franky::RobotPose Class Reference

Cartesian pose of a robot. More...

#include <robot_pose.hpp>

Public Member Functions
	RobotPose ()
	RobotPose (const RobotPose &robot_pose)
	RobotPose (Affine end_effector_pose, std::optional< ElbowState > elbow_state=std::nullopt)
	RobotPose (const Vector7d &vector_repr, bool ignore_elbow=false, FlipDirection flip_direction=FlipDirection::kNegative)
	RobotPose (const Vector6d &vector_repr, std::optional< ElbowState > elbow_state=std::nullopt)
	RobotPose (const franka::CartesianPose &franka_pose)
Vector7d	vector_repr () const
	Get the vector representation of the pose, which consists of the end effector position and orientation (as rotation vector) and the elbow position. Does not contain the flip component of the elbow state.
franka::CartesianPose	as_franka_pose (FlipDirection default_elbow_flip_direction=FlipDirection::kNegative) const
	Convert this pose to a franka pose.
RobotPose	leftTransform (const Affine &transform) const
	Transform this pose with a given affine transformation from the left side.
RobotPose	rightTransform (const Affine &transform) const
	Transform this pose with a given affine transformation from the right side.
RobotPose	changeEndEffectorFrame (const Affine &transform) const
	Change the frame of the end effector by applying a transformation from the right side. This is equivalent to calling rightTransform(transform).
RobotPose	withElbowState (const std::optional< ElbowState > elbow_state) const
	Get the pose with a new elbow state.
Affine	end_effector_pose () const
	Get the end effector pose.
std::optional< ElbowState >	elbow_state () const
	Get the elbow state.

Friends
std::ostream &	operator<< (std::ostream &os, const RobotPose &robot_pose)

Detailed Description

Cartesian pose of a robot.

This class encapsulates the cartesian pose of a robot, which comprises the end effector pose and the elbow position.

Constructor & Destructor Documentation

RobotPose() [1/6]

franky::RobotPose::RobotPose

(

)

RobotPose() [2/6]

franky::RobotPose::RobotPose ( const RobotPose &  robot_pose )

default

RobotPose() [3/6]

franky::RobotPose::RobotPose	(	Affine	end_effector_pose,
		std::optional< ElbowState >	elbow_state = std::nullopt
	)

Parameters

end_effector_pose	The pose of the end effector.
elbow_state	The state of the elbow. Optional.

RobotPose() [4/6]

franky::RobotPose::RobotPose ( const Vector7d &  vector_repr, bool  ignore_elbow = false, FlipDirection  flip_direction = FlipDirection::kNegative  )

explicit

Parameters

vector_repr	The vector representation of the pose.
ignore_elbow	Whether to ignore the elbow state. Default is false.
flip_direction	The flip direction to use if the elbow is not ignored. Default is negative.

RobotPose() [5/6]

franky::RobotPose::RobotPose ( const Vector6d &  vector_repr, std::optional< ElbowState >  elbow_state = std::nullopt  )

explicit

Parameters

vector_repr	The vector representation of the pose.
elbow_state	The state of the elbow. Optional.

RobotPose() [6/6]

franky::RobotPose::RobotPose ( const franka::CartesianPose &  franka_pose )

explicit

Parameters

franka_pose

The franka pose.

Member Function Documentation

as_franka_pose()

franka::CartesianPose franky::RobotPose::as_franka_pose

(

FlipDirection

default_elbow_flip_direction = FlipDirection::kNegative

)

const

Convert this pose to a franka pose.

Parameters

default_elbow_flip_direction

The default flip direction to use if the elbow flip direction is not set.

Returns

The franka pose.

changeEndEffectorFrame()

RobotPose franky::RobotPose::changeEndEffectorFrame ( const Affine &  transform ) const

inline

Change the frame of the end effector by applying a transformation from the right side. This is equivalent to calling rightTransform(transform).

Parameters

transform

The transform to apply.

Returns

The robot pose with the new end effector frame.

elbow_state()

std::optional< ElbowState > franky::RobotPose::elbow_state ( ) const

inline

Get the elbow state.

Returns

The elbow state.

end_effector_pose()

Affine franky::RobotPose::end_effector_pose ( ) const

inline

Get the end effector pose.

Returns

The end effector pose.

leftTransform()

RobotPose franky::RobotPose::leftTransform ( const Affine &  transform ) const

inline

Transform this pose with a given affine transformation from the left side.

Parameters

transform

The transform to apply.

Returns

The transformed robot pose.

rightTransform()

RobotPose franky::RobotPose::rightTransform ( const Affine &  transform ) const

inline

Transform this pose with a given affine transformation from the right side.

Parameters

transform

The transform to apply.

Returns

The transformed robot pose.

vector_repr()

Vector7d franky::RobotPose::vector_repr

(

)

const

Get the vector representation of the pose, which consists of the end effector position and orientation (as rotation vector) and the elbow position. Does not contain the flip component of the elbow state.

Returns

The vector representation of the pose.

withElbowState()

RobotPose franky::RobotPose::withElbowState ( const std::optional< ElbowState >  elbow_state ) const

inline

Get the pose with a new elbow state.

Parameters

elbow_state

The new elbow state.

Returns

The pose with the new elbow state.

Friends And Related Symbol Documentation

operator<<

std::ostream & operator<< ( std::ostream &  os, const RobotPose &  robot_pose  )

friend

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

• /home/runner/work/franky/franky/include/franky/robot_pose.hpp
• /home/runner/work/franky/franky/src/robot_pose.cpp