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, TargetType >:
Classes | |
| struct | Params |
| Parameters for the waypoint motion. More... | |
Public Member Functions | |
| WaypointMotion (std::vector< Waypoint< TargetType >> waypoints, Params params) | |
 Public Member Functions inherited from franky::Motion< ControlSignalType > | |
| void | addReaction (std::shared_ptr< Reaction< ControlSignalType >> reaction) |
| Add a reaction to the motion. More... | |
| void | addReactionFront (std::shared_ptr< Reaction< ControlSignalType >> reaction) |
| Add a reaction to the front of the reaction list. More... | |
| std::vector< std::shared_ptr< Reaction< ControlSignalType > > > | 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< ControlSignalType > &previous_command) |
| Initialize the motion. More... | |
| ControlSignalType | nextCommand (const franka::RobotState &robot_state, franka::Duration time_step, double rel_time, double abs_time, const std::optional< ControlSignalType > &previous_command) |
| Get the next command of the motion. More... | |
| std::shared_ptr< Motion< ControlSignalType > > | checkAndCallReactions (const franka::RobotState &robot_state, double rel_time, double abs_time) |
| Check and call reactions. More... | |
Protected Member Functions | |
| void | initImpl (const franka::RobotState &robot_state, const std::optional< ControlSignalType > &previous_command) override |
| ControlSignalType | nextCommandImpl (const franka::RobotState &robot_state, franka::Duration time_step, double rel_time, double abs_time, const std::optional< ControlSignalType > &previous_command) override |
| virtual void | initWaypointMotion (const franka::RobotState &robot_state, const std::optional< ControlSignalType > &previous_command, ruckig::InputParameter< 7 > &input_parameter)=0 |
| virtual void | setNewWaypoint (const franka::RobotState &robot_state, const std::optional< ControlSignalType > &previous_command, const Waypoint< TargetType > &new_waypoint, ruckig::InputParameter< 7 > &input_parameter)=0 |
| virtual std::tuple< Vector7d, Vector7d, Vector7d > | getAbsoluteInputLimits () const =0 |
| virtual ControlSignalType | getControlSignal (const 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 franka::RobotState &, franka::Duration, double, double, const ControlSignalType &)> |
Detailed Description
template<typename ControlSignalType, typename TargetType>
class franky::WaypointMotion< ControlSignalType, 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. TargetType The type of the target of the waypoints.
Constructor & Destructor Documentation
◆ WaypointMotion()
template<typename ControlSignalType , typename TargetType >
|
inlineexplicit |
- Parameters
-
waypoints The waypoints to follow. params Parameters for the motion.
Member Function Documentation
◆ getAbsoluteInputLimits()
template<typename ControlSignalType , typename TargetType >
|
protectedpure virtual |
Implemented in franky::JointWaypointMotion, and franky::CartesianWaypointMotion.
◆ getControlSignal()
template<typename ControlSignalType , typename TargetType >
|
protectedpure virtual |
Implemented in franky::JointWaypointMotion, and franky::CartesianWaypointMotion.
◆ initImpl()
template<typename ControlSignalType , typename TargetType >
|
inlineoverrideprotectedvirtual |
Reimplemented from franky::Motion< ControlSignalType >.
◆ initWaypointMotion()
template<typename ControlSignalType , typename TargetType >
|
protectedpure virtual |
Implemented in franky::JointWaypointMotion, and franky::CartesianWaypointMotion.
◆ nextCommandImpl()
template<typename ControlSignalType , typename TargetType >
|
inlineoverrideprotectedvirtual |
Implements franky::Motion< ControlSignalType >.
◆ setNewWaypoint()
template<typename ControlSignalType , typename TargetType >
|
protectedpure virtual |
Implemented in franky::JointWaypointMotion, and franky::CartesianWaypointMotion.
The documentation for this class was generated from the following file:
- /home/runner/work/franky/franky/include/franky/motion/waypoint_motion.hpp
