Franky 0.12.0
A High-Level Motion API for Franka
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franky::JointMotion Member List

This is the complete list of members for franky::JointMotion, including all inherited members.

addReaction(std::shared_ptr< Reaction< ControlSignalType > > reaction)franky::Motion< ControlSignalType >
addReactionFront(std::shared_ptr< Reaction< ControlSignalType > > reaction)franky::Motion< ControlSignalType >
CallbackType typedeffranky::Motion< ControlSignalType >
checkAndCallReactions(const RobotState &robot_state, franka::Duration rel_time, franka::Duration abs_time)franky::Motion< ControlSignalType >
checkWaypoint(const WaypointType &waypoint) constfranky::WaypointMotion< ControlSignalType, WaypointType, TargetType >inlineprotectedvirtual
extrapolateMotion(const franka::Duration &time_step, const ruckig::InputParameter< 7 > &input_parameter, ruckig::OutputParameter< 7 > &output_parameter) const overridefranky::PositionWaypointMotion< franka::JointPositions, JointState >inlineprotectedvirtual
getAbsoluteInputLimits() const overridefranky::JointWaypointMotionprotectedvirtual
getControlSignal(const RobotState &robot_state, const franka::Duration &time_step, const std::optional< franka::JointPositions > &previous_command, const ruckig::InputParameter< 7 > &input_parameter) overridefranky::JointWaypointMotionprotected
PositionWaypointMotion< franka::JointPositions, JointState >::getControlSignal(const RobotState &robot_state, const franka::Duration &time_step, const std::optional< ControlSignalType > &previous_command, const ruckig::InputParameter< 7 > &input_parameter)=0franky::WaypointMotion< ControlSignalType, WaypointType, TargetType >protectedpure virtual
getGoalTolerance() const overridefranky::JointWaypointMotionprotectedvirtual
getStateEstimate(const RobotState &robot_state) const overridefranky::JointWaypointMotionprotectedvirtual
init(Robot *robot, const RobotState &robot_state, const std::optional< ControlSignalType > &previous_command)franky::Motion< ControlSignalType >
initImpl(const RobotState &robot_state, const std::optional< ControlSignalType > &previous_command) overridefranky::WaypointMotion< ControlSignalType, WaypointType, TargetType >inlineprotectedvirtual
initWaypointMotion(const RobotState &robot_state, const std::optional< franka::JointPositions > &previous_command, ruckig::InputParameter< 7 > &input_parameter) overridefranky::JointWaypointMotionprotected
PositionWaypointMotion< franka::JointPositions, JointState >::initWaypointMotion(const RobotState &robot_state, const std::optional< ControlSignalType > &previous_command, ruckig::InputParameter< 7 > &input_parameter)=0franky::WaypointMotion< ControlSignalType, WaypointType, TargetType >protectedpure virtual
JointMotion(const JointState &target, double state_estimate_weight=0.0, ReferenceType reference_type=ReferenceType::kAbsolute, const RelativeDynamicsFactor &relative_dynamics_factor=1.0, bool return_when_finished=true)franky::JointMotionexplicit
JointWaypointMotion(const std::vector< PositionWaypoint< JointState > > &waypoints, const RelativeDynamicsFactor &relative_dynamics_factor=1.0, bool return_when_finished=true)franky::JointWaypointMotionexplicit
Motion()franky::Motion< ControlSignalType >explicitprotected
nextCommand(const RobotState &robot_state, franka::Duration time_step, franka::Duration rel_time, franka::Duration abs_time, const std::optional< ControlSignalType > &previous_command)franky::Motion< ControlSignalType >
nextCommandImpl(const RobotState &robot_state, franka::Duration time_step, franka::Duration rel_time, franka::Duration abs_time, const std::optional< ControlSignalType > &previous_command) overridefranky::WaypointMotion< ControlSignalType, WaypointType, TargetType >inlineprotectedvirtual
PositionWaypointMotion(std::vector< PositionWaypoint< JointState > > waypoints, const RelativeDynamicsFactor &relative_dynamics_factor=1.0, bool return_when_finished=true)franky::PositionWaypointMotion< franka::JointPositions, JointState >inlineexplicit
reactions()franky::Motion< ControlSignalType >
registerCallback(CallbackType callback)franky::Motion< ControlSignalType >
robot() constfranky::Motion< ControlSignalType >inlineprotected
setInputLimits(const PositionWaypoint< JointState > &waypoint, ruckig::InputParameter< 7 > &input_parameter) const overridefranky::PositionWaypointMotion< franka::JointPositions, JointState >inlineprotected
franky::WaypointMotion::setInputLimits(const WaypointType &waypoint, ruckig::InputParameter< 7 > &input_parameter) const =0franky::WaypointMotion< ControlSignalType, WaypointType, TargetType >protectedpure virtual
setNewWaypoint(const RobotState &robot_state, const std::optional< franka::JointPositions > &previous_command, const PositionWaypoint< JointState > &new_waypoint, ruckig::InputParameter< 7 > &input_parameter) overridefranky::JointWaypointMotionprotected
PositionWaypointMotion< franka::JointPositions, JointState >::setNewWaypoint(const RobotState &robot_state, const std::optional< ControlSignalType > &previous_command, const WaypointType &new_waypoint, ruckig::InputParameter< 7 > &input_parameter)=0franky::WaypointMotion< ControlSignalType, WaypointType, TargetType >protectedpure virtual
WaypointMotion(std::vector< WaypointType > waypoints, bool return_when_finished=true)franky::WaypointMotion< ControlSignalType, WaypointType, TargetType >inlineexplicit
~Motion()=defaultfranky::Motion< ControlSignalType >virtual