A motion following multiple positional waypoints in a time-optimal way. Works with arbitrary initial conditions. More...

#include <velocity_waypoint_motion.hpp>

Inheritance diagram for franky::VelocityWaypointMotion< ControlSignalType, TargetType >:

Public Member Functions
	VelocityWaypointMotion (std::vector< VelocityWaypoint< TargetType > > waypoints, const RelativeDynamicsFactor &relative_dynamics_factor=1.0)

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

Protected Member Functions
void	setInputLimits (const VelocityWaypoint< TargetType > &waypoint, ruckig::InputParameter< 7 > &input_parameter) const override

void	extrapolateMotion (const RobotState &robot_state, const franka::Duration &time_step, const ruckig::InputParameter< 7 > &input_parameter, ruckig::OutputParameter< 7 > &output_parameter) const override

std::tuple< Vector7d, Vector7d, Vector7d >	getAbsoluteInputLimits () const override=0

virtual std::tuple< Vector7d, Vector7d, Vector7d >	getDesiredState (const RobotState &robot_state) const =0

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

virtual void	checkWaypoint (const VelocityWaypoint< TargetType > &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

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

Robot *	robot () const

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 &)>

Detailed Description

template<typename ControlSignalType, typename TargetType>
class franky::VelocityWaypointMotion< ControlSignalType, TargetType >

A motion following multiple positional waypoints in a time-optimal way. Works with arbitrary initial conditions.

Template Parameters

ControlSignalType	The type of the control signal. Either franka::Torques, franka::JointVelocities, franka::CartesianVelocities, franka::JointPositions or franka::CartesianPose.
TargetType	The type of the target of the waypoints.

Constructor & Destructor Documentation

◆ VelocityWaypointMotion()

template<typename ControlSignalType , typename TargetType >

franky::VelocityWaypointMotion< ControlSignalType, TargetType >::VelocityWaypointMotion	(	std::vector< VelocityWaypoint< TargetType > >	waypoints,
		const RelativeDynamicsFactor &	relative_dynamics_factor = `1.0`
	)

inlineexplicit

Parameters

waypoints	The waypoints to follow.
relative_dynamics_factor	The relative dynamics factor for this motion. This factor will get multiplied with the robot's global dynamics factor to get the actual dynamics factor for this motion.

Member Function Documentation

◆ extrapolateMotion()

template<typename ControlSignalType , typename TargetType >

void franky::VelocityWaypointMotion< ControlSignalType, TargetType >::extrapolateMotion	(	const RobotState &	robot_state,
		const franka::Duration &	time_step,
		const ruckig::InputParameter< 7 > &	input_parameter,
		ruckig::OutputParameter< 7 > &	output_parameter
	)		const

inlineoverrideprotectedvirtual

Implements franky::WaypointMotion< ControlSignalType, VelocityWaypoint< TargetType >, TargetType >.

◆ getAbsoluteInputLimits()

template<typename ControlSignalType , typename TargetType >

std::tuple< Vector7d, Vector7d, Vector7d > franky::VelocityWaypointMotion< ControlSignalType, TargetType >::getAbsoluteInputLimits ( ) const

overrideprotectedpure virtual

Implements franky::WaypointMotion< ControlSignalType, VelocityWaypoint< TargetType >, TargetType >.

Implemented in franky::CartesianVelocityWaypointMotion, and franky::JointVelocityWaypointMotion.

◆ getDesiredState()

template<typename ControlSignalType , typename TargetType >

virtual std::tuple< Vector7d, Vector7d, Vector7d > franky::VelocityWaypointMotion< ControlSignalType, TargetType >::getDesiredState ( const RobotState & robot_state ) const

protectedpure virtual

Implemented in franky::CartesianVelocityWaypointMotion, and franky::JointVelocityWaypointMotion.

◆ setInputLimits()

template<typename ControlSignalType , typename TargetType >

void franky::VelocityWaypointMotion< ControlSignalType, TargetType >::setInputLimits	(	const VelocityWaypoint< TargetType > &	waypoint,
		ruckig::InputParameter< 7 > &	input_parameter
	)		const

inlineoverrideprotectedvirtual

Implements franky::WaypointMotion< ControlSignalType, VelocityWaypoint< TargetType >, TargetType >.

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

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

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ VelocityWaypointMotion()

Member Function Documentation

◆ extrapolateMotion()

◆ getAbsoluteInputLimits()

◆ getDesiredState()

◆ setInputLimits()