Class CartesianVelocities
Defined in File control_types.h
Inheritance Relationships
Base Type
public franka::Finishable
(Struct Finishable)
Class Documentation
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class CartesianVelocities : public franka::Finishable
Stores values for Cartesian velocity motion generation.
The Cartesian velocity of the end-effector is expressed in a frame parallel to the fixed/base frame, whose origin is the same as the end-effector frame. Rotations are thus expressed around the end-effector and parallel to the base frame.
Public Functions
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CartesianVelocities(const std::array<double, 6> &cartesian_velocities) noexcept
Creates a new CartesianVelocities instance.
- Parameters:
cartesian_velocities – [in] Desired Cartesian velocity with respect to the base frame O with
in and in .
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CartesianVelocities(const std::array<double, 6> &cartesian_velocities, const std::array<double, 2> &elbow) noexcept
Creates a new CartesianVelocities instance.
- Parameters:
cartesian_velocities – [in] Desired Cartesian velocity with respect to the base frame O with
in and in .elbow – [in] Elbow configuration (see elbow member for more details).
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CartesianVelocities(std::initializer_list<double> cartesian_velocities)
Creates a new CartesianVelocities instance.
- Parameters:
cartesian_velocities – [in] Desired Cartesian velocity with respect to the base frame O with
in and in .- Throws:
std::invalid_argument – if the given initializer list has an invalid number of arguments.
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CartesianVelocities(std::initializer_list<double> cartesian_velocities, std::initializer_list<double> elbow)
Creates a new CartesianVelocities instance.
- Parameters:
cartesian_velocities – [in] Desired Cartesian velocity with respect to the base frame O with
in and in .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, 6> O_dP_EE = {}
Cartesian velocity with respect to the base frame O with
in and in .
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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
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CartesianVelocities(const std::array<double, 6> &cartesian_velocities) noexcept