Client-side joint impedance controller. More...

#include <joint_impedance_motion.hpp>

Inheritance diagram for franky::JointImpedanceMotion:

Public Types
using	Params = JointImpedanceParams

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

Public Member Functions
	JointImpedanceMotion (const Vector7d &target)

	JointImpedanceMotion (const Vector7d &target, const Params &params)

	JointImpedanceMotion (const Vector7d &target, const Vector7d &target_velocity)

	JointImpedanceMotion (const Vector7d &target, const Vector7d &target_velocity, const Params &params)

Public Member Functions inherited from franky::JointImpedanceBase
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
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) override

Protected Member Functions inherited from franky::JointImpedanceBase
	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)

Robot *	robot () const

Additional Inherited Members
Protected Attributes inherited from franky::JointImpedanceBase
JointImpedanceParams	params_

Vector7d	target_

Vector7d	target_velocity_

Detailed Description

Client-side joint impedance controller.

This motion uses Franka's torque interface and regulates toward a constant joint target (and optional target velocity). It does not terminate on its own; it runs until it is preempted or stopped.

Member Typedef Documentation

◆ Params

using franky::JointImpedanceMotion::Params = JointImpedanceParams

Constructor & Destructor Documentation

◆ JointImpedanceMotion() [1/4]

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

explicit

◆ JointImpedanceMotion() [2/4]

franky::JointImpedanceMotion::JointImpedanceMotion	(	const Vector7d &	target,
		const Params &	params
	)

explicit

◆ JointImpedanceMotion() [3/4]

franky::JointImpedanceMotion::JointImpedanceMotion	(	const Vector7d &	target,
		const Vector7d &	target_velocity
	)

◆ JointImpedanceMotion() [4/4]

franky::JointImpedanceMotion::JointImpedanceMotion	(	const Vector7d &	target,
		const Vector7d &	target_velocity,
		const Params &	params
	)

Member Function Documentation

◆ nextCommandImpl()

franka::Torques franky::JointImpedanceMotion::nextCommandImpl	(	const RobotState &	robot_state,
		franka::Duration	time_step,
		franka::Duration	rel_time,
		franka::Duration	abs_time,
		const std::optional< franka::Torques > &	previous_command
	)

overrideprotectedvirtual

Implements franky::Motion< franka::Torques >.

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

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

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members