Template Class ActiveMotionGenerator

Inheritance Relationships

Base Type

Class Documentation

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

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