Cartesian motion with a single target. More...

#include <cartesian_motion.hpp>

Inheritance diagram for franky::CartesianMotion:

Public Member Functions
	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())
	Construct a Cartesian motion.

Public Member Functions inherited from franky::CartesianWaypointMotion
	CartesianWaypointMotion (const std::vector< PositionWaypoint< CartesianState > > &waypoints, const RelativeDynamicsFactor &relative_dynamics_factor=1.0, bool return_when_finished=true, Affine ee_frame=Affine::Identity())

Public Member Functions inherited from franky::PositionWaypointMotion< franka::CartesianPose, CartesianState >
	PositionWaypointMotion (std::vector< PositionWaypoint< CartesianState > > waypoints, const RelativeDynamicsFactor &relative_dynamics_factor=1.0, bool return_when_finished=true)

Public Member Functions inherited from franky::WaypointMotion< ControlSignalType, WaypointType, TargetType >
	WaypointMotion (std::vector< WaypointType > waypoints, bool return_when_finished=true)

Public Member Functions inherited from franky::Motion< ControlSignalType >
virtual	~Motion ()=default

void	addReaction (std::shared_ptr< Reaction< ControlSignalType > > reaction)
	Add a reaction to the motion.

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

std::vector< std::shared_ptr< Reaction< ControlSignalType > > >	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< ControlSignalType > &previous_command)
	Initialize the motion.

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

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

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

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

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

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

franka::CartesianPose	getControlSignal (const RobotState &robot_state, const franka::Duration &time_step, const std::optional< franka::CartesianPose > &previous_command, const ruckig::InputParameter< 7 > &input_parameter) override

virtual std::tuple< Vector7d, Vector7d, Vector7d >	getStateEstimate (const RobotState &robot_state) const override

Protected Member Functions inherited from franky::PositionWaypointMotion< franka::CartesianPose, CartesianState >
void	setInputLimits (const PositionWaypoint< CartesianState > &waypoint, ruckig::InputParameter< 7 > &input_parameter) const override

void	extrapolateMotion (const franka::Duration &time_step, const ruckig::InputParameter< 7 > &input_parameter, ruckig::OutputParameter< 7 > &output_parameter) const override

Protected Member Functions inherited from franky::WaypointMotion< ControlSignalType, WaypointType, TargetType >
void	initImpl (const RobotState &robot_state, const std::optional< ControlSignalType > &previous_command) override

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

virtual void	initWaypointMotion (const RobotState &robot_state, const std::optional< ControlSignalType > &previous_command, ruckig::InputParameter< 7 > &input_parameter)=0

virtual void	setNewWaypoint (const RobotState &robot_state, const std::optional< ControlSignalType > &previous_command, const WaypointType &new_waypoint, ruckig::InputParameter< 7 > &input_parameter)=0

virtual void	checkWaypoint (const WaypointType &waypoint) const

virtual ControlSignalType	getControlSignal (const RobotState &robot_state, const franka::Duration &time_step, const std::optional< ControlSignalType > &previous_command, const ruckig::InputParameter< 7 > &input_parameter)=0

virtual void	setInputLimits (const WaypointType &waypoint, ruckig::InputParameter< 7 > &input_parameter) const =0

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

Robot *	robot () const

Detailed Description

Cartesian motion with a single target.

Constructor & Destructor Documentation

◆ CartesianMotion()

franky::CartesianMotion::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()`
	)

explicit

Construct a Cartesian motion.

Parameters

target	The target Cartesian state.
state_estimate_weight	Weighting of the robot state estimate vs the target when computing the current state to continue planning from. A value of 0 means that the planner always assumes it reached its last target perfectly (open loop control), while a value of 1 means that the planner always uses the robot state estimate (closed loop control). A value between 0 and 1 means that the planner uses a weighted average of the two.
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.
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.
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.

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()