5#include <ruckig/ruckig.hpp>
7#include <franka/robot_state.h>
28 bool return_when_finished =
true);
34 const std::optional<franka::JointPositions> &previous_command,
35 ruckig::InputParameter<7> &input_parameter)
override;
39 const std::optional<franka::JointPositions> &previous_command,
41 ruckig::InputParameter<7> &input_parameter)
override;
47 const franka::Duration &time_step,
48 const std::optional<franka::JointPositions> &previous_command,
49 const ruckig::InputParameter<7> &input_parameter)
override;
51 [[nodiscard]]
virtual std::tuple<Vector7d, Vector7d, Vector7d>
getStateEstimate(
Joint waypoint motion.
Definition joint_waypoint_motion.hpp:19
franka::JointPositions getControlSignal(const RobotState &robot_state, const franka::Duration &time_step, const std::optional< franka::JointPositions > &previous_command, const ruckig::InputParameter< 7 > &input_parameter) override
Definition joint_waypoint_motion.cpp:26
std::tuple< Vector7d, Vector7d, Vector7d > getAbsoluteInputLimits() const override
Definition joint_waypoint_motion.cpp:43
void initWaypointMotion(const RobotState &robot_state, const std::optional< franka::JointPositions > &previous_command, ruckig::InputParameter< 7 > &input_parameter) override
Definition joint_waypoint_motion.cpp:15
virtual std::tuple< Vector7d, Vector7d, Vector7d > getStateEstimate(const RobotState &robot_state) const override
Definition joint_waypoint_motion.cpp:48
void setNewWaypoint(const RobotState &robot_state, const std::optional< franka::JointPositions > &previous_command, const PositionWaypoint< JointState > &new_waypoint, ruckig::InputParameter< 7 > &input_parameter) override
Definition joint_waypoint_motion.cpp:32
A motion following multiple positional waypoints in a time-optimal way. Works with arbitrary initial ...
Definition position_waypoint_motion.hpp:32
Relative dynamics factors.
Definition relative_dynamics_factor.hpp:13
Definition dynamics_limit.cpp:8
A position waypoint with a target and optional parameters.
Definition position_waypoint_motion.hpp:20
Full state of the robot.
Definition robot_state.hpp:20