Class ActiveControl
Defined in File active_control.h
Inheritance Relationships
Base Type
public franka::ActiveControlBase
(Class ActiveControlBase)
Derived Types
public franka::ActiveMotionGenerator< MotionGeneratorType >
(Template Class ActiveMotionGenerator)public franka::ActiveTorqueControl
(Class ActiveTorqueControl)
Class Documentation
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class ActiveControl : public franka::ActiveControlBase
Documented in ActiveControlBase
Subclassed by franka::ActiveMotionGenerator< MotionGeneratorType >, franka::ActiveTorqueControl
Public Functions
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~ActiveControl() override
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virtual std::pair<RobotState, Duration> readOnce() override
Waits for a robot state update and returns it.
- Throws:
NetworkException – if the connection is lost, e.g. after a timeout.
ProtocolException – if robot returns an unexpected message.
ControlException – if robot is in an error state.
- Returns:
Current robot state & time since last read operation
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inline virtual void writeOnce(const Torques&) override
Updates torque commands of an active control
hint: implemented in ActiveTorqueControl
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inline virtual void writeOnce(const JointPositions&, const std::optional<const Torques>&) override
Updates the joint position and torque commands of an active control
hint: implemented in ActiveMotionGenerator<JointPositions>
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inline virtual void writeOnce(const JointVelocities&, const std::optional<const Torques>&) override
Updates the joint velocity and torque commands of an active control
hint: implemented in ActiveMotionGenerator<JointVelocities>
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inline virtual void writeOnce(const CartesianPose&, const std::optional<const Torques>&) override
Updates the cartesian position and torque commands of an active control
hint: implemented in ActiveMotionGenerator<CartesianPose>
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inline virtual void writeOnce(const CartesianVelocities&, const std::optional<const Torques>&) override
Updates the cartesian velocity and torque commands of an active control
hint: implemented in ActiveMotionGenerator<CartesianVelocities>
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inline virtual void writeOnce(const JointPositions &motion_generator_input) override
Updates the joint position commands of an active control, with internal controller
- Parameters:
motion_generator_input – the new motion generator input
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inline virtual void writeOnce(const JointVelocities &motion_generator_input) override
Updates the joint velocity commands of an active control, with internal controller
- Parameters:
motion_generator_input – the new motion generator input
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inline virtual void writeOnce(const CartesianPose &motion_generator_input) override
Updates the cartesian pose commands of an active control, with internal controller
- Parameters:
motion_generator_input – the new motion generator input
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inline virtual void writeOnce(const CartesianVelocities &motion_generator_input) override
Updates the cartesian velocity commands of an active control, with internal controller
- Parameters:
motion_generator_input – the new motion generator input
Protected Functions
Construct a new ActiveControl object
Protected Attributes
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std::shared_ptr<Robot::Impl> robot_impl
shared pointer to Robot::Impl instance for read and write accesses
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uint32_t motion_id
motion id of running motion
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std::unique_lock<std::mutex> control_lock
control-lock preventing parallel control processes
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bool control_finished
flag indicating if control process is finished
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~ActiveControl() override