Class ActiveControlBase
Defined in File active_control_base.h
Inheritance Relationships
Derived Type
public franka::ActiveControl
(Class ActiveControl)
Class Documentation
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class ActiveControlBase
Allows the user to read the state of a Robot and to send new control commands after starting a control process of a Robot.
hint: To create an ActiveControlBase, see franka::ActiveTorqueControl or franka::ActiveMotionGenerator
Subclassed by franka::ActiveControl
Public Functions
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virtual ~ActiveControlBase() = default
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virtual std::pair<RobotState, Duration> readOnce() = 0
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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virtual void writeOnce(const Torques&) = 0
Updates torque commands of an active control
hint: implemented in ActiveTorqueControl
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virtual void writeOnce(const JointPositions&, const std::optional<const Torques>&) = 0
Updates the joint position and torque commands of an active control
hint: implemented in ActiveMotionGenerator<JointPositions>
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virtual void writeOnce(const JointVelocities&, const std::optional<const Torques>&) = 0
Updates the joint velocity and torque commands of an active control
hint: implemented in ActiveMotionGenerator<JointVelocities>
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virtual void writeOnce(const CartesianPose&, const std::optional<const Torques>&) = 0
Updates the cartesian position and torque commands of an active control
hint: implemented in ActiveMotionGenerator<CartesianPose>
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virtual void writeOnce(const CartesianVelocities&, const std::optional<const Torques>&) = 0
Updates the cartesian velocity and torque commands of an active control
hint: implemented in ActiveMotionGenerator<CartesianVelocities>
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virtual void writeOnce(const JointPositions &motion_generator_input) = 0
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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virtual void writeOnce(const JointVelocities &motion_generator_input) = 0
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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virtual void writeOnce(const CartesianPose &motion_generator_input) = 0
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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virtual void writeOnce(const CartesianVelocities &motion_generator_input) = 0
Updates the cartesian velocity commands of an active control, with internal controller
- Parameters:
motion_generator_input – the new motion generator input
Protected Functions
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ActiveControlBase() = default
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virtual ~ActiveControlBase() = default