Client-side joint impedance controller with a dynamic online reference. More...

#include <joint_impedance_tracking_motion.hpp>

Inheritance diagram for franky::JointImpedanceTrackingMotion:

Public Types
using	Params = JointImpedanceParams

using	ReferenceCallback = std::function< JointReference(const RobotState &, franka::Duration, franka::Duration, franka::Duration)>

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
	JointImpedanceTrackingMotion (const Params &params=Params{}, double gains_time_constant=0.1)

	JointImpedanceTrackingMotion (ReferenceCallback reference_callback, const Params &params=Params{}, double gains_time_constant=0.1)

void	setReference (const JointReference &reference)

std::optional< JointReference >	getReference () const

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
void	initImpl (const RobotState &robot_state, const std::optional< franka::Torques > &previous_command) override

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 ()

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 with a dynamic online reference.

This motion keeps the same controller alive while reading the latest valid joint reference from a handle or callback each control cycle.

Member Typedef Documentation

◆ Params

using franky::JointImpedanceTrackingMotion::Params = JointImpedanceParams

◆ ReferenceCallback

using franky::JointImpedanceTrackingMotion::ReferenceCallback = std::function<JointReference(const RobotState &, franka::Duration, franka::Duration, franka::Duration)>

Constructor & Destructor Documentation

◆ JointImpedanceTrackingMotion() [1/2]

franky::JointImpedanceTrackingMotion::JointImpedanceTrackingMotion	(	const Params &	params = `Params{}`,
		double	gains_time_constant = `0.1`
	)

explicit

◆ JointImpedanceTrackingMotion() [2/2]

franky::JointImpedanceTrackingMotion::JointImpedanceTrackingMotion	(	ReferenceCallback	reference_callback,
		const Params &	params = `Params{}`,
		double	gains_time_constant = `0.1`
	)

explicit

Member Function Documentation

◆ getReference()

std::optional< JointReference > franky::JointImpedanceTrackingMotion::getReference ( ) const

inline

◆ initImpl()

void franky::JointImpedanceTrackingMotion::initImpl	(	const RobotState &	robot_state,
		const std::optional< franka::Torques > &	previous_command
	)

overrideprotectedvirtual

Reimplemented from franky::Motion< franka::Torques >.

◆ nextCommandImpl()

franka::Torques franky::JointImpedanceTrackingMotion::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 >.

◆ setReference()

void franky::JointImpedanceTrackingMotion::setReference ( const JointReference & reference )