franky::Measure Class Reference

A measure on the robot state. More...

#include <measure.hpp>

Public Member Functions
	Measure (MeasureFunc measure_func, std::string repr="NULL")
	Measure (double constant)
	Implicit constructor for constant measures. More...
double	operator() (const franka::RobotState &robot_state, double rel_time, double abs_time) const
	Get the value of the measure. More...
std::string	repr () const
	The string representation of the measure. More...

Static Public Member Functions
static Measure	ForceX ()
	A measure that returns the linear force on the end-effector in X direction as by the O_F_ext_hat_K component of the robot state. More...
static Measure	ForceY ()
	A measure that returns the linear force on the end-effector in Y direction as by the O_F_ext_hat_K component of the robot state. More...
static Measure	ForceZ ()
	A measure that returns the linear force on the end-effector in Z direction as by the O_F_ext_hat_K component of the robot state. More...
static Measure	RelTime ()
	A measure that returns the relative time since the start of the current motion. More...
static Measure	AbsTime ()
	A measure that returns the absolute time since the start of the current chain of motions. The absolute time measures the time since the robot started moving, and is only reset if a motion expires without being replaced by a new motion. More...

Detailed Description

A measure on the robot state.

This class defines a measure on the robot state, which can be used to define a condition for a reaction in a motion. Measures support arithmetic operations (+, -, *, /, ^) and comparisons (==, !=, <, >, <=, >=) and can be combined to form more complex measures.

Constructor & Destructor Documentation

Measure() [1/2]

franky::Measure::Measure ( Measure::MeasureFunc  measure_func, std::string  repr = "NULL"  )

explicit

Parameters

measure_func	A function that returns the value of the measure.
repr	A string representation of the measure.

Measure() [2/2]

franky::Measure::Measure

(

double

constant

)

Implicit constructor for constant measures.

Parameters

constant

The constant value of the measure.

Member Function Documentation

AbsTime()

Measure franky::Measure::AbsTime ( )

static

A measure that returns the absolute time since the start of the current chain of motions. The absolute time measures the time since the robot started moving, and is only reset if a motion expires without being replaced by a new motion.

ForceX()

Measure franky::Measure::ForceX ( )

static

A measure that returns the linear force on the end-effector in X direction as by the O_F_ext_hat_K component of the robot state.

ForceY()

Measure franky::Measure::ForceY ( )

static

A measure that returns the linear force on the end-effector in Y direction as by the O_F_ext_hat_K component of the robot state.

ForceZ()

Measure franky::Measure::ForceZ ( )

static

A measure that returns the linear force on the end-effector in Z direction as by the O_F_ext_hat_K component of the robot state.

operator()()

double franky::Measure::operator() ( const franka::RobotState &  robot_state, double  rel_time, double  abs_time  ) const

inline

Get the value of the measure.

Parameters

robot_state	The current robot state.
rel_time	The time since the start of the current motion.
abs_time	The time since the start of the current chain of motions. This value measures the time since the robot started moving, and is only reset if a motion expires without being replaced by a new motion.

Returns

The value of the measure.

RelTime()

Measure franky::Measure::RelTime ( )

static

A measure that returns the relative time since the start of the current motion.

repr()

std::string franky::Measure::repr ( ) const

inline

The string representation of the measure.

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

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