Classes
class	CartesianPose
	Stores values for Cartesian pose motion generation. More...

class	CartesianVelocities
	Stores values for Cartesian velocity motion generation. More...

struct	CommandException
	CommandException is thrown if an error occurs during command execution. More...

struct	ControlException
	ControlException is thrown if an error occurs during motion generation or torque control. More...

class	Duration
	Represents a duration with millisecond resolution. More...

struct	Errors
	Enumerates errors that can occur while controlling a franka::Robot. More...

struct	Exception
	Base class for all exceptions used by `libfranka`. More...

struct	Finishable
	Helper type for control and motion generation loops. More...

class	Gripper
	Maintains a network connection to the gripper, provides the current gripper state, and allows the execution of commands. More...

struct	GripperState
	Describes the gripper state. More...

struct	IncompatibleVersionException
	IncompatibleVersionException is thrown if the robot does not support this version of libfranka. More...

struct	InvalidOperationException
	InvalidOperationException is thrown if an operation cannot be performed. More...

class	JointPositions
	Stores values for joint position motion generation. More...

class	JointVelocities
	Stores values for joint velocity motion generation. More...

class	Model
	Calculates poses of joints and dynamic properties of the robot. More...

struct	ModelException
	ModelException is thrown if an error occurs when loading the model library. More...

struct	NetworkException
	NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occurs. More...

struct	ProtocolException
	ProtocolException is thrown if the robot returns an incorrect message. More...

struct	RealtimeException
	RealtimeException is thrown if realtime priority cannot be set. More...

struct	Record
	One row of the log contains a robot command of timestamp n and a corresponding robot state of timestamp n+1. More...

class	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. More...

struct	RobotCommand
	Command sent to the robot. More...

struct	RobotState
	Describes the robot state. More...

class	Torques
	Stores joint-level torque commands without gravity and friction. More...

struct	VirtualWallCuboid
	Parameters of a cuboid used as virtual wall. More...

Enumerations
enum	ControllerMode { ControllerMode::kJointImpedance, ControllerMode::kCartesianImpedance }
	Available controller modes for a franka::Robot. More...

enum	Frame { Frame::kJoint1, Frame::kJoint2, Frame::kJoint3, Frame::kJoint4, Frame::kJoint5, Frame::kJoint6, Frame::kJoint7, Frame::kFlange, Frame::kEndEffector, Frame::kStiffness }
	Enumerates the seven joints, the flange, and the end effector of a robot. More...

enum	RealtimeConfig { RealtimeConfig::kEnforce, RealtimeConfig::kIgnore }
	Used to decide whether to enforce realtime mode for a control loop thread. More...

enum	RobotMode { RobotMode::kOther, RobotMode::kIdle, RobotMode::kMove, RobotMode::kGuiding, RobotMode::kReflex, RobotMode::kUserStopped, RobotMode::kAutomaticErrorRecovery }
	Describes the robot's current mode. More...

Functions
std::array< double, 16 >	cartesianLowpassFilter (double sample_time, std::array< double, 16 > y, std::array< double, 16 > y_last, double cutoff_frequency)
	Applies a first-order low-pass filter to the translation and spherical linear interpolation to the rotation of a transformation matrix which represents a Cartesian Motion. More...

bool	hasRealtimeKernel ()
	Determines whether the current OS kernel is a realtime kernel. More...

bool	isHomogeneousTransformation (const std::array< double, 16 > &transform) noexcept
	Determines whether the given array represents a valid homogeneous transformation matrix. More...

bool	isValidElbow (const std::array< double, 2 > &elbow) noexcept
	Determines whether the given elbow configuration is valid or not. More...

std::array< double, 7 >	limitRate (const std::array< double, 7 > &max_derivatives, const std::array< double, 7 > &commanded_values, const std::array< double, 7 > &last_commanded_values)
	Limits the rate of an input vector of per-joint commands considering the maximum allowed time derivatives. More...

double	limitRate (double max_velocity, double max_acceleration, double max_jerk, double commanded_velocity, double last_commanded_velocity, double last_commanded_acceleration)
	Limits the rate of a desired joint velocity considering the limits provided. More...

double	limitRate (double max_velocity, double max_acceleration, double max_jerk, double commanded_position, double last_commanded_position, double last_commanded_velocity, double last_commanded_acceleration)
	Limits the rate of a desired joint position considering the limits provided. More...

std::array< double, 7 >	limitRate (const std::array< double, 7 > &max_velocity, const std::array< double, 7 > &max_acceleration, const std::array< double, 7 > &max_jerk, const std::array< double, 7 > &commanded_velocities, const std::array< double, 7 > &last_commanded_velocities, const std::array< double, 7 > &last_commanded_accelerations)
	Limits the rate of a desired joint velocity considering the limits provided. More...

std::array< double, 7 >	limitRate (const std::array< double, 7 > &max_velocity, const std::array< double, 7 > &max_acceleration, const std::array< double, 7 > &max_jerk, const std::array< double, 7 > &commanded_positions, const std::array< double, 7 > &last_commanded_positions, const std::array< double, 7 > &last_commanded_velocities, const std::array< double, 7 > &last_commanded_accelerations)
	Limits the rate of a desired joint position considering the limits provided. More...

std::array< double, 6 >	limitRate (double max_translational_velocity, double max_translational_acceleration, double max_translational_jerk, double max_rotational_velocity, double max_rotational_acceleration, double max_rotational_jerk, const std::array< double, 6 > &O_dP_EE_c, const std::array< double, 6 > &last_O_dP_EE_c, const std::array< double, 6 > &last_O_ddP_EE_c)
	Limits the rate of a desired Cartesian velocity considering the limits provided. More...

std::array< double, 16 >	limitRate (double max_translational_velocity, double max_translational_acceleration, double max_translational_jerk, double max_rotational_velocity, double max_rotational_acceleration, double max_rotational_jerk, const std::array< double, 16 > &O_T_EE_c, const std::array< double, 16 > &last_O_T_EE_c, const std::array< double, 6 > &last_O_dP_EE_c, const std::array< double, 6 > &last_O_ddP_EE_c)
	Limits the rate of a desired Cartesian pose considering the limits provided. More...

std::string	logToCSV (const std::vector< Record > &log)
	Writes the log to a string in CSV format. More...

double	lowpassFilter (double sample_time, double y, double y_last, double cutoff_frequency)
	Applies a first-order low-pass filter. More...

Torques	MotionFinished (Torques command) noexcept
	Helper method to indicate that a motion should stop after processing the given command. More...

JointPositions	MotionFinished (JointPositions command) noexcept
	Helper method to indicate that a motion should stop after processing the given command. More...

JointVelocities	MotionFinished (JointVelocities command) noexcept
	Helper method to indicate that a motion should stop after processing the given command. More...

CartesianPose	MotionFinished (CartesianPose command) noexcept
	Helper method to indicate that a motion should stop after processing the given command. More...

CartesianVelocities	MotionFinished (CartesianVelocities command) noexcept
	Helper method to indicate that a motion should stop after processing the given command. More...

Duration	operator* (uint64_t lhs, const Duration &rhs) noexcept
	Performs multiplication. More...

Frame	operator++ (Frame &frame, int) noexcept
	Post-increments the given Frame by one. More...

std::ostream &	operator<< (std::ostream &ostream, const franka::GripperState &gripper_state)
	Streams the gripper state as JSON object: {"field_name_1": value, "field_name_2": value, ...}. More...

std::ostream &	operator<< (std::ostream &ostream, const Errors &errors)
	Streams the errors as JSON array. More...

std::ostream &	operator<< (std::ostream &ostream, const franka::RobotState &robot_state)
	Streams the robot state as JSON object: {"field_name_1": [0,0,0,0,0,0,0], "field_name_2": [0,0,0,0,0,0], ...}. More...

bool	setCurrentThreadToHighestSchedulerPriority (std::string *error_message)
	Sets the current thread to the highest possible scheduler priority. More...

Variables
constexpr double	kDefaultCutoffFrequency = 100.0
	Default cutoff frequency. More...

constexpr double	kDeltaT = 1e-3
	Sample time constant. More...

constexpr double	kFactorCartesianRotationPoseInterface = 0.99
	Factor for the definition of rotational limits using the Cartesian Pose interface. More...

constexpr double	kLimitEps = 1e-3
	Epsilon value for checking limits. More...

constexpr double	kMaxCutoffFrequency = 1000.0
	Maximum cutoff frequency. More...

constexpr double	kMaxElbowAcceleration = 10.0000 - kLimitEps
	Maximum elbow acceleration. More...

constexpr double	kMaxElbowJerk = 5000 - kLimitEps
	Maximum elbow jerk. More...

constexpr double	kMaxElbowVelocity
	Maximum elbow velocity. More...

constexpr std::array< double, 7 >	kMaxJointAcceleration
	Maximum joint acceleration. More...

constexpr std::array< double, 7 >	kMaxJointJerk
	Maximum joint jerk. More...

constexpr std::array< double, 7 >	kMaxJointVelocity
	Maximum joint velocity. More...

constexpr double	kMaxRotationalAcceleration = 25.0000 - kLimitEps
	Maximum rotational acceleration. More...

constexpr double	kMaxRotationalJerk = 12500.0 - kLimitEps
	Maximum rotational jerk. More...

constexpr double	kMaxRotationalVelocity
	Maximum rotational velocity. More...

constexpr std::array< double, 7 >	kMaxTorqueRate
	Maximum torque rate. More...

constexpr double	kMaxTranslationalAcceleration = 13.0000 - kLimitEps
	Maximum translational acceleration. More...

constexpr double	kMaxTranslationalJerk = 6500.0 - kLimitEps
	Maximum translational jerk. More...

constexpr double	kMaxTranslationalVelocity
	Maximum translational velocity. More...

constexpr double	kNormEps = std::numeric_limits<double>::epsilon()
	Epsilon value for limiting Cartesian accelerations/jerks or not. More...

constexpr double	kTolNumberPacketsLost = 3.0
	Number of packets losts considered for the definition of velocity limits. More...

Enumeration Type Documentation

enum franka::ControllerMode

strong

Available controller modes for a franka::Robot.

Enumerator
kJointImpedance
kCartesianImpedance

Definition at line 19 of file control_types.h.

enum franka::Frame

strong

Enumerates the seven joints, the flange, and the end effector of a robot.

Enumerator
kJoint1
kJoint2
kJoint3
kJoint4
kJoint5
kJoint6
kJoint7
kFlange
kEndEffector
kStiffness

Definition at line 21 of file model.h.

enum franka::RealtimeConfig

strong

Used to decide whether to enforce realtime mode for a control loop thread.

See also: Robot::Robot

Enumerator
kEnforce
kIgnore

Definition at line 26 of file control_types.h.

enum franka::RobotMode

strong

Describes the robot's current mode.

Enumerator
kOther
kIdle
kMove
kGuiding
kReflex
kUserStopped
kAutomaticErrorRecovery

Definition at line 22 of file robot_state.h.

Function Documentation

std::array<double, 16> franka::cartesianLowpassFilter	(	double	sample_time,
		std::array< double, 16 >	y,
		std::array< double, 16 >	y_last,
		double	cutoff_frequency
	)

Applies a first-order low-pass filter to the translation and spherical linear interpolation to the rotation of a transformation matrix which represents a Cartesian Motion.

Parameters

[in]	sample_time	Sample time constant
[in]	y	Current Cartesian transformation matrix to be filtered
[in]	y_last	Cartesian transformation matrix from the previous time step
[in]	cutoff_frequency	Cutoff frequency of the low-pass filter

Exceptions

std::invalid_argument	if elements of y is infinite or NaN.
std::invalid_argument	if elements of y_last is infinite or NaN.
std::invalid_argument	if cutoff_frequency is zero, negative, infinite or NaN.
std::invalid_argument	if sample_time is negative, infinite or NaN.

Returns: Filtered Cartesian transformation matrix.

bool franka::hasRealtimeKernel ( )

Determines whether the current OS kernel is a realtime kernel.

On Linux, this checks for the existence of /sys/kernel/realtime. On Windows, this always returns true.

Returns: True if running a realtime kernel, false otherwise.

bool franka::isHomogeneousTransformation ( const std::array< double, 16 > & transform )

inlinenoexcept

Determines whether the given array represents a valid homogeneous transformation matrix.

Parameters

[in] transform 4x4 matrix in column-major format.

Returns: True if the array represents a homogeneous transformation matrix, otherwise false.

Definition at line 33 of file control_tools.h.

bool franka::isValidElbow ( const std::array< double, 2 > & elbow )

inlinenoexcept

Determines whether the given elbow configuration is valid or not.

Parameters

[in] elbow Elbow configuration.

Returns: True if valid, otherwise false.

Definition at line 22 of file control_tools.h.

std::array<double, 7> franka::limitRate	(	const std::array< double, 7 > &	max_derivatives,
		const std::array< double, 7 > &	commanded_values,
		const std::array< double, 7 > &	last_commanded_values
	)

Limits the rate of an input vector of per-joint commands considering the maximum allowed time derivatives.

Note: FCI filters must be deactivated to work properly.

Parameters

[in]	max_derivatives	Per-joint maximum allowed time derivative.
[in]	commanded_values	Commanded values of the current time step.
[in]	last_commanded_values	Commanded values of the previous time step.

Exceptions

std::invalid_argument if commanded_values are infinite or NaN.

Returns: Rate-limited vector of desired values.

double franka::limitRate	(	double	max_velocity,
		double	max_acceleration,
		double	max_jerk,
		double	commanded_velocity,
		double	last_commanded_velocity,
		double	last_commanded_acceleration
	)

Limits the rate of a desired joint velocity considering the limits provided.

Note: FCI filters must be deactivated to work properly.

Parameters

[in]	max_velocity	Maximum allowed velocity.
[in]	max_acceleration	Maximum allowed acceleration.
[in]	max_jerk	Maximum allowed jerk.
[in]	commanded_velocity	Commanded joint velocity of the current time step.
[in]	last_commanded_velocity	Commanded joint velocitiy of the previous time step.
[in]	last_commanded_acceleration	Commanded joint acceleration of the previous time step.

Exceptions

std::invalid_argument if commanded_velocity is infinite or NaN.

Returns: Rate-limited desired joint velocity.

double franka::limitRate	(	double	max_velocity,
		double	max_acceleration,
		double	max_jerk,
		double	commanded_position,
		double	last_commanded_position,
		double	last_commanded_velocity,
		double	last_commanded_acceleration
	)

Limits the rate of a desired joint position considering the limits provided.

Note: FCI filters must be deactivated to work properly.

Parameters

[in]	max_velocity	Maximum allowed velocity.
[in]	max_acceleration	Maximum allowed acceleration.
[in]	max_jerk	Maximum allowed jerk.
[in]	commanded_position	Commanded joint position of the current time step.
[in]	last_commanded_position	Commanded joint position of the previous time step.
[in]	last_commanded_velocity	Commanded joint velocity of the previous time step.
[in]	last_commanded_acceleration	Commanded joint acceleration of the previous time step.

Exceptions

std::invalid_argument if commanded_position is infinite or NaN.

Returns: Rate-limited desired joint position.

std::array<double, 7> franka::limitRate	(	const std::array< double, 7 > &	max_velocity,
		const std::array< double, 7 > &	max_acceleration,
		const std::array< double, 7 > &	max_jerk,
		const std::array< double, 7 > &	commanded_velocities,
		const std::array< double, 7 > &	last_commanded_velocities,
		const std::array< double, 7 > &	last_commanded_accelerations
	)

Limits the rate of a desired joint velocity considering the limits provided.

Note: FCI filters must be deactivated to work properly.

Parameters

[in]	max_velocity	Per-joint maximum allowed velocity.
[in]	max_acceleration	Per-joint maximum allowed acceleration.
[in]	max_jerk	Per-joint maximum allowed jerk.
[in]	commanded_velocities	Commanded joint velocity of the current time step.
[in]	last_commanded_velocities	Commanded joint velocities of the previous time step.
[in]	last_commanded_accelerations	Commanded joint accelerations of the previous time step.

Exceptions

std::invalid_argument if commanded_velocities are infinite or NaN.

Returns: Rate-limited vector of desired joint velocities.

std::array<double, 7> franka::limitRate	(	const std::array< double, 7 > &	max_velocity,
		const std::array< double, 7 > &	max_acceleration,
		const std::array< double, 7 > &	max_jerk,
		const std::array< double, 7 > &	commanded_positions,
		const std::array< double, 7 > &	last_commanded_positions,
		const std::array< double, 7 > &	last_commanded_velocities,
		const std::array< double, 7 > &	last_commanded_accelerations
	)

Limits the rate of a desired joint position considering the limits provided.

Note: FCI filters must be deactivated to work properly.

Parameters

[in]	max_velocity	Per-joint maximum allowed velocity.
[in]	max_acceleration	Per-joint maximum allowed velocity.
[in]	max_jerk	Per-joint maximum allowed velocity.
[in]	commanded_positions	Per-joint maximum allowed acceleration.
[in]	last_commanded_positions	Commanded joint positions of the current time step.
[in]	last_commanded_velocities	Commanded joint positions of the previous time step.
[in]	last_commanded_accelerations	Commanded joint velocities of the previous time step.

Exceptions

std::invalid_argument if commanded_positions are infinite or NaN.

Returns: Rate-limited vector of desired joint positions.

std::array<double, 6> franka::limitRate	(	double	max_translational_velocity,
		double	max_translational_acceleration,
		double	max_translational_jerk,
		double	max_rotational_velocity,
		double	max_rotational_acceleration,
		double	max_rotational_jerk,
		const std::array< double, 6 > &	O_dP_EE_c,
		const std::array< double, 6 > &	last_O_dP_EE_c,
		const std::array< double, 6 > &	last_O_ddP_EE_c
	)

Limits the rate of a desired Cartesian velocity considering the limits provided.

Note: FCI filters must be deactivated to work properly.

Parameters

[in]	max_translational_velocity	Maximum translational velocity.
[in]	max_translational_acceleration	Maximum translational acceleration.
[in]	max_translational_jerk	Maximum translational jerk.
[in]	max_rotational_velocity	Maximum rotational velocity.
[in]	max_rotational_acceleration	Maximum rotational acceleration.
[in]	max_rotational_jerk	Maximum rotational jerk.
[in]	O_dP_EE_c	Commanded end effector twist of the current time step.
[in]	last_O_dP_EE_c	Commanded end effector twist of the previous time step.
[in]	last_O_ddP_EE_c	Commanded end effector acceleration of the previous time step.

Exceptions

std::invalid_argument if an element of O_dP_EE_c is infinite or NaN.

Returns: Rate-limited desired end effector twist.

std::array<double, 16> franka::limitRate	(	double	max_translational_velocity,
		double	max_translational_acceleration,
		double	max_translational_jerk,
		double	max_rotational_velocity,
		double	max_rotational_acceleration,
		double	max_rotational_jerk,
		const std::array< double, 16 > &	O_T_EE_c,
		const std::array< double, 16 > &	last_O_T_EE_c,
		const std::array< double, 6 > &	last_O_dP_EE_c,
		const std::array< double, 6 > &	last_O_ddP_EE_c
	)

Limits the rate of a desired Cartesian pose considering the limits provided.

Note: FCI filters must be deactivated to work properly.

Parameters

[in]	max_translational_velocity	Maximum translational velocity.
[in]	max_translational_acceleration	Maximum translational acceleration.
[in]	max_translational_jerk	Maximum translational jerk.
[in]	max_rotational_velocity	Maximum rotational velocity.
[in]	max_rotational_acceleration	Maximum rotational acceleration.
[in]	max_rotational_jerk	Maximum rotational jerk.
[in]	O_T_EE_c	Commanded pose of the current time step.
[in]	last_O_T_EE_c	Commanded pose of the previous time step.
[in]	last_O_dP_EE_c	Commanded end effector twist of the previous time step.
[in]	last_O_ddP_EE_c	Commanded end effector acceleration of the previous time step.

Exceptions

std::invalid_argument if an element of O_T_EE_c is infinite or NaN.

Returns: Rate-limited desired pose.

std::string franka::logToCSV ( const std::vector< Record > & log )

Writes the log to a string in CSV format.

If the string is not empty, the first row contains the header with names of columns. The following lines contain rows of values separated by commas.

If the log is empty, the function returns an empty string.

Parameters

[in] log Log provided by the ControlException.

Returns: a string in CSV format, or empty string.

double franka::lowpassFilter	(	double	sample_time,
		double	y,
		double	y_last,
		double	cutoff_frequency
	)

Applies a first-order low-pass filter.

Parameters

[in]	sample_time	Sample time constant
[in]	y	Current value of the signal to be filtered
[in]	y_last	Value of the signal to be filtered in the previous time step
[in]	cutoff_frequency	Cutoff frequency of the low-pass filter

Exceptions

std::invalid_argument	if y is infinite or NaN.
std::invalid_argument	if y_last is infinite or NaN.
std::invalid_argument	if cutoff_frequency is zero, negative, infinite or NaN.
std::invalid_argument	if sample_time is negative, infinite or NaN.

Returns: Filtered value.

Torques franka::MotionFinished ( Torques command )

inlinenoexcept

Helper method to indicate that a motion should stop after processing the given command.

Parameters

[in] command Last command to be executed before the motion terminates.

Returns: Command with motion_finished set to true.

See also: Documentation on callbacks

Definition at line 275 of file control_types.h.

JointPositions franka::MotionFinished ( JointPositions command )

inlinenoexcept

Helper method to indicate that a motion should stop after processing the given command.

Parameters

[in] command Last command to be executed before the motion terminates.

Returns: Command with motion_finished set to true.

See also: Documentation on callbacks

Definition at line 289 of file control_types.h.

JointVelocities franka::MotionFinished ( JointVelocities command )

inlinenoexcept

Helper method to indicate that a motion should stop after processing the given command.

Parameters

[in] command Last command to be executed before the motion terminates.

Returns: Command with motion_finished set to true.

See also: Documentation on callbacks

Definition at line 304 of file control_types.h.

CartesianPose franka::MotionFinished ( CartesianPose command )

inlinenoexcept

Helper method to indicate that a motion should stop after processing the given command.

Parameters

[in] command Last command to be executed before the motion terminates.

Returns: Command with motion_finished set to true.

See also: Documentation on callbacks

Definition at line 319 of file control_types.h.

CartesianVelocities franka::MotionFinished ( CartesianVelocities command )

inlinenoexcept

Helper method to indicate that a motion should stop after processing the given command.

Parameters

[in] command Last command to be executed before the motion terminates.

Returns: Command with motion_finished set to true.

See also: Documentation on callbacks

Definition at line 334 of file control_types.h.

Duration franka::operator*	(	uint64_t	lhs,
		const Duration &	rhs
	)

noexcept

Performs multiplication.

Parameters

[in]	lhs	Left-hand side of the multiplication.
[in]	rhs	Right-hand side of the multiplication.

Returns: Result of the multiplication.

Frame franka::operator++	(	Frame &	frame,
		int
	)

noexcept

Post-increments the given Frame by one.

For example, Frame::kJoint2++ results in Frame::kJoint3.

Parameters

[in] frame Frame to increment.

Returns: Original Frame.

std::ostream& franka::operator<<	(	std::ostream &	ostream,
		const franka::GripperState &	gripper_state
	)

Streams the gripper state as JSON object: {"field_name_1": value, "field_name_2": value, ...}.

Parameters

[in]	ostream	Ostream instance
[in]	gripper_state	GripperState struct instance to stream

Returns: Ostream instance

std::ostream& franka::operator<<	(	std::ostream &	ostream,
		const Errors &	errors
	)

Streams the errors as JSON array.

Parameters

[in]	ostream	Ostream instance
[in]	errors	Errors struct instance to stream

Returns: Ostream instance

std::ostream& franka::operator<<	(	std::ostream &	ostream,
		const franka::RobotState &	robot_state
	)

Streams the robot state as JSON object: {"field_name_1": [0,0,0,0,0,0,0], "field_name_2": [0,0,0,0,0,0], ...}.

Parameters

[in]	ostream	Ostream instance
[in]	robot_state	RobotState instance to stream

Returns: Ostream instance

bool franka::setCurrentThreadToHighestSchedulerPriority ( std::string * error_message )

Sets the current thread to the highest possible scheduler priority.

Parameters

[out] error_message Contains an error message if the scheduler priority cannot be set successfully.

Returns: True if successful, false otherwise.

Variable Documentation

constexpr double franka::kDefaultCutoffFrequency = 100.0

Default cutoff frequency.

Definition at line 21 of file lowpass_filter.h.

constexpr double franka::kDeltaT = 1e-3

Sample time constant.

Definition at line 18 of file rate_limiting.h.

constexpr double franka::kFactorCartesianRotationPoseInterface = 0.99

Factor for the definition of rotational limits using the Cartesian Pose interface.

Definition at line 35 of file rate_limiting.h.

constexpr double franka::kLimitEps = 1e-3

Epsilon value for checking limits.

Definition at line 22 of file rate_limiting.h.

constexpr double franka::kMaxCutoffFrequency = 1000.0

Maximum cutoff frequency.

Definition at line 17 of file lowpass_filter.h.

constexpr double franka::kMaxElbowAcceleration = 10.0000 - kLimitEps

Maximum elbow acceleration.

Definition at line 98 of file rate_limiting.h.

constexpr double franka::kMaxElbowJerk = 5000 - kLimitEps

Maximum elbow jerk.

Definition at line 94 of file rate_limiting.h.

constexpr double franka::kMaxElbowVelocity

Initial value:

=

2.1750 - kLimitEps - kTolNumberPacketsLost * kDeltaT * kMaxElbowAcceleration

franka::kMaxElbowAcceleration

constexpr double kMaxElbowAcceleration

Maximum elbow acceleration.

Definition: rate_limiting.h:98

franka::kTolNumberPacketsLost

constexpr double kTolNumberPacketsLost

Number of packets losts considered for the definition of velocity limits.

Definition: rate_limiting.h:31

franka::kLimitEps

constexpr double kLimitEps

Epsilon value for checking limits.

Definition: rate_limiting.h:22

franka::kDeltaT

constexpr double kDeltaT

Sample time constant.

Definition: rate_limiting.h:18

Maximum elbow velocity.

Definition at line 102 of file rate_limiting.h.

constexpr std::array<double, 7> franka::kMaxJointAcceleration

Initial value:

{
    {15.0000 - kLimitEps, 7.500 - kLimitEps, 10.0000 - kLimitEps, 12.5000 - kLimitEps,
     15.0000 - kLimitEps, 20.0000 - kLimitEps, 20.0000 - kLimitEps}}

Maximum joint acceleration.

Definition at line 51 of file rate_limiting.h.

constexpr std::array<double, 7> franka::kMaxJointJerk

Initial value:

{
    {7500.0 - kLimitEps, 3750.0 - kLimitEps, 5000.0 - kLimitEps, 6250.0 - kLimitEps,
     7500.0 - kLimitEps, 10000.0 - kLimitEps, 10000.0 - kLimitEps}}

Maximum joint jerk.

Definition at line 45 of file rate_limiting.h.

constexpr std::array<double, 7> franka::kMaxJointVelocity

Initial value:

{
    {2.1750 - kLimitEps - kTolNumberPacketsLost * kDeltaT * kMaxJointAcceleration[0],
1750 - kLimitEps - kTolNumberPacketsLost* kDeltaT* kMaxJointAcceleration[1],
1750 - kLimitEps - kTolNumberPacketsLost* kDeltaT* kMaxJointAcceleration[2],
1750 - kLimitEps - kTolNumberPacketsLost* kDeltaT* kMaxJointAcceleration[3],
6100 - kLimitEps - kTolNumberPacketsLost* kDeltaT* kMaxJointAcceleration[4],
6100 - kLimitEps - kTolNumberPacketsLost* kDeltaT* kMaxJointAcceleration[5],
6100 - kLimitEps - kTolNumberPacketsLost* kDeltaT* kMaxJointAcceleration[6]}}

Maximum joint velocity.

Definition at line 57 of file rate_limiting.h.

constexpr double franka::kMaxRotationalAcceleration = 25.0000 - kLimitEps

Maximum rotational acceleration.

Definition at line 85 of file rate_limiting.h.

constexpr double franka::kMaxRotationalJerk = 12500.0 - kLimitEps

Maximum rotational jerk.

Definition at line 81 of file rate_limiting.h.

constexpr double franka::kMaxRotationalVelocity

Initial value:

=

2.5000 - kLimitEps - kTolNumberPacketsLost * kDeltaT * kMaxRotationalAcceleration

franka::kTolNumberPacketsLost

constexpr double kTolNumberPacketsLost

Number of packets losts considered for the definition of velocity limits.

Definition: rate_limiting.h:31

franka::kLimitEps

constexpr double kLimitEps

Epsilon value for checking limits.

Definition: rate_limiting.h:22

franka::kMaxRotationalAcceleration

constexpr double kMaxRotationalAcceleration

Maximum rotational acceleration.

Definition: rate_limiting.h:85

franka::kDeltaT

constexpr double kDeltaT

Sample time constant.

Definition: rate_limiting.h:18

Maximum rotational velocity.

Definition at line 89 of file rate_limiting.h.

constexpr std::array<double, 7> franka::kMaxTorqueRate

Initial value:

{
    {1000 - kLimitEps, 1000 - kLimitEps, 1000 - kLimitEps, 1000 - kLimitEps, 1000 - kLimitEps,
     1000 - kLimitEps, 1000 - kLimitEps}}

Maximum torque rate.

Definition at line 39 of file rate_limiting.h.

constexpr double franka::kMaxTranslationalAcceleration = 13.0000 - kLimitEps

Maximum translational acceleration.

Definition at line 72 of file rate_limiting.h.

constexpr double franka::kMaxTranslationalJerk = 6500.0 - kLimitEps

Maximum translational jerk.

Definition at line 68 of file rate_limiting.h.

constexpr double franka::kMaxTranslationalVelocity

Initial value:

=

1.7000 - kLimitEps - kTolNumberPacketsLost * kDeltaT * kMaxTranslationalAcceleration

franka::kMaxTranslationalAcceleration

constexpr double kMaxTranslationalAcceleration

Maximum translational acceleration.

Definition: rate_limiting.h:72

franka::kTolNumberPacketsLost

constexpr double kTolNumberPacketsLost

Number of packets losts considered for the definition of velocity limits.

Definition: rate_limiting.h:31

franka::kLimitEps

constexpr double kLimitEps

Epsilon value for checking limits.

Definition: rate_limiting.h:22

franka::kDeltaT

constexpr double kDeltaT

Sample time constant.

Definition: rate_limiting.h:18

Maximum translational velocity.

Definition at line 76 of file rate_limiting.h.

constexpr double franka::kNormEps = std::numeric_limits<double>::epsilon()

Epsilon value for limiting Cartesian accelerations/jerks or not.

Definition at line 26 of file rate_limiting.h.

constexpr double franka::kTolNumberPacketsLost = 3.0

Number of packets losts considered for the definition of velocity limits.

When a packet is lost, FCI assumes a constant acceleration model

Definition at line 31 of file rate_limiting.h.

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