Franky 1.0.2
A High-Level Motion API for Franka
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A motion following multiple waypoints in a time-optimal way. Works with arbitrary initial conditions. More...
#include <waypoint_motion.hpp>
Public Member Functions | |
WaypointMotion (std::vector< WaypointType > waypoints, bool return_when_finished=true) | |
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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 | |
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using | CallbackType = std::function< void(const RobotState &, franka::Duration, franka::Duration, franka::Duration, const ControlSignalType &)> |
A motion following multiple waypoints in a time-optimal way. Works with arbitrary initial conditions.
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. |
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inlineexplicit |
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. |
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inlineprotectedvirtual |
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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 >.
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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 >.
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protectedpure virtual |
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inlineoverrideprotectedvirtual |
Reimplemented from franky::Motion< ControlSignalType >.
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protectedpure virtual |
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inlineoverrideprotectedvirtual |
Implements franky::Motion< ControlSignalType >.
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protectedpure virtual |
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protectedpure virtual |