Class FrankaCartesianVelocityInterface

Inheritance Relationships

Base Type

Class Documentation

class FrankaCartesianVelocityInterface : public franka_semantic_components::FrankaSemanticComponentInterface

Franka Cartesian Velocity interface abstraction on top of hardware_interface to set the full cartesian velocity. The Command should have the form [linear_velocity, angular_velocity] = [vx, vy, vz, wx, wy, wz]. Optionally, the elbow can be commanded. [joint_3_position, joint_4_sign].

Public Functions

explicit FrankaCartesianVelocityInterface(bool command_elbow_activate)

Initializes the franka cartesian velocity interface with access to the hardware interface command interfaces.

Parameters:

command_elbow_active[in] if true to activates the elbow commanding together with the cartesian velocity input, else elbow commanding is not allowed.

FrankaCartesianVelocityInterface(const FrankaCartesianVelocityInterface&) = delete
FrankaCartesianVelocityInterface &operator=(FrankaCartesianVelocityInterface const&) = delete
FrankaCartesianVelocityInterface(FrankaCartesianVelocityInterface&&) = default
~FrankaCartesianVelocityInterface() override = default
bool setCommand(const Eigen::Vector3d &linear_velocity_command, const Eigen::Vector3d &angular_velocity_command)
Parameters:

twist_command – The velocity command in Cartesian coordinates

Returns:

true if successul

Returns:

if successful true, else when elbow is activated false.

bool setCommand(const Eigen::Vector3d &linear_velocity_command, const Eigen::Vector3d &angular_velocity_command, const std::array<double, 2> &elbow_command)
Parameters:
  • twist_command – The velocity command in Cartesian coordinates

  • elbow_command – The elbow command: {joint_3, sign(joint_4)}

Returns:

true if successul

Returns:

if successful true, else when elbow is not activated false.

std::array<double, 2> getCommandedElbowConfiguration()

Get the commanded elbow interface elbow values.

Throws:

std::runtime_error – if the elbow is not activated.

Returns:

elbow_configuration [joint3_position, joint4_sign]

std::array<double, 2> getCurrentElbowConfiguration()

Get the current elbow configuration.

Returns:

elbow_configuration [joint3_position, joint4_sign]