franky Namespace Reference

Classes
class	CartesianImpedanceBase
	Base class for client-side cartesian impedance motions. More...
struct	CartesianImpedanceGains
class	CartesianImpedanceMotion
	Cartesian impedance motion. More...
class	CartesianImpedanceTrackingMotion
	Cartesian impedance tracking motion. More...
class	CartesianMotion
	Cartesian motion with a single target. More...
struct	CartesianReference
	Cartesian impedance reference expressed in the base frame. 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...
struct	Errors
	franka::Errors with noexcept copy and assignment. More...
struct	FrictionCompensationParams
class	Gripper
	A wrapper around the franka::Gripper class that adds asynchronous functionality. More...
struct	GripperException
	Exception thrown by the gripper class. More...
struct	InvalidMotionTypeException
	Exception thrown when an invalid motion type is used. More...
class	JointImpedanceBase
	Base class for client-side joint impedance motions. More...
struct	JointImpedanceGains
class	JointImpedanceMotion
	Client-side joint impedance controller. More...
struct	JointImpedanceParams
	Parameters for joint impedance motions. More...
class	JointImpedanceTrackingMotion
	Client-side joint impedance controller with a dynamic online reference. More...
class	JointMotion
	Joint motion with a single target. More...
struct	JointReference
	Joint-space reference for joint impedance motions. 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...
struct	ManipulabilityTask
	Manipulability maximization objective projected into the Cartesian nullspace. 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	MotionReuseException
	Exception thrown when a motion is started more than once. More...
struct	NullspaceGains
	Runtime-adjustable gains for a nullspace task. 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...
struct	PostureTask
	Joint-posture objective projected into the Cartesian nullspace. 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	RobotStateEstimator
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	StopMotion< franka::Torques >
	Graceful stop for torque-control (impedance) motions. More...
struct	TorqueSafetyParams
struct	TorqueStopParams
	Parameters for the torque-control stop motion (StopMotion<franka::Torques>). 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...
class	WaitFreeTripleBuffer
	Wait-free, Single-Producer Single-Consumer (SPSC) triple buffer. 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
using	NullspaceTask = std::variant< PostureTask, ManipulabilityTask >
using	ImpedanceMotion = CartesianImpedanceBase
using	CartesianReferenceHandle = WaitFreeTripleBuffer< std::optional< CartesianReference > >
	Double-buffered handle for updating a CartesianReference online.
using	JointReferenceHandle = WaitFreeTripleBuffer< std::optional< JointReference > >
	Double-buffered handle for updating a JointReference online.
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	Matrix6d = Eigen::Matrix< double, 6, 6 >
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)
void	checkRes (int res, const std::string &msg)
void	patchMutexRT (std::mutex &mutex)
	Patch std::mutex to allow for priority inheritance.
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)
Matrix6d	cartesianGainBlocks (double translational, double rotational)
Matrix6d	defaultCartesianImpedanceStiffness ()
Matrix6d	defaultCartesianImpedanceDamping (const Matrix6d &stiffness)
Vector7d	defaultJointImpedanceStiffness ()
Vector7d	defaultJointImpedanceDamping (const Vector7d &stiffness)
Vector7d	defaultJointImpedanceDamping ()
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)
void	validateNonNegativeFinite (double value, const char *name)
	Throw std::invalid_argument if value is negative or non-finite.
template<typename Derived >
void	validateFinite (const Eigen::MatrixBase< Derived > &values, const char *name)
	Throw std::invalid_argument if any element of values is non-finite.
void	validateNonNegativeFinite (const Vector7d &values, const char *name)
	Throw std::invalid_argument if any element of values is negative or non-finite.
Vector7d	saturateTorqueRate (const Vector7d &tau_d_calculated, const Vector7d &tau_reference, double max_delta_tau)
Vector7d	computeJointLimitTorque (const Vector7d &q, const Vector7d &dq, const Vector7d &lower_joint_limits, const Vector7d &upper_joint_limits, double joint_limit_activation_distance, double joint_limit_stiffness, double joint_limit_damping, double joint_limit_max_torque)
Vector7d	computeFrictionCompensation (const Vector7d &dq, const FrictionCompensationParams &params)
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, dims >	toStd (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 *cols >	toStdDMatD (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, dims >	ensureEigen (const Array< dims > &input)
template<size_t dims>
std::array< double, dims >	ensureStd (const Array< dims > &input)
template<size_t dims>
std::array< double, dims >	expand (const ScalarOrArray< dims > &input)
template<size_t dims>
Eigen::Vector< double, dims >	expandEigen (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> >

CartesianReferenceHandle

using franky::CartesianReferenceHandle = typedef WaitFreeTripleBuffer<std::optional<CartesianReference> >

Double-buffered handle for updating a CartesianReference online.

This handle is intended to be written from a user thread while a single CartesianImpedanceTrackingMotion is running. The motion reads the latest valid reference each control cycle without needing to replace the motion object.

ImpedanceMotion

using franky::ImpedanceMotion = typedef CartesianImpedanceBase

IntertiaMatrix

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

Jacobian

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

JointReferenceHandle

using franky::JointReferenceHandle = typedef WaitFreeTripleBuffer<std::optional<JointReference> >

Double-buffered handle for updating a JointReference online.

This handle is intended to be written from a user thread while a single JointImpedanceTrackingMotion is running. The motion reads the latest valid reference each control cycle without needing to replace the motion object.

Matrix6d

using franky::Matrix6d = typedef Eigen::Matrix<double, 6, 6>

NullspaceTask

using franky::NullspaceTask = typedef std::variant<PostureTask, ManipulabilityTask>

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

template<typename TargetType >

using franky::VelocityWaypoint = typedef Waypoint<TargetType>

A velocity waypoint with a target.

Template Parameters

TargetType

The type of the target.

Enumeration Type Documentation

ControlSignalType

enum franky::ControlSignalType

Type of control signal.

Enumerator
Torques
JointVelocities
JointPositions
CartesianVelocities
CartesianPose

FlipDirection

enum class franky::FlipDirection

strong

Flip direction of a joint.

Enumerator
kNegative
kNeutral
kPositive

ReferenceType

enum class franky::ReferenceType

strong

Enum class for reference types.

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

Enumerator
kAbsolute
kRelative

Function Documentation

cartesianGainBlocks()

Matrix6d franky::cartesianGainBlocks ( double  translational, double  rotational  )

inline

checkRes()

void franky::checkRes	(	int	res,
		const std::string &	msg
	)

Common helper function to handle error checking for system calls.

Parameters

res	Result of the call.
msg	Message to print for error.

computeFrictionCompensation()

Vector7d franky::computeFrictionCompensation ( const Vector7d &  dq, const FrictionCompensationParams &  params  )

inline

computeJointLimitTorque()

Vector7d franky::computeJointLimitTorque ( const Vector7d &  q, const Vector7d &  dq, const Vector7d &  lower_joint_limits, const Vector7d &  upper_joint_limits, double  joint_limit_activation_distance, double  joint_limit_stiffness, double  joint_limit_damping, double  joint_limit_max_torque  )

inline

defaultCartesianImpedanceDamping()

Matrix6d franky::defaultCartesianImpedanceDamping ( const Matrix6d &  stiffness )

inline

defaultCartesianImpedanceStiffness()

Matrix6d franky::defaultCartesianImpedanceStiffness ( )

inline

defaultJointImpedanceDamping() [1/2]

Vector7d franky::defaultJointImpedanceDamping ( )

inline

defaultJointImpedanceDamping() [2/2]

Vector7d franky::defaultJointImpedanceDamping ( const Vector7d &  stiffness )

inline

defaultJointImpedanceStiffness()

Vector7d franky::defaultJointImpedanceStiffness ( )

inline

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

)

expandEigen()

template<size_t dims>

Eigen::Vector< double, dims > franky::expandEigen

(

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]

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*() [1/10]

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]

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

operator*() [7/10]

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

inline

operator*() [8/10]

template<typename RotationMatrixType >

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

inline

operator*() [9/10]

template<typename RotationMatrixType >

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

operator*() [10/10]

template<typename RotationMatrixType >

TwistAcceleration franky::operator*	(	const RotationMatrixType &	rotation,
		const TwistAcceleration &	twist_acceleration
	)

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<<() [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]

template<typename LimitTypeStream >

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<=()

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
	)

patchMutexRT()

void franky::patchMutexRT

(

std::mutex &

mutex

)

Patch std::mutex to allow for priority inheritance.

Priority inheritance ensures that the thread currently holding this mutex receives the same priority as the highest priority thread waiting for it.

Parameters

mutex

Mutex to patch.

saturateTorqueRate()

Vector7d franky::saturateTorqueRate ( const Vector7d &  tau_d_calculated, const Vector7d &  tau_reference, double  max_delta_tau  )

inline

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

)

validateFinite()

template<typename Derived >

void franky::validateFinite ( const Eigen::MatrixBase< Derived > &  values, const char *  name  )

inline

Throw std::invalid_argument if any element of values is non-finite.

validateNonNegativeFinite() [1/2]

void franky::validateNonNegativeFinite ( const Vector7d &  values, const char *  name  )

inline

Throw std::invalid_argument if any element of values is negative or non-finite.

validateNonNegativeFinite() [2/2]

void franky::validateNonNegativeFinite ( double  value, const char *  name  )

inline

Throw std::invalid_argument if value is negative or non-finite.