franky Namespace Reference

Classes
class	CartesianState
struct	GripperException
	Exception thrown by the gripper class. More...
class	Gripper
	A wrapper around the franka::Gripper class that adds asynchronous functionality. More...
class	JointState
	Joint state of a robot. More...
struct	Kinematics
class	KinematicChain
class	CartesianImpedanceMotion
	Cartesian impedance motion. More...
class	CartesianMotion
	Cartesian motion with a single target. More...
class	CartesianWaypointMotion
	Cartesian waypoint motion. More...
class	Condition
	A condition on the robot state. More...
class	ExponentialImpedanceMotion
	Exponential cartesian impedance motion. More...
class	ImpedanceMotion
	Base class for client-side cartesian impedance motions. More...
class	JointMotion
	Joint motion with a single target. More...
class	JointWaypointMotion
	Joint waypoint motion. More...
class	Measure
	A measure on the robot state. More...
class	Reaction
	A reaction that can be attached to a motion. More...
class	Motion
	Base class for motions. More...
struct	ReactionRecursionException
	Exception thrown when the reaction recursion limit (8) is reached. More...
class	MotionGenerator
	Helper class for handling motions and reactions. More...
class	StopMotion
class	StopMotion< franka::JointPositions >
	Stop motion for joint position control mode. More...
class	StopMotion< franka::CartesianPose >
	Stop motion for cartesian pose control mode. More...
struct	MotionPlannerException
	Exception thrown if the motion planner fails. 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...
class	AggregatedPath
struct	PathWaypoint
class	LinearPath
struct	PathStep
class	Path
class	QuarticBlendPath
class	TimeParametrization
struct	TrajectoryState
struct	Trajectory
class	RelativeDynamicsFactor
	Relative dynamics factors. More...
struct	InvalidMotionTypeException
	Exception thrown when an invalid motion type is used. More...
class	Robot
	A class representing a Franka robot. More...
class	RobotPose
	Cartesian pose of a 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	Twist
	Twist of a frame. More...

Typedefs
using	LinearMotion = CartesianMotion
using	Vector6d = Eigen::Vector< double, 6 >
using	Vector7d = Eigen::Vector< double, 7 >
using	Euler = Eigen::EulerAngles< double, Eigen::EulerSystemXYZ >
using	Affine = Eigen::Affine3d

Enumerations
enum	ControlSignalType {   Torques , JointVelocities , JointPositions , CartesianVelocities ,   CartesianPose }
	Type of control signal. More...
enum class	ReferenceType { Absolute , Relative }
	Enum class for reference types. More...

Functions
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)
AggregatedPath< 7 >	mk_path_from_waypoints (const std::vector< PathWaypoint > &waypoints, double default_initial_elbow_pos)
CartesianState	operator* (const Affine &transform, const CartesianState &cartesian_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)
template<size_t dims>
std::array< double, dims >	toStd (const Eigen::Matrix< double, dims, 1 > &vector)
template<size_t dims>
Eigen::Matrix< double, dims, 1 >	toEigen (const std::array< double, dims > &vector)

Typedef Documentation

Affine

using franky::Affine = typedef Eigen::Affine3d

Euler

using franky::Euler = typedef Eigen::EulerAngles<double, Eigen::EulerSystemXYZ>

LinearMotion

using franky::LinearMotion = typedef CartesianMotion

Vector6d

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

Vector7d

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

Enumeration Type Documentation

ControlSignalType

enum franky::ControlSignalType

Type of control signal.

Enumerator
Torques
JointVelocities
JointPositions
CartesianVelocities
CartesianPose

ReferenceType

enum franky::ReferenceType

strong

Enum class for reference types.

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

Enumerator
Absolute
Relative

Function Documentation

measure_pow()

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

mk_path_from_waypoints()

AggregatedPath< 7 > franky::mk_path_from_waypoints	(	const std::vector< PathWaypoint > &	waypoints,
		double	default_initial_elbow_pos
	)

operator!()

Condition franky::operator!

(

const Condition &

c

)

operator!=() [1/2]

Condition franky::operator!=	(	const Condition &	c1,
		const Condition &	c2
	)

operator!=() [2/2]

Condition franky::operator!=	(	const Measure &	m1,
		const Measure &	m2
	)

operator&&()

Condition franky::operator&&	(	const Condition &	c1,
		const Condition &	c2
	)

operator*() [1/8]

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

inline

operator*() [2/8]

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

inline

operator*() [3/8]

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

inline

operator*() [4/8]

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

inline

operator*() [5/8]

Measure franky::operator*	(	const Measure &	m1,
		const Measure &	m2
	)

operator*() [6/8]

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

inline

operator*() [7/8]

template<typename RotationMatrixType >

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

inline

operator*() [8/8]

template<typename RotationMatrixType >

Twist franky::operator* ( const RotationMatrixType &  rotation, const Twist &  twist  )

inline

operator+()

Measure franky::operator+	(	const Measure &	m1,
		const Measure &	m2
	)

operator-() [1/2]

Measure franky::operator-

(

const Measure &

m

)

operator-() [2/2]

Measure franky::operator-	(	const Measure &	m1,
		const Measure &	m2
	)

operator/()

Measure franky::operator/	(	const Measure &	m1,
		const Measure &	m2
	)

operator<()

Condition franky::operator<	(	const Measure &	m1,
		const Measure &	m2
	)

operator<=()

Condition franky::operator<=	(	const Measure &	m1,
		const Measure &	m2
	)

operator==() [1/2]

Condition franky::operator==	(	const Condition &	c1,
		const Condition &	c2
	)

operator==() [2/2]

Condition franky::operator==	(	const Measure &	m1,
		const Measure &	m2
	)

operator>()

Condition franky::operator>	(	const Measure &	m1,
		const Measure &	m2
	)

operator>=()

Condition franky::operator>=	(	const Measure &	m1,
		const Measure &	m2
	)

operator||()

Condition franky::operator||	(	const Condition &	c1,
		const Condition &	c2
	)

toEigen()

template<size_t dims>

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

inline

toStd()

template<size_t dims>

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

inline