Template Class ActiveMotionGenerator
Defined in File active_motion_generator.h
Inheritance Relationships
Base Type
public franka::ActiveControl
(Class ActiveControl)
Class Documentation
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template<typename MotionGeneratorType>
class ActiveMotionGenerator : public franka::ActiveControl Allows the user to read the state of a Robot and to send new motion generator commands after starting a control process of a Robot.
hint: To create an ActiveMotionGenerator, see franka::Robot
Public Functions
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void writeOnce(const MotionGeneratorType &motion_generator_input, const std::optional<const Torques> &control_input) override
Updates the motion generator commands of an active control
- Parameters:
motion_generator_input – the new motion generator input
control_input – optional: the external control input for each joint, if an external controller is used
- Throws:
ControlException – if an error related to torque control or motion generation occurred, or the motion was already finished.
NetworkException – if the connection is lost, e.g. after a timeout.
Friends
- friend class Robot
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void writeOnce(const MotionGeneratorType &motion_generator_input, const std::optional<const Torques> &control_input) override