Class ActiveTorqueControl

Inheritance Relationships

Base Type

Class Documentation

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

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