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	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	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)
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)
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, 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> >

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

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

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.

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.

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

)