Class ActiveControlBase

Inheritance Relationships

Derived Type

Class Documentation

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

virtual ~ActiveControlBase() = default
virtual std::pair<RobotState, Duration> readOnce() = 0

Waits for a robot state update and returns it.

Throws:
Returns:

Current robot state & time since last read operation

virtual void writeOnce(const Torques&) = 0

Updates torque commands of an active control

hint: implemented in ActiveTorqueControl

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>

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>

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>

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>

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

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

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

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

ActiveControlBase() = default