Stop motion for cartesian velocity control mode. More...

#include <stop_motion.hpp>

Inheritance diagram for franky::StopMotion< franka::CartesianVelocities >:

Public Member Functions
	StopMotion (const RelativeDynamicsFactor &relative_dynamics_factor=1.0, double state_estimate_weight=0.0)

Public Member Functions inherited from franky::CartesianVelocityMotion
	CartesianVelocityMotion (const RobotVelocity &target, const franka::Duration &duration=franka::Duration(1000), double state_estimate_weight=0.0, const RelativeDynamicsFactor &relative_dynamics_factor=1.0, const Affine &frame=Affine::Identity())
	Construct a Cartesian motion.

Public Member Functions inherited from franky::CartesianVelocityWaypointMotion
	CartesianVelocityWaypointMotion (const std::vector< VelocityWaypoint< RobotVelocity > > &waypoints, const RelativeDynamicsFactor &relative_dynamics_factor=1.0, Affine ee_frame=Affine::Identity())

Public Member Functions inherited from franky::VelocityWaypointMotion< franka::CartesianVelocities, RobotVelocity >
	VelocityWaypointMotion (std::vector< VelocityWaypoint< RobotVelocity > > waypoints, const RelativeDynamicsFactor &relative_dynamics_factor=1.0)

Public Member Functions inherited from franky::WaypointMotion< ControlSignalType, WaypointType, TargetType >
	WaypointMotion (std::vector< WaypointType > 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.

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 &)>

Protected Member Functions inherited from franky::CartesianVelocityWaypointMotion
void	checkWaypoint (const VelocityWaypoint< RobotVelocity > &waypoint) const override

void	initWaypointMotion (const RobotState &robot_state, const std::optional< franka::CartesianVelocities > &previous_command, ruckig::InputParameter< 7 > &input_parameter) override

void	setNewWaypoint (const RobotState &robot_state, const std::optional< franka::CartesianVelocities > &previous_command, const VelocityWaypoint< RobotVelocity > &new_waypoint, ruckig::InputParameter< 7 > &input_parameter) override

std::tuple< Vector7d, Vector7d, Vector7d >	getAbsoluteInputLimits () const override

franka::CartesianVelocities	getControlSignal (const RobotState &robot_state, const franka::Duration &time_step, const std::optional< franka::CartesianVelocities > &previous_command, const ruckig::InputParameter< 7 > &input_parameter) override

virtual std::tuple< Vector7d, Vector7d, Vector7d >	getStateEstimate (const RobotState &robot_state) const override

Protected Member Functions inherited from franky::VelocityWaypointMotion< franka::CartesianVelocities, RobotVelocity >
void	setInputLimits (const VelocityWaypoint< RobotVelocity > &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

Protected Member Functions inherited from franky::WaypointMotion< ControlSignalType, WaypointType, 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 WaypointType &new_waypoint, ruckig::InputParameter< 7 > &input_parameter)=0

virtual void	checkWaypoint (const WaypointType &waypoint) const

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

virtual void	setInputLimits (const WaypointType &waypoint, ruckig::InputParameter< 7 > &input_parameter) const =0

Protected Member Functions inherited from franky::Motion< ControlSignalType >
	Motion ()

Robot *	robot () const

Detailed Description

Stop motion for cartesian velocity control mode.

Constructor & Destructor Documentation

◆ StopMotion()

franky::StopMotion< franka::CartesianVelocities >::StopMotion	(	const RelativeDynamicsFactor &	relative_dynamics_factor = `1.0`,
		double	state_estimate_weight = `0.0`
	)

inlineexplicit

Parameters

relative_dynamics_factor	Relative dynamics factor for this stop motion.
state_estimate_weight	Weighting of the robot state estimate vs the target. See CartesianVelocityMotion for details.

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

/home/runner/work/franky/franky/include/franky/motion/stop_motion.hpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ StopMotion()