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

#include <exception.h>

Inheritance diagram for franka::ControlException:

Public Member Functions
	ControlException (const std::string &what, std::vector< franka::Record > log={}) noexcept
	Creates the exception with an explanatory string and a Log object. More...

Public Attributes
const std::vector< franka::Record >	log
	Vector of states and commands logged just before the exception occured. More...

Detailed Description

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

The exception holds a vector with the last received robot states. The number of recorded states can be configured in the Robot constructor.

Definition at line 73 of file exception.h.

Constructor & Destructor Documentation

franka::ControlException::ControlException	(	const std::string &	what,
		std::vector< franka::Record >	log = `{}`
	)

explicitnoexcept

Creates the exception with an explanatory string and a Log object.

Parameters

[in]	what	Explanatory string.
[in]	log	Vector of last received states and commands.

const std::vector<franka::Record> franka::ControlException::log

Vector of states and commands logged just before the exception occured.

Definition at line 85 of file exception.h.

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