joint_impedance_motion.hpp

Go to the documentation of this file.

#pragma once
 
#include <optional>
 
#include "franky/motion/joint_impedance_base.hpp"
#include "franky/types.hpp"
 
namespace franky {
 
class JointImpedanceMotion : public JointImpedanceBase {
 public:
  using Params = JointImpedanceParams;
 
  explicit JointImpedanceMotion(const Vector7d &target);
  explicit JointImpedanceMotion(const Vector7d &target, const Params &params);
  JointImpedanceMotion(const Vector7d &target, const Vector7d &target_velocity);
  JointImpedanceMotion(const Vector7d &target, const Vector7d &target_velocity, const Params &params);
 
 protected:
  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;
};
 
}  // namespace franky