Stop motion for joint position control mode. More...
#include <stop_motion.hpp>
Inheritance diagram for franky::StopMotion< franka::JointPositions >:
Public Member Functions | |
| StopMotion () | |
 Public Member Functions inherited from franky::JointWaypointMotion | |
| JointWaypointMotion (const std::vector< Waypoint< JointState >> &waypoints) | |
| JointWaypointMotion (const std::vector< Waypoint< JointState >> &waypoints, Params params) | |
| Public Member Functions inherited from franky::WaypointMotion< franka::JointPositions, JointState > | |
| WaypointMotion (std::vector< Waypoint< JointState >> waypoints, Params params) | |
| Public Member Functions inherited from franky::Motion< franka::JointPositions > | |
| void | addReaction (std::shared_ptr< Reaction< franka::JointPositions >> reaction) |
| Add a reaction to the motion. More... | |
| void | addReactionFront (std::shared_ptr< Reaction< franka::JointPositions >> reaction) |
| Add a reaction to the front of the reaction list. More... | |
| std::vector< std::shared_ptr< Reaction< franka::JointPositions > > > | reactions () |
| Currently registered reactions of the motion. More... | |
| void | registerCallback (CallbackType callback) |
| Register a callback that is called in every step of the motion. More... | |
| void | init (Robot *robot, const franka::RobotState &robot_state, const std::optional< franka::JointPositions > &previous_command) |
| Initialize the motion. More... | |
| franka::JointPositions | nextCommand (const franka::RobotState &robot_state, franka::Duration time_step, double rel_time, double abs_time, const std::optional< franka::JointPositions > &previous_command) |
| Get the next command of the motion. More... | |
| std::shared_ptr< Motion< franka::JointPositions > > | checkAndCallReactions (const franka::RobotState &robot_state, double rel_time, double abs_time) |
| Check and call reactions. More... | |
Additional Inherited Members | |
| Public Types inherited from franky::Motion< franka::JointPositions > | |
| using | CallbackType = std::function< void(const franka::RobotState &, franka::Duration, double, double, const franka::JointPositions &)> |
| Protected Member Functions inherited from franky::JointWaypointMotion | |
| void | initWaypointMotion (const franka::RobotState &robot_state, const std::optional< franka::JointPositions > &previous_command, ruckig::InputParameter< 7 > &input_parameter) override |
| void | setNewWaypoint (const franka::RobotState &robot_state, const std::optional< franka::JointPositions > &previous_command, const Waypoint< JointState > &new_waypoint, ruckig::InputParameter< 7 > &input_parameter) override |
| std::tuple< Vector7d, Vector7d, Vector7d > | getAbsoluteInputLimits () const override |
| franka::JointPositions | getControlSignal (const ruckig::InputParameter< 7 > &input_parameter) const override |
| Protected Member Functions inherited from franky::WaypointMotion< franka::JointPositions, JointState > | |
| void | initImpl (const franka::RobotState &robot_state, const std::optional< franka::JointPositions > &previous_command) override |
| franka::JointPositions | nextCommandImpl (const franka::RobotState &robot_state, franka::Duration time_step, double rel_time, double abs_time, const std::optional< franka::JointPositions > &previous_command) override |
| Protected Member Functions inherited from franky::Motion< franka::JointPositions > | |
| Motion () | |
| Robot * | robot () const |
Detailed Description
Stop motion for joint position control mode.
Constructor & Destructor Documentation
◆ StopMotion()
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inlineexplicit |
The documentation for this class was generated from the following file:
- /home/runner/work/franky/franky/include/franky/motion/stop_motion.hpp
