Contains helper types for returning motion generation and joint-level torque commands. More...
#include <array>#include <cmath>#include <initializer_list>
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Classes | |
| class | franka::CartesianPose |
| Stores values for Cartesian pose motion generation. More... | |
| class | franka::CartesianVelocities |
| Stores values for Cartesian velocity motion generation. More... | |
| struct | franka::Finishable |
| Helper type for control and motion generation loops. More... | |
| class | franka::JointPositions |
| Stores values for joint position motion generation. More... | |
| class | franka::JointVelocities |
| Stores values for joint velocity motion generation. More... | |
| class | franka::Torques |
| Stores joint-level torque commands without gravity and friction. More... | |
Namespaces | |
| franka | |
Enumerations | |
| enum | franka::ControllerMode { franka::ControllerMode::kJointImpedance, franka::ControllerMode::kCartesianImpedance } |
| Available controller modes for a franka::Robot. More... | |
| enum | franka::RealtimeConfig { franka::RealtimeConfig::kEnforce, franka::RealtimeConfig::kIgnore } |
| Used to decide whether to enforce realtime mode for a control loop thread. More... | |
Functions | |
| Torques | franka::MotionFinished (Torques command) noexcept |
| Helper method to indicate that a motion should stop after processing the given command. More... | |
| JointPositions | franka::MotionFinished (JointPositions command) noexcept |
| Helper method to indicate that a motion should stop after processing the given command. More... | |
| JointVelocities | franka::MotionFinished (JointVelocities command) noexcept |
| Helper method to indicate that a motion should stop after processing the given command. More... | |
| CartesianPose | franka::MotionFinished (CartesianPose command) noexcept |
| Helper method to indicate that a motion should stop after processing the given command. More... | |
| CartesianVelocities | franka::MotionFinished (CartesianVelocities command) noexcept |
| Helper method to indicate that a motion should stop after processing the given command. More... | |
Detailed Description
Contains helper types for returning motion generation and joint-level torque commands.
Definition in file control_types.h.