl()

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

overrideprotectedvirtual

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

nextCommandImpl()

franka::Torques franky::CartesianImpedanceTrackingMotion::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::CartesianImpedanceTrackingMotion::params ( ) const

inline

setReference()

void franky::CartesianImpedanceTrackingMotion::setReference ( const CartesianReference &  reference )

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_tracking_motion.hpp
• /home/runner/work/franky/franky/src/motion/cartesian_impedance_tracking_motion.cpp