| Cfranka::Duration | Represents a duration with millisecond resolution |
| Cfranka::Errors | Enumerates errors that can occur while controlling a franka::Robot |
| ▼Cfranka::Finishable | Helper type for control and motion generation loops |
| Cfranka::CartesianPose | Stores values for Cartesian pose motion generation |
| Cfranka::CartesianVelocities | Stores values for Cartesian velocity motion generation |
| Cfranka::JointPositions | Stores values for joint position motion generation |
| Cfranka::JointVelocities | Stores values for joint velocity motion generation |
| Cfranka::Torques | Stores joint-level torque commands without gravity and friction |
| Cfranka::Gripper | Maintains a network connection to the gripper, provides the current gripper state, and allows the execution of commands |
| Cfranka::GripperState | Describes the gripper state |
| Cfranka::Model | Calculates poses of joints and dynamic properties of the robot |
| Cfranka::Record | One row of the log contains a robot command of timestamp n and a corresponding robot state of timestamp n+1 |
| Cfranka::Robot | Maintains a network connection to the robot, provides the current robot state, gives access to the model library and allows to control the robot |
| Cfranka::RobotCommand | Command sent to the robot |
| Cfranka::RobotState | Describes the robot state |
| ▼Cruntime_error | |
| ▼Cfranka::Exception | Base class for all exceptions used by libfranka |
| Cfranka::CommandException | CommandException is thrown if an error occurs during command execution |
| Cfranka::ControlException | ControlException is thrown if an error occurs during motion generation or torque control |
| Cfranka::IncompatibleVersionException | IncompatibleVersionException is thrown if the robot does not support this version of libfranka |
| Cfranka::InvalidOperationException | InvalidOperationException is thrown if an operation cannot be performed |
| Cfranka::ModelException | ModelException is thrown if an error occurs when loading the model library |
| Cfranka::NetworkException | NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occurs |
| Cfranka::ProtocolException | ProtocolException is thrown if the robot returns an incorrect message |
| Cfranka::RealtimeException | RealtimeException is thrown if realtime priority cannot be set |
| Cfranka::VirtualWallCuboid | Parameters of a cuboid used as virtual wall |