robot.hpp File Reference

#include <franka/control_types.h>
#include <franka/duration.h>
#include <franka/exception.h>
#include <franka/model.h>
#include <franka/robot.h>
#include <franka/robot_state.h>
#include <exception>
#include <future>
#include <optional>
#include <stdexcept>
#include <variant>
#include "franky/cartesian_state.hpp"
#include "franky/control_signal_type.hpp"
#include "franky/dynamics_limit.hpp"
#include "franky/joint_state.hpp"
#include "franky/model.hpp"
#include "franky/motion/motion.hpp"
#include "franky/motion/motion_generator.hpp"
#include "franky/relative_dynamics_factor.hpp"
#include "franky/robot_pose.hpp"
#include "franky/robot_velocity.hpp"
#include "franky/scope_guard.hpp"
#include "franky/types.hpp"
#include "franky/util.hpp"

Go to the source code of this file.

Classes
struct	franky::InvalidMotionTypeException
	Exception thrown when an invalid motion type is used. More...
class	franky::Robot
	A class representing a Franka robot. More...
struct	franky::Robot::Params
	Global parameters for the robot. More...

Namespaces
namespace	franky

Macros
#define	MAX_JOINT_VEL   toEigenD<7>({2.175, 2.175, 2.175, 2.175, 2.610, 2.610, 2.610})
	Joint velocity limit [rad/s].
#define	MAX_JOINT_ACC   toEigenD<7>({15.0, 7.5, 10.0, 12.5, 15.0, 20.0, 20.0})
	Joint acceleration limit [rad/s²].
#define	MAX_JOINT_JERK   toEigenD<7>({7500.0, 3750.0, 5000.0, 6250.0, 7500.0, 10000.0, 10000.0})
	Joint jerk limit [rad/s³].

Macro Definition Documentation

MAX_JOINT_ACC

#define MAX_JOINT_ACC   toEigenD<7>({15.0, 7.5, 10.0, 12.5, 15.0, 20.0, 20.0})

Joint acceleration limit [rad/s²].

MAX_JOINT_JERK

#define MAX_JOINT_JERK   toEigenD<7>({7500.0, 3750.0, 5000.0, 6250.0, 7500.0, 10000.0, 10000.0})

Joint jerk limit [rad/s³].

MAX_JOINT_VEL

#define MAX_JOINT_VEL   toEigenD<7>({2.175, 2.175, 2.175, 2.175, 2.610, 2.610, 2.610})

Joint velocity limit [rad/s].