franky::MotionGenerator< ControlSignalType > Class Template Reference

Helper class for handling motions and reactions. More...

#include <motion_generator.hpp>

Public Member Functions
	MotionGenerator (Robot *robot, std::shared_ptr< Motion< ControlSignalType >> initial_motion)
ControlSignalType	operator() (const franka::RobotState &robot_state, franka::Duration period)
	Update the motion generator and get the next control signal. More...
void	registerUpdateCallback (const std::function< void(const franka::RobotState &, franka::Duration, double)> &callback)
	Register a callback that is called in every step of the motion. More...
void	updateMotion (std::shared_ptr< Motion< ControlSignalType >> new_motion)
	Update the current motion. More...
bool	has_new_motion ()
	Whether a new motion is available. More...
void	resetTimeUnsafe ()
	Reset the time of the motion generator without locking the mutex. More...

Static Public Attributes
static constexpr size_t	REACTION_RECURSION_LIMIT = 8
	Maximum recursion limit for reactions. After more than this number of reactions are fired in a single step, the motion generator will throw a ReactionRecursionException. More...

Detailed Description

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

Helper class for handling motions and reactions.

Constructor & Destructor Documentation

MotionGenerator()

template<typename ControlSignalType >

franky::MotionGenerator< ControlSignalType >::MotionGenerator ( Robot *  robot, std::shared_ptr< Motion< ControlSignalType >>  initial_motion  )

explicit

Parameters

robot	The robot instance.
initial_motion	The initial motion.

Member Function Documentation

has_new_motion()

template<typename ControlSignalType >

bool franky::MotionGenerator< ControlSignalType >::has_new_motion

Whether a new motion is available.

operator()()

template<typename ControlSignalType >

ControlSignalType franky::MotionGenerator< ControlSignalType >::operator()	(	const franka::RobotState &	robot_state,
		franka::Duration	period
	)

Update the motion generator and get the next control signal.

Parameters

robot_state	The current robot state.
period	The time step.

Returns

The control signal for the robot.

registerUpdateCallback()

template<typename ControlSignalType >

void franky::MotionGenerator< ControlSignalType >::registerUpdateCallback ( const std::function< void(const franka::RobotState &, franka::Duration, double)> &  callback )

inline

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] and the control signal computed in this step.

resetTimeUnsafe()

template<typename ControlSignalType >

void franky::MotionGenerator< ControlSignalType >::resetTimeUnsafe

Reset the time of the motion generator without locking the mutex.

updateMotion()

template<typename ControlSignalType >

void franky::MotionGenerator< ControlSignalType >::updateMotion

(

std::shared_ptr< Motion< ControlSignalType >>

new_motion

)

Update the current motion.

Parameters

new_motion

The new motion.

Member Data Documentation

REACTION_RECURSION_LIMIT

template<typename ControlSignalType >

constexpr size_t franky::MotionGenerator< ControlSignalType >::REACTION_RECURSION_LIMIT = 8

staticconstexpr

Maximum recursion limit for reactions. After more than this number of reactions are fired in a single step, the motion generator will throw a ReactionRecursionException.

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

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