Class ActiveTorqueControl
Defined in File active_torque_control.h
Inheritance Relationships
Base Type
public franka::ActiveControl
(Class ActiveControl)
Class Documentation
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class ActiveTorqueControl : public franka::ActiveControl
Allows the user to read the state of a Robot and to send new torque control commands after starting a control process of a Robot.
hint: To create an ActiveTorqueControl, see franka::Robot
Public Functions
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virtual void writeOnce(const Torques &control_input) override
Updates the joint-level based torque commands of an active joint effort control
- Parameters:
control_input – the new joint-level based torques
- 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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virtual void writeOnce(const Torques &control_input) override