Stores values for Cartesian velocity motion generation. More...
#include <control_types.h>
Inheritance diagram for franka::CartesianVelocities:
Public Member Functions | |
| CartesianVelocities (const std::array< double, 6 > &cartesian_velocities) noexcept | |
| Creates a new CartesianVelocities instance. More... | |
| CartesianVelocities (const std::array< double, 6 > &cartesian_velocities, const std::array< double, 2 > &elbow) noexcept | |
| Creates a new CartesianVelocities instance. More... | |
| CartesianVelocities (std::initializer_list< double > cartesian_velocities) | |
| Creates a new CartesianVelocities instance. More... | |
| CartesianVelocities (std::initializer_list< double > cartesian_velocities, std::initializer_list< double > elbow) | |
| Creates a new CartesianVelocities 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, 6 > | O_dP_EE {} |
| Desired Cartesian velocity w.r.t. 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 velocity motion generation.
Definition at line 201 of file control_types.h.
Constructor & Destructor Documentation
|
noexcept |
Creates a new CartesianVelocities instance.
- Parameters
-
[in] cartesian_velocities Desired Cartesian velocity w.r.t. O-frame {dx in [m/s], dy in [m/s], dz in [m/s], omegax in [rad/s], omegay in [rad/s], omegaz in [rad/s]}.
|
noexcept |
Creates a new CartesianVelocities instance.
- Parameters
-
[in] cartesian_velocities Desired Cartesian velocity w.r.t. O-frame {dx in [m/s], dy in [m/s], dz in [m/s], omegax in [rad/s], omegay in [rad/s], omegaz in [rad/s]}. [in] elbow Elbow configuration (see elbow member for more details).
| franka::CartesianVelocities::CartesianVelocities | ( | std::initializer_list< double > | cartesian_velocities | ) |
Creates a new CartesianVelocities instance.
- Parameters
-
[in] cartesian_velocities Desired Cartesian velocity w.r.t. O-frame {dx in [m/s], dy in [m/s], dz in [m/s], omegax in [rad/s], omegay in [rad/s], omegaz in [rad/s]}.
- Exceptions
-
std::invalid_argument if the given initializer list has an invalid number of arguments.
| franka::CartesianVelocities::CartesianVelocities | ( | std::initializer_list< double > | cartesian_velocities, |
| std::initializer_list< double > | elbow | ||
| ) |
Creates a new CartesianVelocities instance.
- Parameters
-
[in] cartesian_velocities Desired Cartesian velocity w.r.t. O-frame {dx in [m/s], dy in [m/s], dz in [m/s], omegax in [rad/s], omegay in [rad/s], omegaz in [rad/s]}. [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
|
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::CartesianVelocities::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 256 of file control_types.h.
| std::array<double, 6> franka::CartesianVelocities::O_dP_EE {} |
Desired Cartesian velocity w.r.t.
O-frame {dx in [m/s], dy in [m/s], dz in [m/s], omegax in [rad/s], omegay in [rad/s], omegaz in [rad/s]}.
Definition at line 247 of file control_types.h.
The documentation for this class was generated from the following file: