Program Listing for File errors.h
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// Copyright (c) 2023 Franka Robotics GmbH
// Use of this source code is governed by the Apache-2.0 license, see LICENSE
#pragma once
#include <array>
#include <ostream>
namespace franka {
struct Errors {
private:
std::array<bool, 41> errors_{};
public:
Errors();
Errors(const Errors& other);
Errors& operator=(Errors other);
Errors(const std::array<bool, 41>& errors);
explicit operator bool() const noexcept;
explicit operator std::string() const;
const bool& joint_position_limits_violation;
const bool& cartesian_position_limits_violation;
const bool& self_collision_avoidance_violation;
const bool& joint_velocity_violation;
const bool& cartesian_velocity_violation;
const bool& force_control_safety_violation;
const bool& joint_reflex;
const bool& cartesian_reflex;
const bool& max_goal_pose_deviation_violation;
const bool& max_path_pose_deviation_violation;
const bool& cartesian_velocity_profile_safety_violation;
const bool& joint_position_motion_generator_start_pose_invalid;
const bool& joint_motion_generator_position_limits_violation;
const bool& joint_motion_generator_velocity_limits_violation;
const bool& joint_motion_generator_velocity_discontinuity;
const bool& joint_motion_generator_acceleration_discontinuity;
const bool& cartesian_position_motion_generator_start_pose_invalid;
const bool& cartesian_motion_generator_elbow_limit_violation;
const bool& cartesian_motion_generator_velocity_limits_violation;
const bool& cartesian_motion_generator_velocity_discontinuity;
const bool& cartesian_motion_generator_acceleration_discontinuity;
const bool& cartesian_motion_generator_elbow_sign_inconsistent;
const bool& cartesian_motion_generator_start_elbow_invalid;
const bool& cartesian_motion_generator_joint_position_limits_violation;
const bool& cartesian_motion_generator_joint_velocity_limits_violation;
const bool& cartesian_motion_generator_joint_velocity_discontinuity;
const bool& cartesian_motion_generator_joint_acceleration_discontinuity;
const bool& cartesian_position_motion_generator_invalid_frame;
const bool& force_controller_desired_force_tolerance_violation;
const bool& controller_torque_discontinuity;
const bool& start_elbow_sign_inconsistent;
const bool& communication_constraints_violation;
const bool& power_limit_violation;
const bool& joint_p2p_insufficient_torque_for_planning;
const bool& tau_j_range_violation;
const bool& instability_detected;
const bool& joint_move_in_wrong_direction;
const bool& cartesian_spline_motion_generator_violation;
const bool& joint_via_motion_generator_planning_joint_limit_violation;
const bool& base_acceleration_initialization_timeout;
const bool& base_acceleration_invalid_reading;
};
std::ostream& operator<<(std::ostream& ostream, const Errors& errors);
} // namespace franka