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< double > elbow_position=std::nullopt)
	RobotPose (const Vector7d &vector_repr, bool ignore_elbow=false)
	RobotPose (const Vector6d &vector_repr, std::optional< double > elbow_position=std::nullopt)
	RobotPose (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. More...
franka::CartesianPose	as_franka_pose () const
	Convert this pose to a franka pose. More...
RobotPose	leftTransform (const Affine &transform) const
	Transform this pose with a given affine transformation from the left side. More...
RobotPose	rightTransform (const Affine &transform) const
	Transform this pose with a given affine transformation from the right side. More...
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). More...
RobotPose	withElbowPosition (const std::optional< double > elbow_position) const
	Get the pose with a new elbow position. More...
Affine	end_effector_pose () const
	Get the end effector pose. More...
std::optional< double >	elbow_position () const
	Get the elbow position. More...

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< double >	elbow_position = std::nullopt
	)

Parameters

end_effector_pose	The pose of the end effector.
elbow_position	The position of the elbow. Optional.

RobotPose() [4/6]

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

explicit

Parameters

vector_repr	The vector representation of the pose.
ignore_elbow	Whether to ignore the elbow position. Default is false.

RobotPose() [5/6]

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

explicit

Parameters

vector_repr	The vector representation of the pose.
elbow_position	The position of the elbow. Optional.

RobotPose() [6/6]

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

explicit

Parameters

franka_pose

The franka pose.

Member Function Documentation

as_franka_pose()

franka::CartesianPose franky::RobotPose::as_franka_pose

(

)

const

Convert this pose to a franka pose.

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_position()

std::optional<double> franky::RobotPose::elbow_position ( ) const

inline

Get the elbow position.

Returns

The elbow position.

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.

Returns

The vector representation of the pose.

withElbowPosition()

RobotPose franky::RobotPose::withElbowPosition ( const std::optional< double >  elbow_position ) const

inline

Get the pose with a new elbow position.

Parameters

elbow_position

The new elbow position.

Returns

The pose with the new elbow position.

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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