franky::Reaction< ControlSignalType > Class Template Reference

A reaction that can be attached to a motion. More...

#include <reaction.hpp>

Public Member Functions
	Reaction (const Condition &condition, std::shared_ptr< Motion< ControlSignalType >> new_motion=nullptr)
	Reaction (Condition condition, const MotionFunc &motion_func)
std::shared_ptr< Motion< ControlSignalType > >	operator() (const franka::RobotState &robot_state, double rel_time, double abs_time)
	Get the new motion if the condition is met. More...
bool	condition (const franka::RobotState &robot_state, double rel_time, double abs_time) const
	Check if the condition is met. More...
void	registerCallback (std::function< void(const franka::RobotState &, double, double)> callback)
	Register a callback that is called when the condition of this reaction is met. More...

Detailed Description

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

A reaction that can be attached to a motion.

This class defines a reaction in a motion, which can be used to change the motion based on the robot state. Reactions consist of a condition and a motion that replaces the current motion immediately if the condition is met.

Constructor & Destructor Documentation

Reaction() [1/2]

template<typename ControlSignalType >

franky::Reaction< ControlSignalType >::Reaction ( const Condition &  condition, std::shared_ptr< Motion< ControlSignalType >>  new_motion = nullptr  )

explicit

Parameters

condition	The condition that must be met for the reaction to be executed.
new_motion	The motion that is executed if the condition is met.

Reaction() [2/2]

template<typename ControlSignalType >

franky::Reaction< ControlSignalType >::Reaction ( Condition  condition, const MotionFunc &  motion_func  )

explicit

Parameters

condition	The condition that must be met for the reaction to be executed.
motion_func	A function that returns a motion that is executed if the condition is met.

Member Function Documentation

condition()

template<typename ControlSignalType >

bool franky::Reaction< ControlSignalType >::condition ( const franka::RobotState &  robot_state, double  rel_time, double  abs_time  ) const

inline

Check if the condition is met.

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

True if the condition is met, false otherwise.

operator()()

template<typename ControlSignalType >

std::shared_ptr< Motion< ControlSignalType > > franky::Reaction< ControlSignalType >::operator()	(	const franka::RobotState &	robot_state,
		double	rel_time,
		double	abs_time
	)

Get the new motion if the condition is met.

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 new motion if the condition is met, or nullptr otherwise.

registerCallback()

template<typename ControlSignalType >

void franky::Reaction< ControlSignalType >::registerCallback

(

std::function< void(const franka::RobotState &, double, double)>

callback

)

Register a callback that is called when the condition of this reaction is met.

Parameters

callback

The callback to register. Callbacks are called with the robot state, the relative time [s] and the absolute time [s].

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