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

#include <waypoint_motion.hpp>

Inheritance diagram for franky::WaypointMotion< ControlSignalType, WaypointType, TargetType >:

Public Member Functions
	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.

Protected Member Functions
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	extrapolateMotion (const franka::Duration &time_step, const ruckig::InputParameter< 7 > &input_parameter, ruckig::OutputParameter< 7 > &output_parameter) const =0

virtual void	checkWaypoint (const WaypointType &waypoint) const

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

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

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

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 WaypointType, typename TargetType>
class franky::WaypointMotion< ControlSignalType, WaypointType, TargetType >

A motion following multiple 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.
WaypointType	The type of the waypoints. Must subclass Waypoint<TargetType>.
TargetType	The type of the target of the waypoints.

Constructor & Destructor Documentation

◆ WaypointMotion()

template<typename ControlSignalType , typename WaypointType , typename TargetType >

franky::WaypointMotion< ControlSignalType, WaypointType, TargetType >::WaypointMotion	(	std::vector< WaypointType >	waypoints,
		bool	return_when_finished = `true`
	)

inlineexplicit

Parameters

waypoints	The waypoints to follow.
return_when_finished	Whether to end the motion when the last waypoint is reached or keep holding the last target.

Member Function Documentation

◆ checkWaypoint()

template<typename ControlSignalType , typename WaypointType , typename TargetType >

virtual void franky::WaypointMotion< ControlSignalType, WaypointType, TargetType >::checkWaypoint ( const WaypointType & waypoint ) const

inlineprotectedvirtual

◆ extrapolateMotion()

template<typename ControlSignalType , typename WaypointType , typename TargetType >

virtual void franky::WaypointMotion< ControlSignalType, WaypointType, TargetType >::extrapolateMotion	(	const franka::Duration &	time_step,
		const ruckig::InputParameter< 7 > &	input_parameter,
		ruckig::OutputParameter< 7 > &	output_parameter
	)		const

protectedpure virtual

Implemented in franky::PositionWaypointMotion< ControlSignalType, TargetType >, franky::PositionWaypointMotion< franka::CartesianPose, CartesianState >, franky::PositionWaypointMotion< franka::JointPositions, JointState >, franky::VelocityWaypointMotion< ControlSignalType, TargetType >, franky::VelocityWaypointMotion< franka::CartesianVelocities, RobotVelocity >, and franky::VelocityWaypointMotion< franka::JointVelocities, Vector7d >.

◆ getAbsoluteInputLimits()

template<typename ControlSignalType , typename WaypointType , typename TargetType >

virtual std::tuple< Vector7d, Vector7d, Vector7d > franky::WaypointMotion< ControlSignalType, WaypointType, TargetType >::getAbsoluteInputLimits ( ) const

protectedpure virtual

Implemented in franky::CartesianVelocityWaypointMotion, franky::CartesianWaypointMotion, franky::JointVelocityWaypointMotion, franky::JointWaypointMotion, franky::PositionWaypointMotion< ControlSignalType, TargetType >, franky::PositionWaypointMotion< franka::CartesianPose, CartesianState >, franky::PositionWaypointMotion< franka::JointPositions, JointState >, franky::VelocityWaypointMotion< ControlSignalType, TargetType >, franky::VelocityWaypointMotion< franka::CartesianVelocities, RobotVelocity >, and franky::VelocityWaypointMotion< franka::JointVelocities, Vector7d >.

◆ getControlSignal()

template<typename ControlSignalType , typename WaypointType , typename TargetType >

virtual ControlSignalType franky::WaypointMotion< ControlSignalType, WaypointType, TargetType >::getControlSignal	(	const RobotState &	robot_state,
		const franka::Duration &	time_step,
		const std::optional< ControlSignalType > &	previous_command,
		const ruckig::InputParameter< 7 > &	input_parameter
	)

protectedpure virtual

◆ getStateEstimate()

template<typename ControlSignalType , typename WaypointType , typename TargetType >

virtual std::tuple< Vector7d, Vector7d, Vector7d > franky::WaypointMotion< ControlSignalType, WaypointType, TargetType >::getStateEstimate ( const RobotState & robot_state ) const

protectedpure virtual

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

◆ initImpl()

template<typename ControlSignalType , typename WaypointType , typename TargetType >

void franky::WaypointMotion< ControlSignalType, WaypointType, TargetType >::initImpl	(	const RobotState &	robot_state,
		const std::optional< ControlSignalType > &	previous_command
	)

inlineoverrideprotectedvirtual

Reimplemented from franky::Motion< ControlSignalType >.

◆ initWaypointMotion()

template<typename ControlSignalType , typename WaypointType , typename TargetType >

virtual void franky::WaypointMotion< ControlSignalType, WaypointType, TargetType >::initWaypointMotion	(	const RobotState &	robot_state,
		const std::optional< ControlSignalType > &	previous_command,
		ruckig::InputParameter< 7 > &	input_parameter
	)

protectedpure virtual

◆ nextCommandImpl()

template<typename ControlSignalType , typename WaypointType , typename TargetType >

ControlSignalType franky::WaypointMotion< ControlSignalType, WaypointType, TargetType >::nextCommandImpl	(	const RobotState &	robot_state,
		franka::Duration	time_step,
		franka::Duration	rel_time,
		franka::Duration	abs_time,
		const std::optional< ControlSignalType > &	previous_command
	)

inlineoverrideprotectedvirtual

Implements franky::Motion< ControlSignalType >.

◆ setInputLimits()

template<typename ControlSignalType , typename WaypointType , typename TargetType >

virtual void franky::WaypointMotion< ControlSignalType, WaypointType, TargetType >::setInputLimits	(	const WaypointType &	waypoint,
		ruckig::InputParameter< 7 > &	input_parameter
	)		const

protectedpure virtual

Implemented in franky::PositionWaypointMotion< ControlSignalType, TargetType >, and franky::VelocityWaypointMotion< ControlSignalType, TargetType >.

◆ setNewWaypoint()

template<typename ControlSignalType , typename WaypointType , typename TargetType >

virtual void franky::WaypointMotion< ControlSignalType, WaypointType, TargetType >::setNewWaypoint	(	const RobotState &	robot_state,
		const std::optional< ControlSignalType > &	previous_command,
		const WaypointType &	new_waypoint,
		ruckig::InputParameter< 7 > &	input_parameter
	)

protectedpure virtual

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

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

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ WaypointMotion()

Member Function Documentation

◆ checkWaypoint()

◆ extrapolateMotion()

◆ getAbsoluteInputLimits()

◆ getControlSignal()

◆ getStateEstimate()

◆ initImpl()

◆ initWaypointMotion()

◆ nextCommandImpl()

◆ setInputLimits()

◆ setNewWaypoint()