Enumerates errors that can occur while controlling a franka::Robot. More...
#include <errors.h>
Public Member Functions | |
| Errors () | |
| Creates an empty Errors instance. More... | |
| Errors (const Errors &other) | |
| Copy constructs a new Errors instance. More... | |
| Errors (const std::array< bool, 37 > &errors) | |
| Creates a new Errors instance from the given array. More... | |
| operator bool () const noexcept | |
| Check if any error flag is set to true. More... | |
| operator std::string () const | |
| Creates a string with names of active errors: "[active_error_name2, active_error_name_2, ... active_error_name_n]" If no errors are active, the string contains empty brackets: "[]". More... | |
| Errors & | operator= (Errors other) |
| Assigns this Errors instance from another Errors value. More... | |
Public Attributes | |
| const bool & | cartesian_motion_generator_acceleration_discontinuity |
| True if commanded acceleration in Cartesian motion generators is discontinuous (target values are too far apart). More... | |
| const bool & | cartesian_motion_generator_elbow_limit_violation |
| True if an external Cartesian motion generator would move into an elbow limit. More... | |
| const bool & | cartesian_motion_generator_elbow_sign_inconsistent |
| True if commanded elbow values in Cartesian motion generators are inconsistent. More... | |
| const bool & | cartesian_motion_generator_joint_acceleration_discontinuity |
| True if the joint acceleration in Cartesian motion generators is discontinuous after IK calculation. More... | |
| const bool & | cartesian_motion_generator_joint_position_limits_violation |
| True if the joint position limits would be exceeded after IK calculation. More... | |
| const bool & | cartesian_motion_generator_joint_velocity_discontinuity |
| True if the joint velocity in Cartesian motion generators is discontinuous after IK calculation. More... | |
| const bool & | cartesian_motion_generator_joint_velocity_limits_violation |
| True if the joint velocity limits would be exceeded after IK calculation. More... | |
| const bool & | cartesian_motion_generator_start_elbow_invalid |
| True if the first elbow value in Cartesian motion generators is too far from initial one. More... | |
| const bool & | cartesian_motion_generator_velocity_discontinuity |
| True if commanded velocity in Cartesian motion generators is discontinuous (target values are too far apart). More... | |
| const bool & | cartesian_motion_generator_velocity_limits_violation |
| True if an external Cartesian motion generator would move with too high velocity. More... | |
| const bool & | cartesian_position_limits_violation |
| True if the robot moved past any of the virtual walls. More... | |
| const bool & | cartesian_position_motion_generator_invalid_frame |
| True if the Cartesian pose is not a valid transformation matrix. More... | |
| const bool & | cartesian_position_motion_generator_start_pose_invalid |
| True if an external Cartesian position motion generator was started with a pose too far from the current pose. More... | |
| const bool & | cartesian_reflex |
| True if a collision was detected, i.e. the robot exceeded a torque threshold in a Cartesian motion. More... | |
| const bool & | cartesian_velocity_profile_safety_violation |
| True if Cartesian velocity profile for internal motions was exceeded. More... | |
| const bool & | cartesian_velocity_violation |
| True if the robot exceeded Cartesian velocity limits. More... | |
| const bool & | communication_constraints_violation |
| True if minimum network communication quality could not be held during a motion. More... | |
| const bool & | controller_torque_discontinuity |
| True if the torque set by the external controller is discontinuous. More... | |
| const bool & | force_control_safety_violation |
| True if the robot exceeded safety threshold during force control. More... | |
| const bool & | force_controller_desired_force_tolerance_violation |
| True if desired force exceeds the safety thresholds. More... | |
| const bool & | instability_detected |
| True if an instability is detected. More... | |
| const bool & | joint_motion_generator_acceleration_discontinuity |
| True if commanded acceleration in joint motion generators is discontinuous (target values are too far apart). More... | |
| const bool & | joint_motion_generator_position_limits_violation |
| True if an external joint motion generator would move into a joint limit. More... | |
| const bool & | joint_motion_generator_velocity_discontinuity |
| True if commanded velocity in joint motion generators is discontinuous (target values are too far apart). More... | |
| const bool & | joint_motion_generator_velocity_limits_violation |
| True if an external joint motion generator exceeded velocity limits. More... | |
| const bool & | joint_move_in_wrong_direction |
| True if the robot is in joint position limits violation error and the user guides the robot further towards the limit. More... | |
| const bool & | joint_p2p_insufficient_torque_for_planning |
| True if the robot is overloaded for the required motion. More... | |
| const bool & | joint_position_limits_violation |
| True if the robot moved past the joint limits. More... | |
| const bool & | joint_position_motion_generator_start_pose_invalid |
| True if an external joint position motion generator was started with a pose too far from the current pose. More... | |
| const bool & | joint_reflex |
| True if a collision was detected, i.e. the robot exceeded a torque threshold in a joint motion. More... | |
| const bool & | joint_velocity_violation |
| True if the robot exceeded joint velocity limits. More... | |
| const bool & | max_goal_pose_deviation_violation |
| True if internal motion generator did not reach the goal pose. More... | |
| const bool & | max_path_pose_deviation_violation |
| True if internal motion generator deviated from the path. More... | |
| const bool & | power_limit_violation |
| True if commanded values would result in exceeding the power limit. More... | |
| const bool & | self_collision_avoidance_violation |
| True if the robot would have collided with itself. More... | |
| const bool & | start_elbow_sign_inconsistent |
| True if the start elbow sign was inconsistent. More... | |
| const bool & | tau_j_range_violation |
| True if the measured torque signal is out of the safe range. More... | |
Private Attributes | |
| std::array< bool, 37 > | errors_ {} |
Enumerates errors that can occur while controlling a franka::Robot.
| franka::Errors::Errors | ( | ) |
Creates an empty Errors instance.
| franka::Errors::Errors | ( | const Errors & | other | ) |
| franka::Errors::Errors | ( | const std::array< bool, 37 > & | errors | ) |
Creates a new Errors instance from the given array.
| errors | Array of error flags. |
|
explicitnoexcept |
Check if any error flag is set to true.
|
explicit |
Creates a string with names of active errors: "[active_error_name2, active_error_name_2, ... active_error_name_n]" If no errors are active, the string contains empty brackets: "[]".
| const bool& franka::Errors::cartesian_motion_generator_acceleration_discontinuity |
| const bool& franka::Errors::cartesian_motion_generator_elbow_limit_violation |
| const bool& franka::Errors::cartesian_motion_generator_elbow_sign_inconsistent |
| const bool& franka::Errors::cartesian_motion_generator_joint_acceleration_discontinuity |
| const bool& franka::Errors::cartesian_motion_generator_joint_position_limits_violation |
| const bool& franka::Errors::cartesian_motion_generator_joint_velocity_discontinuity |
| const bool& franka::Errors::cartesian_motion_generator_joint_velocity_limits_violation |
| const bool& franka::Errors::cartesian_motion_generator_start_elbow_invalid |
| const bool& franka::Errors::cartesian_motion_generator_velocity_discontinuity |
| const bool& franka::Errors::cartesian_motion_generator_velocity_limits_violation |
| const bool& franka::Errors::cartesian_position_limits_violation |
| const bool& franka::Errors::cartesian_position_motion_generator_invalid_frame |
| const bool& franka::Errors::cartesian_position_motion_generator_start_pose_invalid |
| const bool& franka::Errors::cartesian_reflex |
| const bool& franka::Errors::cartesian_velocity_profile_safety_violation |
| const bool& franka::Errors::cartesian_velocity_violation |
| const bool& franka::Errors::communication_constraints_violation |
| const bool& franka::Errors::controller_torque_discontinuity |
| const bool& franka::Errors::force_control_safety_violation |
| const bool& franka::Errors::force_controller_desired_force_tolerance_violation |
| const bool& franka::Errors::instability_detected |
| const bool& franka::Errors::joint_motion_generator_acceleration_discontinuity |
| const bool& franka::Errors::joint_motion_generator_position_limits_violation |
| const bool& franka::Errors::joint_motion_generator_velocity_discontinuity |
| const bool& franka::Errors::joint_motion_generator_velocity_limits_violation |
| const bool& franka::Errors::joint_move_in_wrong_direction |
| const bool& franka::Errors::joint_p2p_insufficient_torque_for_planning |
| const bool& franka::Errors::joint_position_limits_violation |
| const bool& franka::Errors::joint_position_motion_generator_start_pose_invalid |
| const bool& franka::Errors::joint_reflex |
| const bool& franka::Errors::joint_velocity_violation |
| const bool& franka::Errors::max_goal_pose_deviation_violation |
| const bool& franka::Errors::max_path_pose_deviation_violation |
| const bool& franka::Errors::power_limit_violation |
| const bool& franka::Errors::self_collision_avoidance_violation |
| const bool& franka::Errors::start_elbow_sign_inconsistent |
| const bool& franka::Errors::tau_j_range_violation |