franky::JointWaypointMotion Class Reference

Joint waypoint motion. More...

#include <joint_waypoint_motion.hpp>

Inheritance diagram for franky::JointWaypointMotion:

Public Member Functions
	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...

Protected Member Functions
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

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 &)>

Detailed Description

Joint waypoint motion.

This motion follows multiple joint waypoints in a time-optimal way.

Constructor & Destructor Documentation

JointWaypointMotion() [1/2]

franky::JointWaypointMotion::JointWaypointMotion ( const std::vector< Waypoint< JointState >> &  waypoints )

explicit

Parameters

waypoints

Joint waypoints to follow.

JointWaypointMotion() [2/2]

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

explicit

Parameters

waypoints	Joint waypoints to follow.
params	Parameters for the motion.

Member Function Documentation

getAbsoluteInputLimits()

std::tuple< Vector7d, Vector7d, Vector7d > franky::JointWaypointMotion::getAbsoluteInputLimits ( ) const

overrideprotectedvirtual

Implements franky::WaypointMotion< franka::JointPositions, JointState >.

getControlSignal()

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

overrideprotectedvirtual

Implements franky::WaypointMotion< franka::JointPositions, JointState >.

initWaypointMotion()

void franky::JointWaypointMotion::initWaypointMotion ( const franka::RobotState &  robot_state, const std::optional< franka::JointPositions > &  previous_command, ruckig::InputParameter< 7 > &  input_parameter  )

overrideprotectedvirtual

Implements franky::WaypointMotion< franka::JointPositions, JointState >.

setNewWaypoint()

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

overrideprotectedvirtual

Implements franky::WaypointMotion< franka::JointPositions, JointState >.

---

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

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