Cartesian velocity motion with a single target velocity. More...

#include <cartesian_velocity_motion.hpp>

Inheritance diagram for franky::CartesianVelocityMotion:

Public Member Functions
	CartesianVelocityMotion (const RobotVelocity &target, const franka::Duration &duration=franka::Duration(1000), double state_estimate_weight=0.0, const RelativeDynamicsFactor &relative_dynamics_factor=1.0, const Affine &frame=Affine::Identity())
	Construct a Cartesian motion.

Public Member Functions inherited from franky::CartesianVelocityWaypointMotion
	CartesianVelocityWaypointMotion (const std::vector< VelocityWaypoint< RobotVelocity > > &waypoints, const RelativeDynamicsFactor &relative_dynamics_factor=1.0, Affine ee_frame=Affine::Identity())

Public Member Functions inherited from franky::VelocityWaypointMotion< franka::CartesianVelocities, RobotVelocity >
	VelocityWaypointMotion (std::vector< VelocityWaypoint< RobotVelocity > > waypoints, const RelativeDynamicsFactor &relative_dynamics_factor=1.0)

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::CartesianVelocityWaypointMotion
void	checkWaypoint (const VelocityWaypoint< RobotVelocity > &waypoint) const override

void	initWaypointMotion (const RobotState &robot_state, const std::optional< franka::CartesianVelocities > &previous_command, ruckig::InputParameter< 7 > &input_parameter) override

void	setNewWaypoint (const RobotState &robot_state, const std::optional< franka::CartesianVelocities > &previous_command, const VelocityWaypoint< RobotVelocity > &new_waypoint, ruckig::InputParameter< 7 > &input_parameter) override

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

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

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

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

Protected Member Functions inherited from franky::VelocityWaypointMotion< franka::CartesianVelocities, RobotVelocity >
void	setInputLimits (const VelocityWaypoint< RobotVelocity > &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 velocity motion with a single target velocity.

Constructor & Destructor Documentation

◆ CartesianVelocityMotion()

franky::CartesianVelocityMotion::CartesianVelocityMotion	(	const RobotVelocity &	target,
		const franka::Duration &	duration = `franka::Duration(1000)`,
		double	state_estimate_weight = `0.0`,
		const RelativeDynamicsFactor &	relative_dynamics_factor = `1.0`,
		const Affine &	frame = `Affine::Identity()`
	)

explicit

Construct a Cartesian motion.

Parameters

target	The target Cartesian velocity.
duration	Duration this command is active. Default is 1s.
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.
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.
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_velocity_motion.hpp
/home/runner/work/franky/franky/src/motion/cartesian_velocity_motion.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CartesianVelocityMotion()