Franky 1.0.2
A High-Level Motion API for Franka
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joint_waypoint_motion.hpp
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1#pragma once
2
3#include <franka/robot_state.h>
4
5#include <atomic>
6#include <optional>
7#include <ruckig/ruckig.hpp>
8
11
12namespace franky {
13
19class JointWaypointMotion : public PositionWaypointMotion<franka::JointPositions, JointState> {
20 public:
29 explicit JointWaypointMotion(
30 const std::vector<PositionWaypoint<JointState>> &waypoints,
31 const RelativeDynamicsFactor &relative_dynamics_factor = 1.0, bool return_when_finished = true);
32
33 protected:
35 const RobotState &robot_state, const std::optional<franka::JointPositions> &previous_command,
36 ruckig::InputParameter<7> &input_parameter) override;
37
38 void setNewWaypoint(
39 const RobotState &robot_state, const std::optional<franka::JointPositions> &previous_command,
40 const PositionWaypoint<JointState> &new_waypoint, ruckig::InputParameter<7> &input_parameter) override;
41
42 [[nodiscard]] std::tuple<Vector7d, Vector7d, Vector7d> getAbsoluteInputLimits() const override;
43
44 [[nodiscard]] franka::JointPositions getControlSignal(
45 const RobotState &robot_state, const franka::Duration &time_step,
46 const std::optional<franka::JointPositions> &previous_command,
47 const ruckig::InputParameter<7> &input_parameter) override;
48
49 [[nodiscard]] std::tuple<Vector7d, Vector7d, Vector7d> getDesiredState(const RobotState &robot_state) const override;
50};
51
52} // namespace franky
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:25
std::tuple< Vector7d, Vector7d, Vector7d > getDesiredState(const RobotState &robot_state) const override
Definition joint_waypoint_motion.cpp:47
std::tuple< Vector7d, Vector7d, Vector7d > getAbsoluteInputLimits() const override
Definition joint_waypoint_motion.cpp:42
void initWaypointMotion(const RobotState &robot_state, const std::optional< franka::JointPositions > &previous_command, ruckig::InputParameter< 7 > &input_parameter) override
Definition joint_waypoint_motion.cpp:14
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:31
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