franky::ElbowState Class Reference

Elbow state of the robot. More...

#include <elbow_state.hpp>

Public Member Functions
	ElbowState (double joint_3_pos, std::optional< FlipDirection > joint_4_flip=std::nullopt)
	Construct an elbow state with the given joint position and optional flip direction.
	ElbowState (const std::array< double, 2 > &elbow_state)
	Construct an elbow state from an array containing joint position and flip direction.
	ElbowState (const ElbowState &)=default
	ElbowState ()=default
std::array< double, 2 >	to_array (FlipDirection default_flip_direction=FlipDirection::kNegative) const
	Get the joint position and flip direction as an array.
double	joint_3_pos () const
	The position of the 3rd joint.
std::optional< FlipDirection >	joint_4_flip () const
	The flip direction of the 4th joint.

Friends
std::ostream &	operator<< (std::ostream &os, const ElbowState &elbow_state)

Detailed Description

Elbow state of the robot.

This class encapsulates the elbow state of a robot, which comprises the position of the 3rd joint and the flip direction of the 4th joint. For details see https://frankaemika.github.io/libfranka/0.15.0/structfranka_1_1RobotState.html#a43485841c427d70e7f36a912cc3116d1

Constructor & Destructor Documentation

ElbowState() [1/4]

franky::ElbowState::ElbowState ( double  joint_3_pos, std::optional< FlipDirection >  joint_4_flip = std::nullopt  )

inlineexplicit

Construct an elbow state with the given joint position and optional flip direction.

Parameters

joint_3_pos	The position of the 3rd joint.
joint_4_flip	The flip direction of the 4th joint.

ElbowState() [2/4]

franky::ElbowState::ElbowState ( const std::array< double, 2 > &  elbow_state )

inlineexplicit

Construct an elbow state from an array containing joint position and flip direction.

Parameters

elbow_state

The joint position and flip direction as a double array.

ElbowState() [3/4]

franky::ElbowState::ElbowState ( const ElbowState &  )

default

ElbowState() [4/4]

franky::ElbowState::ElbowState ( )

default

Member Function Documentation

joint_3_pos()

double franky::ElbowState::joint_3_pos ( ) const

inline

The position of the 3rd joint.

joint_4_flip()

std::optional< FlipDirection > franky::ElbowState::joint_4_flip ( ) const

inline

The flip direction of the 4th joint.

to_array()

std::array< double, 2 > franky::ElbowState::to_array ( FlipDirection  default_flip_direction = FlipDirection::kNegative ) const

inline

Get the joint position and flip direction as an array.

Parameters

default_flip_direction

The default flip direction to use if not explicitly set.

Returns

std::array containing the joint position and flip direction.

Friends And Related Symbol Documentation

operator<<

std::ostream & operator<< ( std::ostream &  os, const ElbowState &  elbow_state  )

friend

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

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