Contains functions for limiting the rate of torques, Cartesian pose, Cartesian velocity, joint position and joint velocity. More...
#include <array>#include <limits>
Include dependency graph for rate_limiting.h:
Go to the source code of this file.
Namespaces | |
| franka | |
Functions | |
| 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. More... | |
| 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. More... | |
| 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. More... | |
| 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. More... | |
| 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. More... | |
| 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. More... | |
| 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. More... | |
Variables | |
| constexpr double | franka::kDeltaT = 1e-3 |
| Sample time constant. More... | |
| constexpr double | franka::kFactorCartesianRotationPoseInterface = 0.99 |
| Factor for the definition of rotational limits using the Cartesian Pose interface. More... | |
| constexpr double | franka::kLimitEps = 1e-3 |
| Epsilon value for checking limits. More... | |
| constexpr double | franka::kMaxElbowAcceleration = 10.0000 - kLimitEps |
| Maximum elbow acceleration. More... | |
| constexpr double | franka::kMaxElbowJerk = 5000 - kLimitEps |
| Maximum elbow jerk. More... | |
| constexpr double | franka::kMaxElbowVelocity |
| Maximum elbow velocity. More... | |
| constexpr std::array< double, 7 > | franka::kMaxJointAcceleration |
| Maximum joint acceleration. More... | |
| constexpr std::array< double, 7 > | franka::kMaxJointJerk |
| Maximum joint jerk. More... | |
| constexpr std::array< double, 7 > | franka::kMaxJointVelocity |
| Maximum joint velocity. More... | |
| constexpr double | franka::kMaxRotationalAcceleration = 25.0000 - kLimitEps |
| Maximum rotational acceleration. More... | |
| constexpr double | franka::kMaxRotationalJerk = 12500.0 - kLimitEps |
| Maximum rotational jerk. More... | |
| constexpr double | franka::kMaxRotationalVelocity |
| Maximum rotational velocity. More... | |
| constexpr std::array< double, 7 > | franka::kMaxTorqueRate |
| Maximum torque rate. More... | |
| constexpr double | franka::kMaxTranslationalAcceleration = 13.0000 - kLimitEps |
| Maximum translational acceleration. More... | |
| constexpr double | franka::kMaxTranslationalJerk = 6500.0 - kLimitEps |
| Maximum translational jerk. More... | |
| constexpr double | franka::kMaxTranslationalVelocity |
| Maximum translational velocity. More... | |
| constexpr double | franka::kNormEps = std::numeric_limits<double>::epsilon() |
| Epsilon value for limiting Cartesian accelerations/jerks or not. More... | |
| constexpr double | franka::kTolNumberPacketsLost = 3.0 |
| Number of packets losts considered for the definition of velocity limits. More... | |
Detailed Description
Contains functions for limiting the rate of torques, Cartesian pose, Cartesian velocity, joint position and joint velocity.
Definition in file rate_limiting.h.