franky::JointImpedanceBase Class Reference

Base class for client-side joint impedance motions. More...

#include <joint_impedance_base.hpp>

Inheritance diagram for franky::JointImpedanceBase:

Public Member Functions
const Vector7d &	target () const
const Vector7d &	target_velocity () const
const JointImpedanceParams &	params () const
void	setGains (const JointImpedanceGains &gains)
JointImpedanceGains	getGains () const
void	setCartesianGains (const CartesianImpedanceGains &gains)
CartesianImpedanceGains	getCartesianGains () const
Public Member Functions inherited from franky::Motion< franka::Torques >
virtual	~Motion ()=default
void	addReaction (std::shared_ptr< Reaction< franka::Torques > > reaction)
	Add a reaction to the motion.
void	addReactionFront (std::shared_ptr< Reaction< franka::Torques > > reaction)
	Add a reaction to the front of the reaction list.
std::vector< std::shared_ptr< Reaction< franka::Torques > > >	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< franka::Torques > &previous_command)
	Initialize the motion. Motions can only be started once; this function throws a MotionReuseException on any subsequent call.
bool	has_started () const
	Whether this motion has already been started. Started motions cannot be started again.
franka::Torques	nextCommand (const RobotState &robot_state, franka::Duration time_step, franka::Duration rel_time, franka::Duration abs_time, const std::optional< franka::Torques > &previous_command)
	Get the next command of the motion.
std::shared_ptr< Motion< franka::Torques > >	checkAndCallReactions (const RobotState &robot_state, franka::Duration rel_time, franka::Duration abs_time)
	Check and call reactions.

Protected Member Functions
	JointImpedanceBase (const Vector7d &target, const Vector7d &target_velocity, const JointImpedanceParams &params, double gains_time_constant=0.1)
franka::Torques	computeCommand (const RobotState &robot_state, const JointReference &reference, double dt)
Protected Member Functions inherited from franky::Motion< franka::Torques >
	Motion ()
virtual void	initImpl (const RobotState &robot_state, const std::optional< franka::Torques > &previous_command)
virtual franka::Torques	nextCommandImpl (const RobotState &robot_state, franka::Duration time_step, franka::Duration rel_time, franka::Duration abs_time, const std::optional< franka::Torques > &previous_command)=0
Robot *	robot () const

Protected Attributes
JointImpedanceParams	params_
Vector7d	target_
Vector7d	target_velocity_

Additional Inherited Members
Public Types inherited from franky::Motion< franka::Torques >
using	CallbackType = std::function< void(const RobotState &, franka::Duration, franka::Duration, franka::Duration, const franka::Torques &)>

Detailed Description

Base class for client-side joint impedance motions.

This class computes joint torques from a joint-space spring-damper law plus optional torque offset/model compensation. Subclasses implement nextCommandImpl and call computeCommand with their current reference.

Constructor & Destructor Documentation

JointImpedanceBase()

franky::JointImpedanceBase::JointImpedanceBase ( const Vector7d &  target, const Vector7d &  target_velocity, const JointImpedanceParams &  params, double  gains_time_constant = 0.1  )

explicitprotected

Member Function Documentation

computeCommand()

franka::Torques franky::JointImpedanceBase::computeCommand ( const RobotState &  robot_state, const JointReference &  reference, double  dt  )

protected

getCartesianGains()

CartesianImpedanceGains franky::JointImpedanceBase::getCartesianGains ( ) const

inline

getGains()

JointImpedanceGains franky::JointImpedanceBase::getGains ( ) const

inline

params()

const JointImpedanceParams & franky::JointImpedanceBase::params ( ) const

inline

setCartesianGains()

void franky::JointImpedanceBase::setCartesianGains ( const CartesianImpedanceGains &  gains )

inline

setGains()

void franky::JointImpedanceBase::setGains ( const JointImpedanceGains &  gains )

inline

target()

const Vector7d & franky::JointImpedanceBase::target ( ) const

inline

target_velocity()

const Vector7d & franky::JointImpedanceBase::target_velocity ( ) const

inline

Member Data Documentation

params_

JointImpedanceParams franky::JointImpedanceBase::params_

protected

target_

Vector7d franky::JointImpedanceBase::target_

protected

target_velocity_

Vector7d franky::JointImpedanceBase::target_velocity_

protected

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

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