Class FRIConnection
Defined in File fri_connection.hpp
Class Documentation
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class FRIConnection
Public Functions
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FRIConnection(std::function<void(void)> handle_control_ended_error_callback, std::function<void(void)> handle_fri_ended_callback)
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~FRIConnection()
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bool connect(const char *server_addr, int server_port)
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bool disconnect()
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bool startFRI()
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bool endFRI()
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bool activateControl()
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bool deactivateControl()
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bool setPositionControlMode()
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bool setJointImpedanceControlMode(const std::vector<double> &joint_stiffness, const std::vector<double> &joint_damping)
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bool setClientCommandMode(ClientCommandModeID client_command_mode)
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bool setFRIConfig(const std::string &client_ip, int remote_port, int send_period_ms, int receive_multiplier)
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bool isConnected()
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FRIConnection(std::function<void(void)> handle_control_ended_error_callback, std::function<void(void)> handle_fri_ended_callback)