libfranka: Humble
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C++ API
Page Hierarchy
Class Hierarchy
File Hierarchy
Full C++ API
Namespaces
Namespace franka
Namespace franka::logging
Namespace std
Classes and Structs
Struct AsyncPositionControlHandler::CommandResult
Struct AsyncPositionControlHandler::Configuration
Struct AsyncPositionControlHandler::ConfigurationResult
Struct AsyncPositionControlHandler::JointPositionTarget
Struct AsyncPositionControlHandler::TargetFeedback
Struct CommandException
Struct ControlException
Struct Errors
Struct Exception
Struct Finishable
Struct GetRobotModelResult
Struct GripperState
Struct IncompatibleVersionException
Struct InvalidOperationException
Struct MobileJointPositions
Struct ModelException
Struct NetworkException
Struct PositionBasedJointVelocityLimitConstants
Struct ProtocolException
Struct RealtimeException
Struct Record
Struct RobotCommand
Struct RobotState
Struct VacuumGripperState
Class ActiveControl
Class ActiveControlBase
Template Class ActiveMotionGenerator
Class ActiveTorqueControl
Class AsyncPositionControlHandler
Class CartesianPose
Class CartesianVelocities
Class CoutLoggingSink
Class Duration
Class Gripper
Class JointPositions
Class JointVelocities
Class JointVelocityLimitsConfig
Class LoggingSinkInterface
Class MobileModel
Class Model
Class Robot
Class Torques
Class VacuumGripper
Enums
Enum ControllerMode
Enum Frame
Enum MobileFrame
Enum RealtimeConfig
Enum RobotMode
Enum TargetStatus
Enum VacuumGripperDeviceStatus
Functions
Function franka::cartesianLowpassFilter
Function franka::checkElbow
Template Function franka::checkFinite
Function franka::checkMatrix
Function franka::computeLowerLimitsJointVelocity
Function franka::computeUpperLimitsJointVelocity
Function franka::hasRealtimeKernel
Function franka::isHomogeneousTransformation
Function franka::isValidElbow
Function franka::limitRate(const std::array<double, 7>&, const std::array<double, 7>&, const std::array<double, 7>&)
Function franka::limitRate(double, double, double, double, double, double, double)
Function franka::limitRate(double, double, double, double, double, double, double, double)
Function franka::limitRate(const std::array<double, 7>&, const std::array<double, 7>&, const std::array<double, 7>&, const std::array<double, 7>&, const std::array<double, 7>&, const std::array<double, 7>&, const std::array<double, 7>&)
Function franka::limitRate(const std::array<double, 7>&, const std::array<double, 7>&, const std::array<double, 7>&, const std::array<double, 7>&, const std::array<double, 7>&, const std::array<double, 7>&, const std::array<double, 7>&, const std::array<double, 7>&)
Function franka::limitRate(double, double, double, double, double, double, const std::array<double, 6>&, const std::array<double, 6>&, const std::array<double, 6>&)
Function franka::limitRate(double, double, double, double, double, double, const std::array<double, 16>&, const std::array<double, 16>&, const std::array<double, 6>&, const std::array<double, 6>&)
Function franka::logging::addLogger
Function franka::logging::logError(const std::string&)
Template Function franka::logging::logError(const S&, Args&&…)
Function franka::logging::logInfo(const std::string&)
Template Function franka::logging::logInfo(const S&, Args&&…)
Function franka::logging::logWarn(const std::string&)
Template Function franka::logging::logWarn(const S&, Args&&…)
Function franka::logging::removeAllLoggers
Function franka::logging::removeLogger
Function franka::logToCSV
Function franka::lowpassFilter
Function franka::MotionFinished(Torques)
Function franka::MotionFinished(JointPositions)
Function franka::MotionFinished(JointVelocities)
Function franka::MotionFinished(CartesianPose)
Function franka::MotionFinished(CartesianVelocities)
Function franka::operator*
Function franka::operator++
Function franka::operator<<(std::ostream&, const Errors&)
Function franka::operator<<(std::ostream&, const franka::GripperState&)
Function franka::operator<<(std::ostream&, const franka::RobotState&)
Function franka::operator<<(std::ostream&, RobotMode)
Function franka::operator<<(std::ostream&, const franka::VacuumGripperState&)
Function franka::setCurrentThreadToHighestSchedulerPriority
Variables
Variable franka::kDefaultCutoffFrequency
Variable franka::kDeltaT
Variable franka::kFactorCartesianRotationPoseInterface
Variable franka::kJointsPerDriveModule
Variable franka::kJointVelocityLimitsTolerance
Variable franka::kLimitEps
Variable franka::kMaxCutoffFrequency
Variable franka::kMaxElbowAcceleration
Variable franka::kMaxElbowJerk
Variable franka::kMaxElbowVelocity
Variable franka::kMaxJointAcceleration
Variable franka::kMaxJointJerk
Variable franka::kMaxRotationalAcceleration
Variable franka::kMaxRotationalJerk
Variable franka::kMaxRotationalVelocity
Variable franka::kMaxTorqueRate
Variable franka::kMaxTranslationalAcceleration
Variable franka::kMaxTranslationalJerk
Variable franka::kMaxTranslationalVelocity
Variable franka::kMinElbowVelocity
Variable franka::kNormEps
Variable franka::kNumDriveModules
Variable franka::kTolNumberPacketsLost
Directories
Directory include
Directory franka
Directory async_control
Directory commands
Directory logging
Files
File active_control.h
File active_control_base.h
File active_motion_generator.h
File active_torque_control.h
File async_position_control_handler.hpp
File control_tools.h
File control_types.h
File cout_logging_sink.hpp
File duration.h
File errors.h
File exception.h
File get_robot_model_command.hpp
File gripper.h
File gripper_state.h
File joint_velocity_limits.h
File logger.hpp
File logging_sink_interface.hpp
File lowpass_filter.h
File mobile_model.h
File model.h
File rate_limiting.h
File robot.h
File robot_state.h
File robot_state_log.hpp
File target_status.hpp
File vacuum_gripper.h
File vacuum_gripper_state.h
Pages
Deprecated List
Standard Documents
README
libfranka: C++ Library for Franka Robotics Research Robots
Key Features
License
pylibfranka Installation and Usage Guide
LICENSE
PACKAGE
CHANGELOG
CHANGELOG
[0.21.1]
[0.21.0]
[0.20.5]
[0.20.4]
[0.20.3]
[0.20.2]
[0.20.1]
[0.20.0]
[0.19.0]
[0.18.2]
[0.18.1]
[0.18.0]
[0.17.0] - 2025-10-15
0.16.1 - 2025-10-10
0.16.0 - 2025-09-15
0.15.3 - 2025-07-31
0.15.2 - 2025-07-24
0.15.1 - 2025-06-23
0.15.0 - 2025-01-16
0.14.1 - 2024-09-06
0.14.0 - 2024-03-26
0.13.5 - 2024-09-06
0.13.4 - 2024-09-05
0.13.3 - 2024-01-18
0.13.2 - 2023-12-04
0.13.1 - 2023-11-30
0.13.0 - 2023-11-16
0.12.1 - 2023-09-20
0.12.0 - 2023-09-14
0.11.0 - 2023-08-16
0.10.0 - 2022-09-02
0.9.2 - 2022-08-31
0.9.1 - 2022-08-26
0.9.0 - 2022-03-25
0.8.0 - 2020-04-29
0.7.1 - 2019-07-08
0.7.0 - 2019-07-05
0.6.0 - 2019-02-06
0.5.0 - 2018-08-08
0.4.0 - 2018-06-21
0.3.0 - 2018-02-22
0.2.0 - 2018-01-29
0.1.0 - 2017-09-15
ROS Package Dependencies
pinocchio
Documentation
libfranka: C++ library for Franka Robotics research robots
Index
libfranka: Humble
C++ API
Variable franka::kNumDriveModules
View page source
Variable franka::kNumDriveModules
Defined in
File mobile_model.h
Variable Documentation
constexpr
size_t
franka
::
kNumDriveModules
=
2
Number of swerve drive modules.