Class FRIConnection

Defined in File fri_connection.hpp

Class Documentation

class FRIConnection

Public Functions

FRIConnection(std::function<void(void)> handle_control_ended_error_callback, std::function<void(void)> handle_fri_ended_callback)

~FRIConnection()

bool connect(const char *server_addr, int server_port)

bool disconnect()

bool startFRI()

bool endFRI()

bool activateControl()

bool deactivateControl()

bool setPositionControlMode()

bool setJointImpedanceControlMode(const std::vector<double> &joint_stiffness, const std::vector<double> &joint_damping)

bool setClientCommandMode(ClientCommandModeID client_command_mode)

bool setFRIConfig(const std::string &client_ip, int remote_port, int send_period_ms, int receive_multiplier)

bool isConnected()