4#include <franka/robot_state.h>
22 const franka::RobotState&
robot_state, std::optional<Vector7d>
q_est = std::nullopt,
23 std::optional<Vector7d>
dq_est = std::nullopt, std::optional<Vector7d>
ddq_est = std::nullopt,
347 franka::RobotMode
robot_mode = franka::RobotMode::kUserStopped;
Elbow state of the robot.
Definition elbow_state.hpp:27
TwistAcceleration acceleration of a frame (2nd derivative of a pose).
Definition twist_acceleration.hpp:14
Twist of a frame.
Definition twist.hpp:13
Definition dynamics_limit.cpp:8
std::array< double, dims > toStdD(const Eigen::Matrix< double, dims, 1 > &vector)
Definition util.hpp:18
Eigen::Matrix< double, 3, 3 > IntertiaMatrix
Definition types.hpp:14
Eigen::Vector< double, 7 > Vector7d
Definition types.hpp:12
Eigen::Vector< double, 6 > Vector6d
Definition types.hpp:11
Eigen::Matrix< double, 6, 7 > Jacobian
Definition types.hpp:13
Eigen::Affine3d Affine
Definition types.hpp:16
Full state of the robot.
Definition robot_state.hpp:20
franka::Errors last_motion_errors
Definition robot_state.hpp:333
Affine O_T_EE
Definition robot_state.hpp:35
Vector6d K_F_ext_hat_K
Definition robot_state.hpp:273
Vector7d tau_ext_hat_filtered
Definition robot_state.hpp:253
static RobotState from_franka(const franka::RobotState &robot_state, std::optional< Vector7d > q_est=std::nullopt, std::optional< Vector7d > dq_est=std::nullopt, std::optional< Vector7d > ddq_est=std::nullopt, std::optional< Twist > O_dP_EE_est=std::nullopt, std::optional< TwistAcceleration > O_ddP_EE_est=std::nullopt, std::optional< double > delbow_est=std::nullopt, std::optional< double > ddelbow_est=std::nullopt)
Definition robot_state.cpp:7
Vector7d joint_contact
Definition robot_state.hpp:219
Eigen::Vector3d F_x_Cee
Definition robot_state.hpp:100
std::optional< Vector7d > q_est
Definition robot_state.hpp:361
Eigen::Vector3d F_x_Ctotal
Definition robot_state.hpp:138
Vector7d dq_d
Definition robot_state.hpp:205
TwistAcceleration O_ddP_EE_c
Definition robot_state.hpp:311
std::optional< TwistAcceleration > O_ddP_EE_est
Definition robot_state.hpp:387
double delbow_c
Definition robot_state.hpp:158
Vector6d cartesian_contact
Definition robot_state.hpp:227
Affine EE_T_K
Definition robot_state.hpp:82
IntertiaMatrix I_total
Definition robot_state.hpp:131
Vector7d tau_J_d
Definition robot_state.hpp:175
ElbowState elbow_c
Definition robot_state.hpp:153
Vector7d joint_collision
Definition robot_state.hpp:236
Vector7d dtau_J
Definition robot_state.hpp:181
Vector6d cartesian_collision
Definition robot_state.hpp:245
Vector7d dtheta
Definition robot_state.hpp:323
Vector7d theta
Definition robot_state.hpp:317
double m_total
Definition robot_state.hpp:124
IntertiaMatrix I_ee
Definition robot_state.hpp:94
Affine O_T_EE_d
Definition robot_state.hpp:41
franka::Duration time
Definition robot_state.hpp:355
double control_command_success_rate
Definition robot_state.hpp:342
std::optional< Twist > O_dP_EE_est
Definition robot_state.hpp:380
Vector7d tau_J
Definition robot_state.hpp:169
Affine F_T_EE
Definition robot_state.hpp:51
std::optional< Vector7d > ddq_est
Definition robot_state.hpp:373
Twist O_dP_EE_d
Definition robot_state.hpp:280
double m_ee
Definition robot_state.hpp:88
Twist O_dP_EE_c
Definition robot_state.hpp:303
ElbowState elbow_d
Definition robot_state.hpp:148
ElbowState elbow
Definition robot_state.hpp:143
Vector7d ddq_d
Definition robot_state.hpp:211
Vector7d q_d
Definition robot_state.hpp:193
std::optional< Vector7d > dq_est
Definition robot_state.hpp:367
franka::RobotMode robot_mode
Definition robot_state.hpp:347
double ddelbow_c
Definition robot_state.hpp:163
Eigen::Vector3d F_x_Cload
Definition robot_state.hpp:118
double m_load
Definition robot_state.hpp:106
Vector6d O_F_ext_hat_K
Definition robot_state.hpp:263
std::optional< double > delbow_est
Definition robot_state.hpp:394
IntertiaMatrix I_load
Definition robot_state.hpp:112
Vector7d q
Definition robot_state.hpp:187
std::optional< double > ddelbow_est
Definition robot_state.hpp:401
Vector7d dq
Definition robot_state.hpp:199
Affine O_T_EE_c
Definition robot_state.hpp:297
franka::Errors current_errors
Definition robot_state.hpp:328