Franky 1.0.2
A High-Level Motion API for Franka
Loading...
Searching...
No Matches
stop_motion.hpp
Go to the documentation of this file.
1#pragma once
2
8
9namespace franky {
10
11template <typename ControlSignalType>
13
17template <>
18class StopMotion<franka::JointPositions> : public JointMotion {
19 public:
24 explicit StopMotion(const RelativeDynamicsFactor &relative_dynamics_factor = 1.0)
25 : JointMotion(JointState(Vector7d::Zero()), ReferenceType::kRelative, relative_dynamics_factor) {}
26};
27
31template <>
33 public:
38 explicit StopMotion(const RelativeDynamicsFactor &relative_dynamics_factor = 1.0)
39 : JointVelocityMotion(Vector7d::Zero(), franka::Duration(0), relative_dynamics_factor) {}
40};
41
45template <>
47 public:
52 explicit StopMotion(
53 const RelativeDynamicsFactor &relative_dynamics_factor = 1.0)
56 {
57 .target = RobotPose(),
58 .hold_target_duration = franka::Duration(50),
59 },
61 relative_dynamics_factor) {}
62};
63
67template <>
69 public:
74 explicit StopMotion(
75 const RelativeDynamicsFactor &relative_dynamics_factor = 1.0)
76 : CartesianVelocityMotion(RobotVelocity(), franka::Duration(0), relative_dynamics_factor) {
77 }
78};
79
80} // namespace franky
Cartesian velocity motion with a single target velocity.
Definition cartesian_velocity_motion.hpp:10
Cartesian waypoint motion.
Definition cartesian_waypoint_motion.hpp:23
Joint motion with a single target.
Definition joint_motion.hpp:12
Joint state of a robot.
Definition joint_state.hpp:15
Joint velocity motion with a single target.
Definition joint_velocity_motion.hpp:11
Relative dynamics factors.
Definition relative_dynamics_factor.hpp:13
Cartesian pose of a robot.
Definition robot_pose.hpp:17
Cartesian velocity of a robot.
Definition robot_velocity.hpp:19
StopMotion(const RelativeDynamicsFactor &relative_dynamics_factor=1.0)
Definition stop_motion.hpp:52
StopMotion(const RelativeDynamicsFactor &relative_dynamics_factor=1.0)
Definition stop_motion.hpp:74
StopMotion(const RelativeDynamicsFactor &relative_dynamics_factor=1.0)
Definition stop_motion.hpp:24
StopMotion(const RelativeDynamicsFactor &relative_dynamics_factor=1.0)
Definition stop_motion.hpp:38
Definition stop_motion.hpp:12
Definition dynamics_limit.cpp:8
std::array< double, dims > toStdD(const Eigen::Matrix< double, dims, 1 > &vector)
Definition util.hpp:18
ReferenceType
Enum class for reference types.
Definition reference_type.hpp:10
Eigen::Vector< double, 7 > Vector7d
Definition types.hpp:12
@ CartesianVelocities
Definition control_signal_type.hpp:12
@ CartesianPose
Definition control_signal_type.hpp:13
@ JointVelocities
Definition control_signal_type.hpp:10
@ JointPositions
Definition control_signal_type.hpp:11
A position waypoint with a target and optional parameters.
Definition position_waypoint_motion.hpp:20
TargetType target
Definition waypoint_motion.hpp:34