stop_motion.hpp

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#pragma once
 
#include "franky/motion/reference_type.hpp"
#include "franky/motion/joint_waypoint_motion.hpp"
#include "franky/motion/cartesian_waypoint_motion.hpp"
 
namespace franky {
 
template<typename ControlSignalType>
class StopMotion;
 
template<>
class StopMotion<franka::JointPositions> : public JointWaypointMotion {
 public:
  explicit StopMotion() : JointWaypointMotion(
      {Waypoint<JointState>{
           .target=JointState(Vector7d::Zero()),
           .reference_type= ReferenceType::Relative,
           .relative_dynamics_factor = RelativeDynamicsFactor::MAX_DYNAMICS()
       }}) {}
};
 
template<>
class StopMotion<franka::CartesianPose> : public CartesianWaypointMotion {
 public:
  explicit StopMotion() : CartesianWaypointMotion(
      {{
           .target = RobotPose(Affine::Identity()),
           .reference_type = ReferenceType::Relative,
           .relative_dynamics_factor = RelativeDynamicsFactor::MAX_DYNAMICS()
       }}) {}
};
 
}  // namespace franky