franky::Condition Class Reference

A condition on the robot state. More...

#include <condition.hpp>

Public Types
using	CheckFunc = std::function< bool(const franka::RobotState &, double, double)>

Public Member Functions
	Condition (CheckFunc check_func, std::string repr="NULL")
	Condition (bool constant_value)
	Implicit constructor for constant conditions. More...
bool	operator() (const franka::RobotState &robot_state, double rel_time, double abs_time) const
	Check if the condition is met. More...
std::string	repr () const
	The string representation of the condition. More...

Detailed Description

A condition on the robot state.

This class defines a condition on the robot state, which can be used to define a condition for a reaction in a motion. Conditions support logical operations (&&, ||, ==, !=, !) and can be combined to form more complex conditions.

Member Typedef Documentation

CheckFunc

using franky::Condition::CheckFunc = std::function<bool(const franka::RobotState &, double, double)>

Constructor & Destructor Documentation

Condition() [1/2]

franky::Condition::Condition ( Condition::CheckFunc  check_func, std::string  repr = "NULL"  )

explicit

Parameters

check_func	A function that returns true if the condition is met.
repr	A string representation of the condition.

Condition() [2/2]

franky::Condition::Condition

(

bool

constant_value

)

Implicit constructor for constant conditions.

Parameters

constant_value

The constant value of the condition.

Member Function Documentation

operator()()

bool franky::Condition::operator() ( const franka::RobotState &  robot_state, double  rel_time, double  abs_time  ) const

inline

Check if the condition is met.

Parameters

robot_state	The current robot state.
rel_time	The time since the start of the current motion.
abs_time	The time since the start of the current chain of motions. This value measures the time since the robot started moving, and is only reset if a motion expires without being replaced by a new motion.

Returns

True if the condition is met.

repr()

std::string franky::Condition::repr ( ) const

inline

The string representation of the condition.

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

• /home/runner/work/franky/franky/include/franky/motion/condition.hpp
• /home/runner/work/franky/franky/src/motion/condition.cpp