Cartesian motion with a single target. More...

#include <cartesian_motion.hpp>

Inheritance diagram for franky::CartesianMotion:

Public Member Functions
	CartesianMotion (const CartesianState &target, ReferenceType reference_type=ReferenceType::Absolute, const Affine &frame=Affine::Identity(), RelativeDynamicsFactor relative_dynamics_factor=1.0, bool return_when_finished=true)
	Construct a Cartesian motion. More...

Public Member Functions inherited from franky::CartesianWaypointMotion
	CartesianWaypointMotion (const std::vector< Waypoint< CartesianState >> &waypoints)

	CartesianWaypointMotion (const std::vector< Waypoint< CartesianState >> &waypoints, Params params)

Public Member Functions inherited from franky::WaypointMotion< franka::CartesianPose, CartesianState >
	WaypointMotion (std::vector< Waypoint< CartesianState >> waypoints, Params params)

Public Member Functions inherited from franky::Motion< franka::CartesianPose >
void	addReaction (std::shared_ptr< Reaction< franka::CartesianPose >> reaction)
	Add a reaction to the motion. More...

void	addReactionFront (std::shared_ptr< Reaction< franka::CartesianPose >> reaction)
	Add a reaction to the front of the reaction list. More...

std::vector< std::shared_ptr< Reaction< franka::CartesianPose > > >	reactions ()
	Currently registered reactions of the motion. More...

void	registerCallback (CallbackType callback)
	Register a callback that is called in every step of the motion. More...

void	init (Robot *robot, const franka::RobotState &robot_state, const std::optional< franka::CartesianPose > &previous_command)
	Initialize the motion. More...

franka::CartesianPose	nextCommand (const franka::RobotState &robot_state, franka::Duration time_step, double rel_time, double abs_time, const std::optional< franka::CartesianPose > &previous_command)
	Get the next command of the motion. More...

std::shared_ptr< Motion< franka::CartesianPose > >	checkAndCallReactions (const franka::RobotState &robot_state, double rel_time, double abs_time)
	Check and call reactions. More...

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

Protected Member Functions inherited from franky::CartesianWaypointMotion
void	initWaypointMotion (const franka::RobotState &robot_state, const std::optional< franka::CartesianPose > &previous_command, ruckig::InputParameter< 7 > &input_parameter) override

void	setNewWaypoint (const franka::RobotState &robot_state, const std::optional< franka::CartesianPose > &previous_command, const Waypoint< CartesianState > &new_waypoint, ruckig::InputParameter< 7 > &input_parameter) override

std::tuple< Vector7d, Vector7d, Vector7d >	getAbsoluteInputLimits () const override

franka::CartesianPose	getControlSignal (const ruckig::InputParameter< 7 > &input_parameter) const override

Protected Member Functions inherited from franky::WaypointMotion< franka::CartesianPose, CartesianState >
void	initImpl (const franka::RobotState &robot_state, const std::optional< franka::CartesianPose > &previous_command) override

franka::CartesianPose	nextCommandImpl (const franka::RobotState &robot_state, franka::Duration time_step, double rel_time, double abs_time, const std::optional< franka::CartesianPose > &previous_command) override

Protected Member Functions inherited from franky::Motion< franka::CartesianPose >
	Motion ()

Robot *	robot () const

Detailed Description

Cartesian motion with a single target.

Constructor & Destructor Documentation

◆ CartesianMotion()

franky::CartesianMotion::CartesianMotion	(	const CartesianState &	target,
		ReferenceType	reference_type = `ReferenceType::Absolute`,
		const Affine &	frame = `Affine::Identity()`,
		RelativeDynamicsFactor	relative_dynamics_factor = `1.0`,
		bool	return_when_finished = `true`
	)

explicit

Construct a Cartesian motion.

Parameters

target	The target Cartesian state.
reference_type	The reference type (absolute or relative). An absolute target is defined in the robot's base frame, a relative target is defined in the current end-effector frame.
frame	The end-effector frame for which the target is defined. This is a transformation from the configured end-effector frame to the end-effector frame the target is defined for.
relative_dynamics_factor	The relative dynamics factor for this motion. The factor will get multiplied with the robot's global dynamics factor to get the actual dynamics factor for this motion.
return_when_finished	Whether to end the motion when the target is reached or keep holding the last target.

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

/home/runner/work/franky/franky/include/franky/motion/cartesian_motion.hpp
/home/runner/work/franky/franky/src/motion/cartesian_motion.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CartesianMotion()