Struct Errors
Defined in File errors.h
Struct Documentation
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struct Errors
Enumerates errors that can occur while controlling a franka::Robot.
Public Functions
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Errors(const Errors &other)
Copy constructs a new Errors instance.
- Parameters:
other – [in] Other Errors instance.
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Errors(const std::array<bool, 41> &errors)
Creates a new Errors instance from the given array.
- Parameters:
errors – Array of error flags.
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explicit operator bool() const noexcept
Check if any error flag is set to true.
- Returns:
True if any errors are set.
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explicit operator std::string() const
Creates a string with names of active errors: “[active_error_name2, active_error_name_2, … active_error_name_n]” If no errors are active, the string contains empty brackets: “[]”
- Returns:
string with names of active errors
Public Members
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const bool &joint_position_limits_violation
True if the robot moved past the joint limits.
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const bool &cartesian_position_limits_violation
True if the robot moved past any of the virtual walls.
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const bool &self_collision_avoidance_violation
True if the robot would have collided with itself.
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const bool &joint_velocity_violation
True if the robot exceeded joint velocity limits.
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const bool &cartesian_velocity_violation
True if the robot exceeded Cartesian velocity limits.
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const bool &force_control_safety_violation
True if the robot exceeded safety threshold during force control.
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const bool &joint_reflex
True if a collision was detected, i.e. the robot exceeded a torque threshold in a joint motion.
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const bool &cartesian_reflex
True if a collision was detected, i.e. the robot exceeded a torque threshold in a Cartesian motion.
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const bool &max_goal_pose_deviation_violation
True if internal motion generator did not reach the goal pose.
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const bool &max_path_pose_deviation_violation
True if internal motion generator deviated from the path.
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const bool &cartesian_velocity_profile_safety_violation
True if Cartesian velocity profile for internal motions was exceeded.
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const bool &joint_position_motion_generator_start_pose_invalid
True if an external joint position motion generator was started with a pose too far from the current pose.
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const bool &joint_motion_generator_position_limits_violation
True if an external joint motion generator would move into a joint limit.
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const bool &joint_motion_generator_velocity_limits_violation
True if an external joint motion generator exceeded velocity limits.
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const bool &joint_motion_generator_velocity_discontinuity
True if commanded velocity in joint motion generators is discontinuous (target values are too far apart).
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const bool &joint_motion_generator_acceleration_discontinuity
True if commanded acceleration in joint motion generators is discontinuous (target values are too far apart).
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const bool &cartesian_position_motion_generator_start_pose_invalid
True if an external Cartesian position motion generator was started with a pose too far from the current pose.
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const bool &cartesian_motion_generator_elbow_limit_violation
True if an external Cartesian motion generator would move into an elbow limit.
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const bool &cartesian_motion_generator_velocity_limits_violation
True if an external Cartesian motion generator would move with too high velocity.
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const bool &cartesian_motion_generator_velocity_discontinuity
True if commanded velocity in Cartesian motion generators is discontinuous (target values are too far apart).
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const bool &cartesian_motion_generator_acceleration_discontinuity
True if commanded acceleration in Cartesian motion generators is discontinuous (target values are too far apart).
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const bool &cartesian_motion_generator_elbow_sign_inconsistent
True if commanded elbow values in Cartesian motion generators are inconsistent.
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const bool &cartesian_motion_generator_start_elbow_invalid
True if the first elbow value in Cartesian motion generators is too far from initial one.
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const bool &cartesian_motion_generator_joint_position_limits_violation
True if the joint position limits would be exceeded after IK calculation.
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const bool &cartesian_motion_generator_joint_velocity_limits_violation
True if the joint velocity limits would be exceeded after IK calculation.
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const bool &cartesian_motion_generator_joint_velocity_discontinuity
True if the joint velocity in Cartesian motion generators is discontinuous after IK calculation.
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const bool &cartesian_motion_generator_joint_acceleration_discontinuity
True if the joint acceleration in Cartesian motion generators is discontinuous after IK calculation.
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const bool &cartesian_position_motion_generator_invalid_frame
True if the Cartesian pose is not a valid transformation matrix.
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const bool &force_controller_desired_force_tolerance_violation
True if desired force exceeds the safety thresholds.
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const bool &controller_torque_discontinuity
True if the torque set by the external controller is discontinuous.
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const bool &start_elbow_sign_inconsistent
True if the start elbow sign was inconsistent.
Applies only to motions started from Desk.
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const bool &communication_constraints_violation
True if minimum network communication quality could not be held during a motion.
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const bool &power_limit_violation
True if commanded values would result in exceeding the power limit.
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const bool &joint_p2p_insufficient_torque_for_planning
True if the robot is overloaded for the required motion.
Applies only to motions started from Desk.
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const bool &tau_j_range_violation
True if the measured torque signal is out of the safe range.
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const bool &instability_detected
True if an instability is detected.
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const bool &joint_move_in_wrong_direction
True if the robot is in joint position limits violation error and the user guides the robot further towards the limit.
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const bool &cartesian_spline_motion_generator_violation
True if the generated motion violates a joint limit.
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const bool &joint_via_motion_generator_planning_joint_limit_violation
True if the generated motion violates a joint limit.
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const bool &base_acceleration_initialization_timeout
True if the gravity vector could not be initialized by measureing the base acceleration.
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const bool &base_acceleration_invalid_reading
True if the base acceleration O_ddP_O cannot be determined.
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Errors(const Errors &other)