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Franky 0.12.0
A High-Level Motion API for Franka
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A template class representing a dynamics limit with a maximum value. More...
#include <dynamics_limit.hpp>
Public Member Functions | |
| DynamicsLimit (const std::string &desc, const LimitType &max_val, const LimitType &default_val, const std::shared_ptr< std::mutex > &write_mutex, const std::function< bool()> &can_write_condition) | |
| Constructor for DynamicsLimit. | |
| template<typename AlternativeType > | |
| void | setFrom (const AlternativeType &value) |
| Set a new value for the limit with a different type. | |
| void | set (const LimitType &value) |
| Set a new value for the limit. | |
| LimitType | get () const |
| Get the current value of the limit. | |
| void | setFrom (const Array< 7 > &value) |
Public Attributes | |
| const LimitType | max |
| The maximum value this limit can take as defined by Franka. | |
| const std::string | desc |
| Description of this limit. | |
Friends | |
| template<typename LimitTypeStream > | |
| std::ostream & | operator<< (std::ostream &os, const DynamicsLimit< LimitTypeStream > &dynamics_limit) |
A template class representing a dynamics limit with a maximum value.
This class provides functionality to store and manage a dynamic limit, including setting and getting the value of the limit while ensuring that it cannot be written while the robot is in control.
| LimitType | The type of the limit value (e.g., double, int). |
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inline |
Constructor for DynamicsLimit.
Initializes a new instance of the DynamicsLimit class with the provided values.
| desc | A string description of the limit (e.g., "joint velocity"). |
| max_val | The maximum allowable value for this limit. |
| default_val | The default value for this limit. |
| write_mutex | A shared pointer to the mutex used for synchronizing writes to the limit. |
| can_write_condition | A function that returns true if the limit can be written to. |
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inline |
Get the current value of the limit.
Retrieves the current value stored in this limit.
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inline |
Set a new value for the limit.
Sets the value of the limit, but only if the robot is not in control. Throws a runtime_error if the condition for writing to the limit is not met.
| value | The new value to set for the limit. |
| std::runtime_error | if the limit cannot be set due to the robot being in control. |
| void franky::DynamicsLimit< LimitType >::setFrom | ( | const AlternativeType & | value | ) |
Set a new value for the limit with a different type.
This version of set allows setting the value with a different type, with appropriate type conversions.
| AlternativeType | The type of the alternative value to set. |
| value | The new value to set for the limit. |
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friend |
| const std::string franky::DynamicsLimit< LimitType >::desc |
Description of this limit.
This string provides a human-readable description of the limit, such as "joint velocity" or "maximum load".
The maximum value this limit can take as defined by Franka.
This value represents the maximum boundary for the limit, beyond which the value cannot be set.
1.9.8