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Franky 0.12.0
A High-Level Motion API for Franka
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This is the complete list of members for franky::CartesianMotion, including all inherited members.
| addReaction(std::shared_ptr< Reaction< ControlSignalType > > reaction) | franky::Motion< ControlSignalType > | |
| addReactionFront(std::shared_ptr< Reaction< ControlSignalType > > reaction) | franky::Motion< ControlSignalType > | |
| CallbackType typedef | franky::Motion< ControlSignalType > | |
| CartesianMotion(const CartesianState &target, double state_estimate_weight=0.0, ReferenceType reference_type=ReferenceType::kAbsolute, const RelativeDynamicsFactor &relative_dynamics_factor=1.0, bool return_when_finished=true, const Affine &frame=Affine::Identity()) | franky::CartesianMotion | explicit |
| CartesianWaypointMotion(const std::vector< PositionWaypoint< CartesianState > > &waypoints, const RelativeDynamicsFactor &relative_dynamics_factor=1.0, bool return_when_finished=true, Affine ee_frame=Affine::Identity()) | franky::CartesianWaypointMotion | explicit |
| checkAndCallReactions(const RobotState &robot_state, franka::Duration rel_time, franka::Duration abs_time) | franky::Motion< ControlSignalType > | |
| checkWaypoint(const WaypointType &waypoint) const | franky::WaypointMotion< ControlSignalType, WaypointType, TargetType > | inlineprotectedvirtual |
| extrapolateMotion(const franka::Duration &time_step, const ruckig::InputParameter< 7 > &input_parameter, ruckig::OutputParameter< 7 > &output_parameter) const override | franky::PositionWaypointMotion< franka::CartesianPose, CartesianState > | inlineprotectedvirtual |
| getAbsoluteInputLimits() const override | franky::CartesianWaypointMotion | protectedvirtual |
| getControlSignal(const RobotState &robot_state, const franka::Duration &time_step, const std::optional< franka::CartesianPose > &previous_command, const ruckig::InputParameter< 7 > &input_parameter) override | franky::CartesianWaypointMotion | protected |
| PositionWaypointMotion< franka::CartesianPose, CartesianState >::getControlSignal(const RobotState &robot_state, const franka::Duration &time_step, const std::optional< ControlSignalType > &previous_command, const ruckig::InputParameter< 7 > &input_parameter)=0 | franky::WaypointMotion< ControlSignalType, WaypointType, TargetType > | protectedpure virtual |
| getStateEstimate(const RobotState &robot_state) const override | franky::CartesianWaypointMotion | protectedvirtual |
| init(Robot *robot, const RobotState &robot_state, const std::optional< ControlSignalType > &previous_command) | franky::Motion< ControlSignalType > | |
| initImpl(const RobotState &robot_state, const std::optional< ControlSignalType > &previous_command) override | franky::WaypointMotion< ControlSignalType, WaypointType, TargetType > | inlineprotectedvirtual |
| initWaypointMotion(const RobotState &robot_state, const std::optional< franka::CartesianPose > &previous_command, ruckig::InputParameter< 7 > &input_parameter) override | franky::CartesianWaypointMotion | protected |
| PositionWaypointMotion< franka::CartesianPose, CartesianState >::initWaypointMotion(const RobotState &robot_state, const std::optional< ControlSignalType > &previous_command, ruckig::InputParameter< 7 > &input_parameter)=0 | franky::WaypointMotion< ControlSignalType, WaypointType, TargetType > | protectedpure virtual |
| Motion() | franky::Motion< ControlSignalType > | explicitprotected |
| nextCommand(const RobotState &robot_state, franka::Duration time_step, franka::Duration rel_time, franka::Duration abs_time, const std::optional< ControlSignalType > &previous_command) | franky::Motion< ControlSignalType > | |
| nextCommandImpl(const RobotState &robot_state, franka::Duration time_step, franka::Duration rel_time, franka::Duration abs_time, const std::optional< ControlSignalType > &previous_command) override | franky::WaypointMotion< ControlSignalType, WaypointType, TargetType > | inlineprotectedvirtual |
| PositionWaypointMotion(std::vector< PositionWaypoint< CartesianState > > waypoints, const RelativeDynamicsFactor &relative_dynamics_factor=1.0, bool return_when_finished=true) | franky::PositionWaypointMotion< franka::CartesianPose, CartesianState > | inlineexplicit |
| reactions() | franky::Motion< ControlSignalType > | |
| registerCallback(CallbackType callback) | franky::Motion< ControlSignalType > | |
| robot() const | franky::Motion< ControlSignalType > | inlineprotected |
| setInputLimits(const PositionWaypoint< CartesianState > &waypoint, ruckig::InputParameter< 7 > &input_parameter) const override | franky::PositionWaypointMotion< franka::CartesianPose, CartesianState > | inlineprotected |
| franky::WaypointMotion::setInputLimits(const WaypointType &waypoint, ruckig::InputParameter< 7 > &input_parameter) const =0 | franky::WaypointMotion< ControlSignalType, WaypointType, TargetType > | protectedpure virtual |
| setNewWaypoint(const RobotState &robot_state, const std::optional< franka::CartesianPose > &previous_command, const PositionWaypoint< CartesianState > &new_waypoint, ruckig::InputParameter< 7 > &input_parameter) override | franky::CartesianWaypointMotion | protected |
| PositionWaypointMotion< franka::CartesianPose, CartesianState >::setNewWaypoint(const RobotState &robot_state, const std::optional< ControlSignalType > &previous_command, const WaypointType &new_waypoint, ruckig::InputParameter< 7 > &input_parameter)=0 | franky::WaypointMotion< ControlSignalType, WaypointType, TargetType > | protectedpure virtual |
| WaypointMotion(std::vector< WaypointType > waypoints, bool return_when_finished=true) | franky::WaypointMotion< ControlSignalType, WaypointType, TargetType > | inlineexplicit |
| ~Motion()=default | franky::Motion< ControlSignalType > | virtual |
1.9.8