| ▼Nfranka | |
| CCartesianPose | Stores values for Cartesian pose motion generation |
| CCartesianVelocities | Stores values for Cartesian velocity motion generation |
| CCommandException | CommandException is thrown if an error occurs during command execution |
| CControlException | ControlException is thrown if an error occurs during motion generation or torque control |
| CDuration | Represents a duration with millisecond resolution |
| CErrors | Enumerates errors that can occur while controlling a franka::Robot |
| CException | Base class for all exceptions used by libfranka |
| CFinishable | Helper type for control and motion generation loops |
| CGripper | Maintains a network connection to the gripper, provides the current gripper state, and allows the execution of commands |
| CGripperState | Describes the gripper state |
| CIncompatibleVersionException | IncompatibleVersionException is thrown if the robot does not support this version of libfranka |
| CInvalidOperationException | InvalidOperationException is thrown if an operation cannot be performed |
| CJointPositions | Stores values for joint position motion generation |
| CJointVelocities | Stores values for joint velocity motion generation |
| CModel | Calculates poses of joints and dynamic properties of the robot |
| CModelException | ModelException is thrown if an error occurs when loading the model library |
| CNetworkException | NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occurs |
| CProtocolException | ProtocolException is thrown if the robot returns an incorrect message |
| CRealtimeException | RealtimeException is thrown if realtime priority cannot be set |
| CRecord | One row of the log contains a robot command of timestamp n and a corresponding robot state of timestamp n+1 |
| CRobot | Maintains a network connection to the robot, provides the current robot state, gives access to the model library and allows to control the robot |
| CRobotCommand | Command sent to the robot |
| CRobotState | Describes the robot state |
| CTorques | Stores joint-level torque commands without gravity and friction |
| CVirtualWallCuboid | Parameters of a cuboid used as virtual wall |