Graceful stop for torque-control (impedance) motions. More...

#include <stop_motion.hpp>

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

Public Member Functions
	StopMotion (const TorqueStopParams &params={})

Public Member Functions inherited from franky::Motion< franka::Torques >
virtual	~Motion ()=default

void	addReaction (std::shared_ptr< Reaction< franka::Torques > > reaction)
	Add a reaction to the motion.

void	addReactionFront (std::shared_ptr< Reaction< franka::Torques > > reaction)
	Add a reaction to the front of the reaction list.

std::vector< std::shared_ptr< Reaction< franka::Torques > > >	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< franka::Torques > &previous_command)
	Initialize the motion. Motions can only be started once; this function throws a MotionReuseException on any subsequent call.

bool	has_started () const
	Whether this motion has already been started. Started motions cannot be started again.

franka::Torques	nextCommand (const RobotState &robot_state, franka::Duration time_step, franka::Duration rel_time, franka::Duration abs_time, const std::optional< franka::Torques > &previous_command)
	Get the next command of the motion.

std::shared_ptr< Motion< franka::Torques > >	checkAndCallReactions (const RobotState &robot_state, franka::Duration rel_time, franka::Duration abs_time)
	Check and call reactions.

Protected Member Functions
void	initImpl (const RobotState &robot_state, const std::optional< franka::Torques > &previous_command) override

franka::Torques	nextCommandImpl (const RobotState &robot_state, franka::Duration time_step, franka::Duration rel_time, franka::Duration abs_time, const std::optional< franka::Torques > &previous_command) override

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

Robot *	robot () const

Additional Inherited Members
Public Types inherited from franky::Motion< franka::Torques >
using	CallbackType = std::function< void(const RobotState &, franka::Duration, franka::Duration, franka::Duration, const franka::Torques &)>

Detailed Description

Graceful stop for torque-control (impedance) motions.

Torque motions never signal MotionFinished on their own, and franka::Robot::stop() preempts the control loop with a franka::ControlException rather than ramping down. This motion ramps the last commanded torque into a damping-only law and then returns franka::MotionFinished.

Constructor & Destructor Documentation

◆ StopMotion()

franky::StopMotion< franka::Torques >::StopMotion ( const TorqueStopParams & params = {} )

inlineexplicit

Member Function Documentation

◆ initImpl()

void franky::StopMotion< franka::Torques >::initImpl	(	const RobotState &	robot_state,
		const std::optional< franka::Torques > &	previous_command
	)

overrideprotectedvirtual

Reimplemented from franky::Motion< franka::Torques >.

◆ nextCommandImpl()

franka::Torques franky::StopMotion< franka::Torques >::nextCommandImpl	(	const RobotState &	robot_state,
		franka::Duration	time_step,
		franka::Duration	rel_time,
		franka::Duration	abs_time,
		const std::optional< franka::Torques > &	previous_command
	)

overrideprotectedvirtual

Implements franky::Motion< franka::Torques >.

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

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

Public Member Functions