franky::CartesianState Class Reference

#include <cartesian_state.hpp>

Public Member Functions
	CartesianState (const RobotPose &pose)
	CartesianState (const RobotPose &pose, const RobotVelocity &velocity)
	CartesianState (const CartesianState &)=default
	CartesianState ()=default
CartesianState	transformWith (const Affine &transform) const
	Transform the frame of the state by applying the given affine transform. More...
CartesianState	changeEndEffectorFrame (const Affine &transform) const
	Change the end effector frame of the state by the given affine transform. More...
RobotPose	pose () const
RobotVelocity	velocity () const

Constructor & Destructor Documentation

CartesianState() [1/4]

franky::CartesianState::CartesianState ( const RobotPose &  pose )

inline

CartesianState() [2/4]

franky::CartesianState::CartesianState ( const RobotPose &  pose, const RobotVelocity &  velocity  )

inline

Parameters

pose	The pose of the end effector.
velocity	The velocity of the end effector.

CartesianState() [3/4]

franky::CartesianState::CartesianState ( const CartesianState &  )

default

CartesianState() [4/4]

franky::CartesianState::CartesianState ( )

default

Member Function Documentation

changeEndEffectorFrame()

CartesianState franky::CartesianState::changeEndEffectorFrame ( const Affine &  transform ) const

inline

Change the end effector frame of the state by the given affine transform.

Parameters

transform

The pose of the new end-effector in the frame of the old end-effector.

Returns

The state with a new end-effector frame.

pose()

RobotPose franky::CartesianState::pose ( ) const

inline

transformWith()

CartesianState franky::CartesianState::transformWith ( const Affine &  transform ) const

inline

Transform the frame of the state by applying the given affine transform.

Parameters

transform

The transformation to apply.

Returns

The state after the transformation.

velocity()

RobotVelocity franky::CartesianState::velocity ( ) const

inline

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

• /home/runner/work/franky/franky/include/franky/cartesian_state.hpp