stop_motion.hpp

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#pragma once
 
#include "franky/motion/cartesian_motion.hpp"
#include "franky/motion/cartesian_velocity_motion.hpp"
#include "franky/motion/joint_motion.hpp"
#include "franky/motion/joint_velocity_motion.hpp"
#include "franky/motion/reference_type.hpp"
 
namespace franky {
 
template <typename ControlSignalType>
class StopMotion;
 
template <>
class StopMotion<franka::JointPositions> : public JointMotion {
 public:
  explicit StopMotion(
      const RelativeDynamicsFactor &relative_dynamics_factor = 1.0, double state_estimation_weight = 0.0)
      : JointMotion(
            JointState(Vector7d::Zero()), state_estimation_weight, ReferenceType::kRelative, relative_dynamics_factor) {
  }
};
 
template <>
class StopMotion<franka::JointVelocities> : public JointVelocityMotion {
 public:
  explicit StopMotion(const RelativeDynamicsFactor &relative_dynamics_factor = 1.0, double state_estimate_weight = 0.0)
      : JointVelocityMotion(Vector7d::Zero(), franka::Duration(0), state_estimate_weight, relative_dynamics_factor) {}
};
 
template <>
class StopMotion<franka::CartesianPose> : public CartesianWaypointMotion {
 public:
  explicit StopMotion(const RelativeDynamicsFactor &relative_dynamics_factor = 1.0, double state_estimate_weight = 0.0)
      : CartesianWaypointMotion(
            {PositionWaypoint<CartesianState>{
                {.target = RobotPose(),
                 .hold_target_duration = franka::Duration(50),
                 .state_estimate_weight = state_estimate_weight},
                ReferenceType::kRelative}},
            relative_dynamics_factor) {}
};
 
template <>
class StopMotion<franka::CartesianVelocities> : public CartesianVelocityMotion {
 public:
  explicit StopMotion(const RelativeDynamicsFactor &relative_dynamics_factor = 1.0, double state_estimate_weight = 0.0)
      : CartesianVelocityMotion(RobotVelocity(), franka::Duration(0), state_estimate_weight, relative_dynamics_factor) {
  }
};
 
}  // namespace franky