franka_hw::FrankaCartesianPoseHandle Class Reference

Handle to read and command a Cartesian pose. More...

#include <franka_cartesian_command_interface.h>

Inheritance diagram for franka_hw::FrankaCartesianPoseHandle:

Public Member Functions
	FrankaCartesianPoseHandle ()=delete
	FrankaCartesianPoseHandle (const FrankaStateHandle &franka_state_handle, std::array< double, 16 > &command, std::array< double, 2 > &elbow)
	Creates an instance of a FrankaCartesianPoseHandle. More...
const std::array< double, 16 > &	getCommand () const noexcept
	Gets the current command. More...
void	setCommand (const std::array< double, 16 > &command) noexcept
	Sets the given command. More...
void	setCommand (const std::array< double, 16 > &command, const std::array< double, 2 > &elbow) noexcept
	Sets the given command. More...
Public Member Functions inherited from franka_hw::FrankaStateHandle
	FrankaStateHandle ()=delete
	FrankaStateHandle (const std::string &name, franka::RobotState &robot_state)
	Creates an instance of a FrankaStateHandle. More...
const std::string &	getName () const noexcept
	Gets the name of the state handle. More...
const franka::RobotState &	getRobotState () const noexcept
	Gets the current robot state. More...

Private Attributes
std::array< double, 16 > *	command_
std::array< double, 2 > *	elbow_

Detailed Description

Handle to read and command a Cartesian pose.

Definition at line 15 of file franka_cartesian_command_interface.h.

Constructor & Destructor Documentation

franka_hw::FrankaCartesianPoseHandle::FrankaCartesianPoseHandle ( )

delete

franka_hw::FrankaCartesianPoseHandle::FrankaCartesianPoseHandle ( const FrankaStateHandle &  franka_state_handle, std::array< double, 16 > &  command, std::array< double, 2 > &  elbow  )

inline

Creates an instance of a FrankaCartesianPoseHandle.

Parameters

[in]	franka_state_handle	Robot state handle.
[in]	command	A reference to the Cartesian pose command wrapped by this handle.
[in]	elbow	A reference to the elbow wrapped by this handle.

Definition at line 26 of file franka_cartesian_command_interface.h.

Member Function Documentation

const std::array<double, 16>& franka_hw::FrankaCartesianPoseHandle::getCommand ( ) const

inlinenoexcept

Gets the current command.

Returns

Current command.

Definition at line 58 of file franka_cartesian_command_interface.h.

void franka_hw::FrankaCartesianPoseHandle::setCommand ( const std::array< double, 16 > &  command )

inlinenoexcept

Sets the given command.

Parameters

[in]

command

Command to set.

Definition at line 36 of file franka_cartesian_command_interface.h.

void franka_hw::FrankaCartesianPoseHandle::setCommand ( const std::array< double, 16 > &  command, const std::array< double, 2 > &  elbow  )

inlinenoexcept

Sets the given command.

Parameters

[in]	command	Command to set.
[in]	elbow	Elbow to set.

Definition at line 47 of file franka_cartesian_command_interface.h.

Member Data Documentation

std::array<double, 16>* franka_hw::FrankaCartesianPoseHandle::command_

private

Definition at line 61 of file franka_cartesian_command_interface.h.

std::array<double, 2>* franka_hw::FrankaCartesianPoseHandle::elbow_

private

Definition at line 62 of file franka_cartesian_command_interface.h.

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The documentation for this class was generated from the following file:

• franka_cartesian_command_interface.h