franky::RobotVelocity Class Reference

Cartesian velocity of a robot. More...

#include <robot_velocity.hpp>

Public Member Functions
	RobotVelocity ()
	RobotVelocity (const RobotVelocity &robot_velocity)
	RobotVelocity (const Twist &end_effector_twist, std::optional< double > elbow_velocity=std::nullopt)
	RobotVelocity (const Vector7d &vector_repr, bool ignore_elbow=false)
	RobotVelocity (const Vector6d &vector_repr, std::optional< double > elbow_velocity=std::nullopt)
	RobotVelocity (franka::CartesianVelocities franka_velocity)
Vector7d	vector_repr () const
	Get the vector representation of the velocity. It consists of the linear and angular velocity of the end effector and the joint velocity of the elbow.
franka::CartesianVelocities	as_franka_velocity (const std::optional< ElbowState > &elbow_state=std::nullopt, FlipDirection default_elbow_flip_direction=FlipDirection::kNegative) const
	Get the franka velocity.
RobotVelocity	transform (const Affine &affine) const
	Transform the frame of the velocity by applying the given affine transform.
template<typename RotationMatrixType >
RobotVelocity	transform (const RotationMatrixType &rotation) const
	Transform the frame of the velocity by applying the given rotation.
RobotVelocity	changeEndEffectorFrame (const Eigen::Vector3d &offset_world_frame) const
	Change the end-effector frame by adding the given offset to the current end-effector frame. Note that the offset must be given in world coordinates.
RobotVelocity	withElbowVelocity (const std::optional< double > elbow_velocity) const
	Get the velocity with a new elbow velocity.
Twist	end_effector_twist () const
	Get the end effector twist.
std::optional< double >	elbow_velocity () const
	Get the elbow velocity.

Friends
std::ostream &	operator<< (std::ostream &os, const RobotVelocity &robot_velocity)

Detailed Description

Cartesian velocity of a robot.

This class encapsulates the cartesian velocity of a robot, which comproses the end effector twist and the elbow velocity.

Constructor & Destructor Documentation

RobotVelocity() [1/6]

franky::RobotVelocity::RobotVelocity ( )

default

RobotVelocity() [2/6]

franky::RobotVelocity::RobotVelocity ( const RobotVelocity &  robot_velocity )

default

RobotVelocity() [3/6]

franky::RobotVelocity::RobotVelocity	(	const Twist &	end_effector_twist,
		std::optional< double >	elbow_velocity = std::nullopt
	)

Parameters

end_effector_twist	The twist of the end effector.
elbow_velocity	The velocity of the elbow (optional).

RobotVelocity() [4/6]

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

explicit

Parameters

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

RobotVelocity() [5/6]

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

explicit

Parameters

vector_repr	The vector representation of the velocity.
elbow_velocity	The velocity of the elbow (optional).

RobotVelocity() [6/6]

franky::RobotVelocity::RobotVelocity ( franka::CartesianVelocities  franka_velocity )

explicit

Parameters

franka_velocity

The franka velocity.

Member Function Documentation

as_franka_velocity()

franka::CartesianVelocities franky::RobotVelocity::as_franka_velocity	(	const std::optional< ElbowState > &	elbow_state = std::nullopt,
		FlipDirection	default_elbow_flip_direction = FlipDirection::kNegative
	)		const

Get the franka velocity.

Parameters

elbow_state	The elbow state to use. Note, that franka::CartesianVelocities contains the elbow state and not the elbow velocity, contrary to RobotVelocity.
default_elbow_flip_direction	The default flip direction of the elbow if it is not set.

Returns

The franka velocity.

changeEndEffectorFrame()

RobotVelocity franky::RobotVelocity::changeEndEffectorFrame ( const Eigen::Vector3d &  offset_world_frame ) const

inline

Change the end-effector frame by adding the given offset to the current end-effector frame. Note that the offset must be given in world coordinates.

Parameters

offset_world_frame

The offset to add to the current end-effector frame.

Returns

The velocity of the new end-effector frame.

elbow_velocity()

std::optional< double > franky::RobotVelocity::elbow_velocity ( ) const

inline

Get the elbow velocity.

Returns

The elbow velocity.

end_effector_twist()

Twist franky::RobotVelocity::end_effector_twist ( ) const

inline

Get the end effector twist.

Returns

The end effector twist.

transform() [1/2]

RobotVelocity franky::RobotVelocity::transform ( const Affine &  affine ) const

inline

Transform the frame of the velocity by applying the given affine transform.

Parameters

affine

The affine to apply.

Returns

The velocity after the transformation.

transform() [2/2]

template<typename RotationMatrixType >

RobotVelocity franky::RobotVelocity::transform ( const RotationMatrixType &  rotation ) const

inline

Transform the frame of the velocity by applying the given rotation.

Parameters

rotation

The rotation to apply.

Returns

The velocity after the transformation.

vector_repr()

Vector7d franky::RobotVelocity::vector_repr

(

)

const

Get the vector representation of the velocity. It consists of the linear and angular velocity of the end effector and the joint velocity of the elbow.

Returns

The vector representation of the velocity.

withElbowVelocity()

RobotVelocity franky::RobotVelocity::withElbowVelocity ( const std::optional< double >  elbow_velocity ) const

inline

Get the velocity with a new elbow velocity.

Parameters

elbow_velocity

The new elbow velocity.

Returns

The velocity with the new elbow velocity.

Friends And Related Symbol Documentation

operator<<

std::ostream & operator<< ( std::ostream &  os, const RobotVelocity &  robot_velocity  )

friend

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

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