Class CartesianPose
Defined in File control_types.h
Inheritance Relationships
Base Type
public franka::Finishable
(Struct Finishable)
Class Documentation
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class CartesianPose : public franka::Finishable
Stores values for Cartesian pose motion generation.
Public Functions
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CartesianPose(const std::array<double, 16> &cartesian_pose) noexcept
Creates a new CartesianPose instance.
- Parameters:
cartesian_pose – [in] Desired vectorized homogeneous transformation matrix
, column major, that transforms from the end effector frame to base frame . Equivalently, it is the desired end effector pose in base frame.
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CartesianPose(const std::array<double, 16> &cartesian_pose, const std::array<double, 2> &elbow) noexcept
Creates a new CartesianPose instance.
- Parameters:
cartesian_pose – [in] Desired vectorized homogeneous transformation matrix
, column major, that transforms from the end effector frame to base frame . Equivalently, it is the desired end effector pose in base frame.elbow – [in] Elbow configuration (see elbow member for more details).
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CartesianPose(std::initializer_list<double> cartesian_pose)
Creates a new CartesianPose instance.
- Parameters:
cartesian_pose – [in] Desired vectorized homogeneous transformation matrix
, column major, that transforms from the end effector frame to base frame . Equivalently, it is the desired end effector pose in base frame.- Throws:
std::invalid_argument – if the given initializer list has an invalid number of arguments.
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CartesianPose(std::initializer_list<double> cartesian_pose, std::initializer_list<double> elbow)
Creates a new CartesianPose instance.
- Parameters:
cartesian_pose – [in] Desired vectorized homogeneous transformation matrix
, column major, that transforms from the end effector frame to base frame . Equivalently, it is the desired end effector pose in base frame.elbow – [in] Elbow configuration (see elbow member for more details).
- Throws:
std::invalid_argument – if a given initializer list has an invalid number of arguments.
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bool hasElbow() const noexcept
Determines whether there is a stored elbow configuration.
- Returns:
True if there is a stored elbow configuration, false otherwise.
Public Members
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std::array<double, 16> O_T_EE = {}
Homogeneous transformation
, column major, that transforms from the end effector frame to base frame . Equivalently, it is the desired end effector pose in base frame.
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std::array<double, 2> elbow = {}
Elbow configuration.
The values of the array are:
elbow[0]: Position of the 3rd joint in
.elbow[1]: Flip direction of the elbow (4th joint):
+1 if
0 if
-1 if
with
as specified in the robot interface specification page in the FCI Documentation.
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CartesianPose(const std::array<double, 16> &cartesian_pose) noexcept