Joint motion with a single target. More...

#include <joint_motion.hpp>

Inheritance diagram for franky::JointMotion:

Public Member Functions
	JointMotion (const JointState &target, ReferenceType reference_type, RelativeDynamicsFactor relative_dynamics_factor, bool return_when_finished)

Public Member Functions inherited from franky::JointWaypointMotion
	JointWaypointMotion (const std::vector< Waypoint< JointState >> &waypoints)

	JointWaypointMotion (const std::vector< Waypoint< JointState >> &waypoints, Params params)

Public Member Functions inherited from franky::WaypointMotion< franka::JointPositions, JointState >
	WaypointMotion (std::vector< Waypoint< JointState >> waypoints, Params params)

Public Member Functions inherited from franky::Motion< franka::JointPositions >
void	addReaction (std::shared_ptr< Reaction< franka::JointPositions >> reaction)
	Add a reaction to the motion. More...

void	addReactionFront (std::shared_ptr< Reaction< franka::JointPositions >> reaction)
	Add a reaction to the front of the reaction list. More...

std::vector< std::shared_ptr< Reaction< franka::JointPositions > > >	reactions ()
	Currently registered reactions of the motion. More...

void	registerCallback (CallbackType callback)
	Register a callback that is called in every step of the motion. More...

void	init (Robot *robot, const franka::RobotState &robot_state, const std::optional< franka::JointPositions > &previous_command)
	Initialize the motion. More...

franka::JointPositions	nextCommand (const franka::RobotState &robot_state, franka::Duration time_step, double rel_time, double abs_time, const std::optional< franka::JointPositions > &previous_command)
	Get the next command of the motion. More...

std::shared_ptr< Motion< franka::JointPositions > >	checkAndCallReactions (const franka::RobotState &robot_state, double rel_time, double abs_time)
	Check and call reactions. More...

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

Protected Member Functions inherited from franky::JointWaypointMotion
void	initWaypointMotion (const franka::RobotState &robot_state, const std::optional< franka::JointPositions > &previous_command, ruckig::InputParameter< 7 > &input_parameter) override

void	setNewWaypoint (const franka::RobotState &robot_state, const std::optional< franka::JointPositions > &previous_command, const Waypoint< JointState > &new_waypoint, ruckig::InputParameter< 7 > &input_parameter) override

std::tuple< Vector7d, Vector7d, Vector7d >	getAbsoluteInputLimits () const override

franka::JointPositions	getControlSignal (const ruckig::InputParameter< 7 > &input_parameter) const override

Protected Member Functions inherited from franky::WaypointMotion< franka::JointPositions, JointState >
void	initImpl (const franka::RobotState &robot_state, const std::optional< franka::JointPositions > &previous_command) override

franka::JointPositions	nextCommandImpl (const franka::RobotState &robot_state, franka::Duration time_step, double rel_time, double abs_time, const std::optional< franka::JointPositions > &previous_command) override

Protected Member Functions inherited from franky::Motion< franka::JointPositions >
	Motion ()

Robot *	robot () const

Detailed Description

Joint motion with a single target.

Constructor & Destructor Documentation

◆ JointMotion()

franky::JointMotion::JointMotion	(	const JointState &	target,
		ReferenceType	reference_type,
		RelativeDynamicsFactor	relative_dynamics_factor,
		bool	return_when_finished
	)

explicit

Parameters

target	The target joint state.
reference_type	The reference type (absolute or relative). An absolute target describes the actual target joint positions, a relative target describes the target joint positions relative to the current joint positions.
relative_dynamics_factor	The relative dynamics factor for this motion. The factor will get multiplied with the robot's global dynamics factor to get the actual dynamics factor for this motion.
return_when_finished	Whether to end the motion when the target is reached or keep holding the last target.

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

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

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ JointMotion()