Franky 0.12.0
A High-Level Motion API for Franka
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Classes | Typedefs | Enumerations | Functions
franky Namespace Reference

Classes

class  CartesianImpedanceMotion
 Cartesian impedance motion. More...
 
class  CartesianMotion
 Cartesian motion with a single target. More...
 
class  CartesianState
 
class  CartesianVelocityMotion
 Cartesian velocity motion with a single target velocity. More...
 
class  CartesianVelocityWaypointMotion
 Cartesian velocity waypoint motion. More...
 
class  CartesianWaypointMotion
 Cartesian waypoint motion. More...
 
class  Condition
 A condition on the robot state. More...
 
class  DynamicsLimit
 A template class representing a dynamics limit with a maximum value. More...
 
class  ElbowState
 Elbow state of the robot. More...
 
class  ExponentialImpedanceMotion
 Exponential cartesian impedance motion. More...
 
class  Gripper
 A wrapper around the franka::Gripper class that adds asynchronous functionality. More...
 
struct  GripperException
 Exception thrown by the gripper class. More...
 
class  ImpedanceMotion
 Base class for client-side cartesian impedance motions. More...
 
struct  InvalidMotionTypeException
 Exception thrown when an invalid motion type is used. More...
 
class  JointMotion
 Joint motion with a single target. More...
 
class  JointState
 Joint state of a robot. More...
 
class  JointVelocityMotion
 Joint velocity motion with a single target. More...
 
class  JointVelocityWaypointMotion
 Joint velocity waypoint motion. More...
 
class  JointWaypointMotion
 Joint waypoint motion. More...
 
class  Measure
 A measure on the robot state. More...
 
class  Model
 A wrapper around franka::Model that uses Eigen types. More...
 
class  Motion
 Base class for motions. More...
 
class  MotionGenerator
 Helper class for handling motions and reactions. More...
 
struct  MotionPlannerException
 Exception thrown if the motion planner fails. More...
 
struct  PositionWaypoint
 A position waypoint with a target and optional parameters. More...
 
class  PositionWaypointMotion
 A motion following multiple positional waypoints in a time-optimal way. Works with arbitrary initial conditions. More...
 
class  Reaction
 A reaction that can be attached to a motion. More...
 
struct  ReactionRecursionException
 Exception thrown when the reaction recursion limit (8) is reached. More...
 
class  RelativeDynamicsFactor
 Relative dynamics factors. More...
 
class  Robot
 A class representing a Franka robot. More...
 
class  RobotPose
 Cartesian pose of a robot. More...
 
struct  RobotState
 Full state of the robot. More...
 
class  RobotVelocity
 Cartesian velocity of a robot. More...
 
class  scope_guard
 A scope guard that executes a function when it goes out of scope. More...
 
class  StopMotion
 
class  StopMotion< franka::CartesianPose >
 Stop motion for cartesian pose control mode. More...
 
class  StopMotion< franka::CartesianVelocities >
 Stop motion for cartesian velocity control mode. More...
 
class  StopMotion< franka::JointPositions >
 Stop motion for joint position control mode. More...
 
class  StopMotion< franka::JointVelocities >
 Stop motion for joint velocity position control mode. More...
 
class  Twist
 Twist of a frame. More...
 
class  TwistAcceleration
 TwistAcceleration acceleration of a frame (2nd derivative of a pose). More...
 
class  VelocityWaypointMotion
 A motion following multiple positional waypoints in a time-optimal way. Works with arbitrary initial conditions. More...
 
struct  Waypoint
 A waypoint with a target and optional parameters. More...
 
class  WaypointMotion
 A motion following multiple waypoints in a time-optimal way. Works with arbitrary initial conditions. More...
 

Typedefs

template<typename TargetType >
using VelocityWaypoint = Waypoint< TargetType >
 A velocity waypoint with a target.
 
using Vector6d = Eigen::Vector< double, 6 >
 
using Vector7d = Eigen::Vector< double, 7 >
 
using Jacobian = Eigen::Matrix< double, 6, 7 >
 
using IntertiaMatrix = Eigen::Matrix< double, 3, 3 >
 
using Affine = Eigen::Affine3d
 
template<size_t dims>
using Array = std::variant< std::array< double, dims >, Eigen::Vector< double, dims > >
 
template<size_t dims>
using ScalarOrArray = std::variant< double, Array< dims > >
 

Enumerations

enum  ControlSignalType {
  Torques , JointVelocities , JointPositions , CartesianVelocities ,
  CartesianPose
}
 Type of control signal. More...
 
enum class  FlipDirection { kNegative = -1 , kNeutral = 0 , kPositive = 1 }
 Flip direction of a joint. More...
 
enum class  ReferenceType { kAbsolute , kRelative }
 Enum class for reference types. More...
 

Functions

std::ostream & operator<< (std::ostream &os, const DynamicsLimit< Vector7d > &limit)
 
std::ostream & operator<< (std::ostream &os, const ElbowState &elbow_state)
 
std::ostream & operator<< (std::ostream &os, const FlipDirection &flip_direction)
 
Condition operator&& (const Condition &c1, const Condition &c2)
 
Condition operator|| (const Condition &c1, const Condition &c2)
 
Condition operator== (const Condition &c1, const Condition &c2)
 
Condition operator!= (const Condition &c1, const Condition &c2)
 
Condition operator! (const Condition &c)
 
Measure measure_pow (const Measure &base, const Measure &exponent)
 
Measure operator- (const Measure &m)
 
std::ostream & operator<< (std::ostream &os, const RobotPose &robot_pose)
 
std::ostream & operator<< (std::ostream &os, const RobotVelocity &robot_velocity)
 
CartesianState operator* (const Affine &transform, const CartesianState &cartesian_state)
 
std::ostream & operator<< (std::ostream &os, const CartesianState &cartesian_state)
 
template<typename LimitTypeStream >
std::ostream & operator<< (std::ostream &os, const DynamicsLimit< LimitTypeStream > &dynamics_limit)
 
std::ostream & operator<< (std::ostream &os, const JointState &joint_state)
 
Condition operator== (const Measure &m1, const Measure &m2)
 
Condition operator!= (const Measure &m1, const Measure &m2)
 
Condition operator<= (const Measure &m1, const Measure &m2)
 
Condition operator>= (const Measure &m1, const Measure &m2)
 
Condition operator< (const Measure &m1, const Measure &m2)
 
Condition operator> (const Measure &m1, const Measure &m2)
 
Measure operator+ (const Measure &m1, const Measure &m2)
 
Measure operator- (const Measure &m1, const Measure &m2)
 
Measure operator* (const Measure &m1, const Measure &m2)
 
Measure operator/ (const Measure &m1, const Measure &m2)
 
RobotPose operator* (const RobotPose &robot_pose, const Affine &right_transform)
 
RobotPose operator* (const Affine &left_transform, const RobotPose &robot_pose)
 
RobotVelocity operator* (const Affine &affine, const RobotVelocity &robot_velocity)
 
template<typename RotationMatrixType >
RobotVelocity operator* (const RotationMatrixType &rotation, const RobotVelocity &robot_velocity)
 
Twist operator* (const Affine &affine, const Twist &twist)
 
template<typename RotationMatrixType >
Twist operator* (const RotationMatrixType &rotation, const Twist &twist)
 
std::ostream & operator<< (std::ostream &os, const Twist &twist)
 
TwistAcceleration operator* (const Affine &affine, const TwistAcceleration &twist_acceleration)
 
template<typename RotationMatrixType >
TwistAcceleration operator* (const RotationMatrixType &rotation, const TwistAcceleration &twist_acceleration)
 
std::ostream & operator<< (std::ostream &os, const TwistAcceleration &twist_acceleration)
 
template<typename T , size_t dims>
std::array< T, dimstoStd (const Eigen::Matrix< T, dims, 1 > &vector)
 
template<size_t dims>
std::array< double, dims > toStdD (const Eigen::Matrix< double, dims, 1 > &vector)
 
template<typename T , size_t dims>
Eigen::Matrix< T, dims, 1 > toEigen (const std::array< T, dims > &vector)
 
template<size_t dims>
Eigen::Matrix< double, dims, 1 > toEigenD (const std::array< double, dims > &vector)
 
template<size_t rows, size_t cols>
std::array< double, rows *colstoStdDMatD (const Eigen::Matrix< double, rows, cols, Eigen::ColMajor > &matrix)
 
template<size_t rows, size_t cols>
Eigen::Matrix< double, rows, cols, Eigen::ColMajor > toEigenMatD (const std::array< double, rows *cols > &array)
 
Affine stdToAffine (const std::array< double, 16 > &array)
 
template<size_t dims>
Eigen::Vector< double, dimsensureEigen (const Array< dims > &input)
 
template<size_t dims>
std::array< double, dimsensureStd (const Array< dims > &input)
 
template<size_t dims>
std::array< double, dimsexpand (const ScalarOrArray< dims > &input)
 
template<int dims>
std::ostream & operator<< (std::ostream &os, const Eigen::Vector< double, dims > &vec)
 
std::ostream & operator<< (std::ostream &os, const Affine &affine)
 
std::ostream & operator<< (std::ostream &os, const franka::Duration &duration)
 

Typedef Documentation

◆ Affine

using franky::Affine = typedef Eigen::Affine3d

◆ Array

template<size_t dims>
using franky::Array = typedef std::variant<std::array<double, dims>, Eigen::Vector<double, dims> >

◆ IntertiaMatrix

using franky::IntertiaMatrix = typedef Eigen::Matrix<double, 3, 3>

◆ Jacobian

using franky::Jacobian = typedef Eigen::Matrix<double, 6, 7>

◆ ScalarOrArray

template<size_t dims>
using franky::ScalarOrArray = typedef std::variant<double, Array<dims> >

◆ Vector6d

using franky::Vector6d = typedef Eigen::Vector<double, 6>

◆ Vector7d

using franky::Vector7d = typedef Eigen::Vector<double, 7>

◆ VelocityWaypoint

A velocity waypoint with a target.

Template Parameters
TargetTypeThe type of the target.

Enumeration Type Documentation

◆ ControlSignalType

Type of control signal.

Enumerator
Torques 
JointVelocities 
JointPositions 
CartesianVelocities 
CartesianPose 

◆ FlipDirection

Flip direction of a joint.

Enumerator
kNegative 
kNeutral 
kPositive 

◆ ReferenceType

Enum class for reference types.

This enum class defines the reference types for motions (absolute or relative).

Enumerator
kAbsolute 
kRelative 

Function Documentation

◆ ensureEigen()

template<size_t dims>
Eigen::Vector< double, dims > franky::ensureEigen ( const Array< dims > &  input)

◆ ensureStd()

template<size_t dims>
std::array< double, dims > franky::ensureStd ( const Array< dims > &  input)

◆ expand()

template<size_t dims>
std::array< double, dims > franky::expand ( const ScalarOrArray< dims > &  input)

◆ measure_pow()

Measure franky::measure_pow ( const Measure base,
const Measure exponent 
)

◆ operator!()

Condition franky::operator! ( const Condition c)

◆ operator!=() [1/2]

◆ operator!=() [2/2]

◆ operator&&()

◆ operator*() [1/10]

RobotVelocity franky::operator* ( const Affine affine,
const RobotVelocity robot_velocity 
)
inline

◆ operator*() [2/10]

Twist franky::operator* ( const Affine affine,
const Twist twist 
)
inline

◆ operator*() [3/10]

TwistAcceleration franky::operator* ( const Affine affine,
const TwistAcceleration twist_acceleration 
)
inline

◆ operator*() [4/10]

RobotPose franky::operator* ( const Affine left_transform,
const RobotPose robot_pose 
)
inline

◆ operator*() [5/10]

CartesianState franky::operator* ( const Affine transform,
const CartesianState cartesian_state 
)
inline

◆ operator*() [6/10]

◆ operator*() [7/10]

RobotPose franky::operator* ( const RobotPose robot_pose,
const Affine right_transform 
)
inline

◆ operator*() [8/10]

RobotVelocity franky::operator* ( const RotationMatrixType rotation,
const RobotVelocity robot_velocity 
)
inline

◆ operator*() [9/10]

◆ operator*() [10/10]

◆ operator+()

◆ operator-() [1/2]

◆ operator-() [2/2]

◆ operator/()

◆ operator<()

◆ operator<<() [1/13]

std::ostream & franky::operator<< ( std::ostream &  os,
const Affine affine 
)
inline

◆ operator<<() [2/13]

std::ostream & franky::operator<< ( std::ostream &  os,
const CartesianState cartesian_state 
)
inline

◆ operator<<() [3/13]

std::ostream & franky::operator<< ( std::ostream &  os,
const DynamicsLimit< LimitTypeStream > &  dynamics_limit 
)

◆ operator<<() [4/13]

std::ostream & franky::operator<< ( std::ostream &  os,
const DynamicsLimit< Vector7d > &  limit 
)

◆ operator<<() [5/13]

template<int dims>
std::ostream & franky::operator<< ( std::ostream &  os,
const Eigen::Vector< double, dims > &  vec 
)

◆ operator<<() [6/13]

std::ostream & franky::operator<< ( std::ostream &  os,
const ElbowState elbow_state 
)

◆ operator<<() [7/13]

std::ostream & franky::operator<< ( std::ostream &  os,
const FlipDirection flip_direction 
)

◆ operator<<() [8/13]

std::ostream & franky::operator<< ( std::ostream &  os,
const franka::Duration &  duration 
)
inline

◆ operator<<() [9/13]

std::ostream & franky::operator<< ( std::ostream &  os,
const JointState joint_state 
)
inline

◆ operator<<() [10/13]

std::ostream & franky::operator<< ( std::ostream &  os,
const RobotPose robot_pose 
)

◆ operator<<() [11/13]

std::ostream & franky::operator<< ( std::ostream &  os,
const RobotVelocity robot_velocity 
)

◆ operator<<() [12/13]

std::ostream & franky::operator<< ( std::ostream &  os,
const Twist twist 
)
inline

◆ operator<<() [13/13]

std::ostream & franky::operator<< ( std::ostream &  os,
const TwistAcceleration twist_acceleration 
)
inline

◆ operator<=()

◆ operator==() [1/2]

◆ operator==() [2/2]

◆ operator>()

◆ operator>=()

◆ operator||()

◆ stdToAffine()

Affine franky::stdToAffine ( const std::array< double, 16 > &  array)
inline

◆ toEigen()

template<typename T , size_t dims>
Eigen::Matrix< T, dims, 1 > franky::toEigen ( const std::array< T, dims > &  vector)

◆ toEigenD()

template<size_t dims>
Eigen::Matrix< double, dims, 1 > franky::toEigenD ( const std::array< double, dims > &  vector)

◆ toEigenMatD()

template<size_t rows, size_t cols>
Eigen::Matrix< double, rows, cols, Eigen::ColMajor > franky::toEigenMatD ( const std::array< double, rows *cols > &  array)

◆ toStd()

template<typename T , size_t dims>
std::array< T, dims > franky::toStd ( const Eigen::Matrix< T, dims, 1 > &  vector)

◆ toStdD()

template<size_t dims>
std::array< double, dims > franky::toStdD ( const Eigen::Matrix< double, dims, 1 > &  vector)

◆ toStdDMatD()

template<size_t rows, size_t cols>
std::array< double, rows *cols > franky::toStdDMatD ( const Eigen::Matrix< double, rows, cols, Eigen::ColMajor > &  matrix)