Cartesian waypoint motion. More...

#include <cartesian_waypoint_motion.hpp>

Inheritance diagram for franky::CartesianWaypointMotion:

Classes
struct	Params
	Parameters for the Cartesian waypoint motion. More...

Public Member Functions
	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...

Protected Member Functions
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

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 &)>

Detailed Description

Cartesian waypoint motion.

This motion follows multiple cartesian waypoints in a time-optimal way.

Constructor & Destructor Documentation

◆ CartesianWaypointMotion() [1/2]

franky::CartesianWaypointMotion::CartesianWaypointMotion ( const std::vector< Waypoint< CartesianState >> & waypoints )

explicit

Parameters

waypoints Waypoints to follow.

◆ CartesianWaypointMotion() [2/2]

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

explicit

Parameters

waypoints	Waypoints to follow.
params	Parameters for the motion.

Member Function Documentation

◆ getAbsoluteInputLimits()

std::tuple< Vector7d, Vector7d, Vector7d > franky::CartesianWaypointMotion::getAbsoluteInputLimits ( ) const

overrideprotectedvirtual

Implements franky::WaypointMotion< franka::CartesianPose, CartesianState >.

◆ getControlSignal()

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

overrideprotectedvirtual

Implements franky::WaypointMotion< franka::CartesianPose, CartesianState >.

◆ initWaypointMotion()

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

overrideprotectedvirtual

Implements franky::WaypointMotion< franka::CartesianPose, CartesianState >.

◆ setNewWaypoint()

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

overrideprotectedvirtual

Implements franky::WaypointMotion< franka::CartesianPose, CartesianState >.

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

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

Classes

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CartesianWaypointMotion() [1/2]

◆ CartesianWaypointMotion() [2/2]

Member Function Documentation

◆ getAbsoluteInputLimits()

◆ getControlSignal()

◆ initWaypointMotion()

◆ setNewWaypoint()