Struct ControlException

Inheritance Relationships

Base Type

Struct Documentation

struct ControlException : public franka::Exception

ControlException is thrown if an error occurs during motion generation or torque control. The exception holds a vector with the last received robot states. The number of recorded states can be configured in the Robot constructor.

Public Functions

explicit ControlException(const std::string &what, std::vector<franka::Record> log = {}) noexcept

Creates the exception with an explanatory string and a Log object.

Parameters:
  • what[in] Explanatory string.

  • log[in] Vector of last received states and commands.

Public Members

const std::vector<franka::Record> log

Vector of states and commands logged just before the exception occurred.