franka::CartesianPose Class Reference

Stores values for Cartesian pose motion generation. More...

#include <control_types.h>

Inheritance diagram for franka::CartesianPose:

Public Member Functions
	CartesianPose (const std::array< double, 16 > &cartesian_pose) noexcept
	Creates a new CartesianPose instance. More...
	CartesianPose (const std::array< double, 16 > &cartesian_pose, const std::array< double, 2 > &elbow) noexcept
	Creates a new CartesianPose instance. More...
	CartesianPose (std::initializer_list< double > cartesian_pose)
	Creates a new CartesianPose instance. More...
	CartesianPose (std::initializer_list< double > cartesian_pose, std::initializer_list< double > elbow)
	Creates a new CartesianPose instance. More...
bool	hasElbow () const noexcept
	Determines whether there is a stored elbow configuration. More...

Public Attributes
std::array< double, 2 >	elbow {}
	Elbow configuration. More...
std::array< double, 16 >	O_T_EE {}
	Homogeneous transformation , column major, that transforms from the end effector frame to base frame . More...
Public Attributes inherited from franka::Finishable
bool	motion_finished = false
	Determines whether to finish a currently running motion. More...

Detailed Description

Stores values for Cartesian pose motion generation.

Definition at line 127 of file control_types.h.

Constructor & Destructor Documentation

franka::CartesianPose::CartesianPose ( const std::array< double, 16 > &  cartesian_pose )

noexcept

Creates a new CartesianPose instance.

Parameters

[in]

cartesian_pose

Desired vectorized homogeneous transformation matrix , column major, that transforms from the end effector frame to base frame . Equivalently, it is the desired end effector pose in base frame.

franka::CartesianPose::CartesianPose ( const std::array< double, 16 > &  cartesian_pose, const std::array< double, 2 > &  elbow  )

noexcept

Creates a new CartesianPose instance.

Parameters

[in]	cartesian_pose	Desired vectorized homogeneous transformation matrix , column major, that transforms from the end effector frame to base frame . Equivalently, it is the desired end effector pose in base frame.
[in]	elbow	Elbow configuration (see elbow member for more details).

franka::CartesianPose::CartesianPose

(

std::initializer_list< double >

cartesian_pose

)

Creates a new CartesianPose instance.

Parameters

[in]

cartesian_pose

Desired vectorized homogeneous transformation matrix , column major, that transforms from the end effector frame to base frame . Equivalently, it is the desired end effector pose in base frame.

Exceptions

std::invalid_argument

if the given initializer list has an invalid number of arguments.

franka::CartesianPose::CartesianPose	(	std::initializer_list< double >	cartesian_pose,
		std::initializer_list< double >	elbow
	)

Creates a new CartesianPose instance.

Parameters

[in]	cartesian_pose	Desired vectorized homogeneous transformation matrix , column major, that transforms from the end effector frame to base frame . Equivalently, it is the desired end effector pose in base frame.
[in]	elbow	Elbow configuration (see elbow member for more details).

Exceptions

std::invalid_argument

if a given initializer list has an invalid number of arguments.

Member Function Documentation

bool franka::CartesianPose::hasElbow ( ) const

noexcept

Determines whether there is a stored elbow configuration.

Returns

True if there is a stored elbow configuration, false otherwise.

Member Data Documentation

std::array<double, 2> franka::CartesianPose::elbow {}

Elbow configuration.

The values of the array are:

• [0] Position of the 3rd joint in [rad].
• [1] Sign of the 4th joint. Can be +1 or -1.

Definition at line 187 of file control_types.h.

std::array<double, 16> franka::CartesianPose::O_T_EE {}

Homogeneous transformation , column major, that transforms from the end effector frame to base frame .

Equivalently, it is the desired end effector pose in base frame.

Definition at line 178 of file control_types.h.

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The documentation for this class was generated from the following file:

• control_types.h