Base class for motions. More...

#include <motion.hpp>

Inheritance diagram for franky::Motion< ControlSignalType >:

Public Types
using	CallbackType = std::function< void(const RobotState &, franka::Duration, franka::Duration, franka::Duration, const ControlSignalType &)>

Public Member Functions
virtual	~Motion ()=default

void	addReaction (std::shared_ptr< Reaction< ControlSignalType > > reaction)
	Add a reaction to the motion.

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

std::vector< std::shared_ptr< Reaction< ControlSignalType > > >	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< ControlSignalType > &previous_command)
	Initialize the motion.

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

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

Protected Member Functions
	Motion ()

virtual void	initImpl (const RobotState &robot_state, const std::optional< ControlSignalType > &previous_command)

virtual ControlSignalType	nextCommandImpl (const RobotState &robot_state, franka::Duration time_step, franka::Duration rel_time, franka::Duration abs_time, const std::optional< ControlSignalType > &previous_command)=0

Robot *	robot () const

Detailed Description

template<typename ControlSignalType>
class franky::Motion< ControlSignalType >

Base class for motions.

Template Parameters

ControlSignalType Control signal type of the motion. Either franka::Torques, franka::JointVelocities, franka::CartesianVelocities, franka::JointPositions or franka::CartesianPose.

Member Typedef Documentation

◆ CallbackType

template<typename ControlSignalType >

using franky::Motion< ControlSignalType >::CallbackType = std::function<void( const RobotState &, franka::Duration, franka::Duration, franka::Duration, const ControlSignalType &)>

Constructor & Destructor Documentation

◆ ~Motion()

template<typename ControlSignalType >

virtual franky::Motion< ControlSignalType >::~Motion ( )

virtualdefault

◆ Motion()

template<typename ControlSignalType >

franky::Motion< ControlSignalType >::Motion ( )

explicitprotected

Member Function Documentation

◆ addReaction()

template<typename ControlSignalType >

void franky::Motion< ControlSignalType >::addReaction ( std::shared_ptr< Reaction< ControlSignalType > > reaction )

Add a reaction to the motion.

Reactions are evaluated in every step of the motion and can replace the current motion with a new motion.

Parameters

reaction The reaction to add.

◆ addReactionFront()

template<typename ControlSignalType >

void franky::Motion< ControlSignalType >::addReactionFront ( std::shared_ptr< Reaction< ControlSignalType > > reaction )

Add a reaction to the front of the reaction list.

Reactions are evaluated in every step of the motion and can replace the current motion with a new motion.

Parameters

reaction The reaction to add.

◆ checkAndCallReactions()

template<typename ControlSignalType >

std::shared_ptr< Motion< ControlSignalType > > franky::Motion< ControlSignalType >::checkAndCallReactions	(	const RobotState &	robot_state,
		franka::Duration	rel_time,
		franka::Duration	abs_time
	)

Check and call reactions.

Parameters

robot_state	The current robot state.
rel_time	The relative time.
abs_time	The absolute time [s].

Returns: The new motion if a reaction was triggered, nullptr otherwise.

◆ init()

template<typename ControlSignalType >

void franky::Motion< ControlSignalType >::init	(	Robot *	robot,
		const RobotState &	robot_state,
		const std::optional< ControlSignalType > &	previous_command
	)

Initialize the motion.

Parameters

robot	The robot instance.
robot_state	The current robot state.
previous_command	The previous command.

◆ initImpl()

template<typename ControlSignalType >

virtual void franky::Motion< ControlSignalType >::initImpl	(	const RobotState &	robot_state,
		const std::optional< ControlSignalType > &	previous_command
	)

inlineprotectedvirtual

Reimplemented in franky::WaypointMotion< ControlSignalType, WaypointType, TargetType >, franky::WaypointMotion< ControlSignalType, PositionWaypoint< TargetType >, TargetType >, franky::WaypointMotion< ControlSignalType, VelocityWaypoint< TargetType >, TargetType >, franky::CartesianImpedanceMotion, and franky::ImpedanceMotion.

◆ nextCommand()

template<typename ControlSignalType >

ControlSignalType franky::Motion< ControlSignalType >::nextCommand	(	const RobotState &	robot_state,
		franka::Duration	time_step,
		franka::Duration	rel_time,
		franka::Duration	abs_time,
		const std::optional< ControlSignalType > &	previous_command
	)

Get the next command of the motion.

Parameters

robot_state	The current robot state.
time_step	The time step [s].
rel_time	The relative time.
abs_time	The absolute time [s].
previous_command	The previous command.

Returns: The next control signal for libfranka.

◆ nextCommandImpl()

template<typename ControlSignalType >

virtual ControlSignalType 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
	)

protectedpure virtual

Implemented in franky::WaypointMotion< ControlSignalType, WaypointType, TargetType >, franky::WaypointMotion< ControlSignalType, PositionWaypoint< TargetType >, TargetType >, franky::WaypointMotion< ControlSignalType, VelocityWaypoint< TargetType >, TargetType >, and franky::ImpedanceMotion.

◆ reactions()

template<typename ControlSignalType >

std::vector< std::shared_ptr< Reaction< ControlSignalType > > > franky::Motion< ControlSignalType >::reactions ( )

Currently registered reactions of the motion.

◆ registerCallback()

template<typename ControlSignalType >

void franky::Motion< ControlSignalType >::registerCallback ( CallbackType callback )

Register a callback that is called in every step of the motion.

Parameters

callback The callback to register. Callbacks are called with the robot state, the time step [s], the relative time [s], the absolute time [s] and the control signal computed in this step.

◆ robot()

template<typename ControlSignalType >

Robot * franky::Motion< ControlSignalType >::robot ( ) const

inlineprotected

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

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

Public Types

Public Member Functions

Protected Member Functions

Detailed Description

Member Typedef Documentation

◆ CallbackType

Constructor & Destructor Documentation

◆ ~Motion()

◆ Motion()

Member Function Documentation

◆ addReaction()

◆ addReactionFront()

◆ checkAndCallReactions()

◆ init()

◆ initImpl()

◆ nextCommand()

◆ nextCommandImpl()

◆ reactions()

◆ registerCallback()

◆ robot()