franky::PositionWaypointMotion< ControlSignalType, TargetType > Class Template Reference

A motion following multiple positional waypoints in a time-optimal way. Works with arbitrary initial conditions. More...

#include <position_waypoint_motion.hpp>

Inheritance diagram for franky::PositionWaypointMotion< ControlSignalType, TargetType >:

Public Member Functions
	PositionWaypointMotion (std::vector< PositionWaypoint< TargetType > > waypoints, const RelativeDynamicsFactor &relative_dynamics_factor=1.0, bool return_when_finished=true)
Public Member Functions inherited from franky::WaypointMotion< ControlSignalType, PositionWaypoint< TargetType >, TargetType >
	WaypointMotion (std::vector< PositionWaypoint< TargetType > > waypoints, bool return_when_finished=true)
Public Member Functions inherited from franky::Motion< ControlSignalType >
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
void	setInputLimits (const PositionWaypoint< TargetType > &waypoint, ruckig::InputParameter< 7 > &input_parameter) const override
void	extrapolateMotion (const franka::Duration &time_step, const ruckig::InputParameter< 7 > &input_parameter, ruckig::OutputParameter< 7 > &output_parameter) const override
std::tuple< Vector7d, Vector7d, Vector7d >	getAbsoluteInputLimits () const override=0
Protected Member Functions inherited from franky::WaypointMotion< ControlSignalType, PositionWaypoint< TargetType >, TargetType >
void	initImpl (const RobotState &robot_state, const std::optional< ControlSignalType > &previous_command) override
ControlSignalType	nextCommandImpl (const RobotState &robot_state, franka::Duration time_step, franka::Duration rel_time, franka::Duration abs_time, const std::optional< ControlSignalType > &previous_command) override
virtual void	initWaypointMotion (const RobotState &robot_state, const std::optional< ControlSignalType > &previous_command, ruckig::InputParameter< 7 > &input_parameter)=0
virtual void	setNewWaypoint (const RobotState &robot_state, const std::optional< ControlSignalType > &previous_command, const PositionWaypoint< TargetType > &new_waypoint, ruckig::InputParameter< 7 > &input_parameter)=0
virtual void	checkWaypoint (const PositionWaypoint< TargetType > &waypoint) const
virtual std::tuple< Vector7d, Vector7d, Vector7d >	getStateEstimate (const RobotState &robot_state) const=0
virtual ControlSignalType	getControlSignal (const RobotState &robot_state, const franka::Duration &time_step, const std::optional< ControlSignalType > &previous_command, const ruckig::InputParameter< 7 > &input_parameter)=0
Protected Member Functions inherited from franky::Motion< ControlSignalType >
	Motion ()
Robot *	robot () const

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

Detailed Description

template<typename ControlSignalType, typename TargetType>
class franky::PositionWaypointMotion< ControlSignalType, TargetType >

A motion following multiple positional waypoints in a time-optimal way. Works with arbitrary initial conditions.

Template Parameters

ControlSignalType	The type of the control signal. Either franka::Torques, franka::JointVelocities, franka::CartesianVelocities, franka::JointPositions or franka::CartesianPose.
TargetType	The type of the target of the waypoints.

Constructor & Destructor Documentation

PositionWaypointMotion()

template<typename ControlSignalType , typename TargetType >

franky::PositionWaypointMotion< ControlSignalType, TargetType >::PositionWaypointMotion ( std::vector< PositionWaypoint< TargetType > >  waypoints, const RelativeDynamicsFactor &  relative_dynamics_factor = 1.0, bool  return_when_finished = true  )

inlineexplicit

Parameters

waypoints	The waypoints to follow.
relative_dynamics_factor	The relative dynamics factor for this motion. This 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 last waypoint is reached or keep holding the last target.

Member Function Documentation

extrapolateMotion()

template<typename ControlSignalType , typename TargetType >

void franky::PositionWaypointMotion< ControlSignalType, TargetType >::extrapolateMotion ( const franka::Duration &  time_step, const ruckig::InputParameter< 7 > &  input_parameter, ruckig::OutputParameter< 7 > &  output_parameter  ) const

inlineoverrideprotectedvirtual

Implements franky::WaypointMotion< ControlSignalType, PositionWaypoint< TargetType >, TargetType >.

getAbsoluteInputLimits()

template<typename ControlSignalType , typename TargetType >

std::tuple< Vector7d, Vector7d, Vector7d > franky::PositionWaypointMotion< ControlSignalType, TargetType >::getAbsoluteInputLimits ( ) const

overrideprotectedpure virtual

Implements franky::WaypointMotion< ControlSignalType, PositionWaypoint< TargetType >, TargetType >.

Implemented in franky::CartesianWaypointMotion, and franky::JointWaypointMotion.

setInputLimits()

template<typename ControlSignalType , typename TargetType >

void franky::PositionWaypointMotion< ControlSignalType, TargetType >::setInputLimits ( const PositionWaypoint< TargetType > &  waypoint, ruckig::InputParameter< 7 > &  input_parameter  ) const

inlineoverrideprotectedvirtual

Implements franky::WaypointMotion< ControlSignalType, PositionWaypoint< TargetType >, TargetType >.

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

• /home/runner/work/franky/franky/include/franky/motion/position_waypoint_motion.hpp