command_types.h
/tmp/ws/src/libfranka/include/franka/
command__types_8h
franka::VirtualWallCuboid
franka
control_tools.h
/tmp/ws/src/libfranka/include/franka/
control__tools_8h
franka
bool
hasRealtimeKernel
namespacefranka.html
ad165a74da105c78586c0cd4c1ed57bd2
()
bool
isHomogeneousTransformation
namespacefranka.html
ad81c99e8af3f2536ae3c6ec1ce8dce1e
(const std::array< double, 16 > &transform) noexcept
bool
isValidElbow
namespacefranka.html
a4eda3eda0514fabf6d630a6d8c0373a0
(const std::array< double, 2 > &elbow) noexcept
bool
setCurrentThreadToHighestSchedulerPriority
namespacefranka.html
a5c090196bc50ead82194d3e594e61e65
(std::string *error_message)
control_types.h
/tmp/ws/src/libfranka/include/franka/
control__types_8h
franka::CartesianPose
franka::CartesianVelocities
franka::Finishable
franka::JointPositions
franka::JointVelocities
franka::Torques
franka
ControllerMode
namespacefranka.html
a3e20bc77587e2c0c53598753e3f4816b
kJointImpedance
kCartesianImpedance
RealtimeConfig
namespacefranka.html
aeede4f4629390fea21ca5e5a35a8a943
kEnforce
kIgnore
Torques
MotionFinished
namespacefranka.html
a20791f7142d78bbbe3c957cc66a23ade
(Torques command) noexcept
JointPositions
MotionFinished
namespacefranka.html
a7f505509951b6568b08b3aec8ffb9098
(JointPositions command) noexcept
JointVelocities
MotionFinished
namespacefranka.html
ab478c128d691a46c0ab85bbf3b5caac5
(JointVelocities command) noexcept
CartesianPose
MotionFinished
namespacefranka.html
ab0b308e2a9348fd3eb5fd1d08db12dcf
(CartesianPose command) noexcept
CartesianVelocities
MotionFinished
namespacefranka.html
a5898ad5e3bbc2682c24c0415bf7e9a95
(CartesianVelocities command) noexcept
duration.h
/tmp/ws/src/libfranka/include/franka/
duration_8h
franka::Duration
franka
Duration
operator*
namespacefranka.html
ab3a36a47682756845ef855994aadd7b6
(uint64_t lhs, const Duration &rhs) noexcept
errors.h
/tmp/ws/src/libfranka/include/franka/
errors_8h
franka::Errors
franka
std::ostream &
operator<<
namespacefranka.html
ad1027058086c3c154f4bbc9cade1f197
(std::ostream &ostream, const Errors &errors)
exception.h
/tmp/ws/src/libfranka/include/franka/
exception_8h
franka/log.h
franka::CommandException
franka::ControlException
franka::Exception
franka::IncompatibleVersionException
franka::InvalidOperationException
franka::ModelException
franka::NetworkException
franka::ProtocolException
franka::RealtimeException
franka
gripper.h
/tmp/ws/src/libfranka/include/franka/
gripper_8h
franka/gripper_state.h
franka::Gripper
franka
gripper_state.h
/tmp/ws/src/libfranka/include/franka/
gripper__state_8h
franka/duration.h
franka::GripperState
franka
std::ostream &
operator<<
namespacefranka.html
ab66181a74d1d3b7e90ae3b424ee85f4f
(std::ostream &ostream, const franka::GripperState &gripper_state)
log.h
/tmp/ws/src/libfranka/include/franka/
log_8h
franka/control_types.h
franka/robot_state.h
franka::Record
franka::RobotCommand
franka
std::string
logToCSV
namespacefranka.html
a01fbdb37b0e6beb04ba108d5f5024fd9
(const std::vector< Record > &log)
lowpass_filter.h
/tmp/ws/src/libfranka/include/franka/
lowpass__filter_8h
franka
std::array< double, 16 >
cartesianLowpassFilter
namespacefranka.html
ac25e174345ea5e2ea9099287ad43cd2b
(double sample_time, std::array< double, 16 > y, std::array< double, 16 > y_last, double cutoff_frequency)
double
lowpassFilter
namespacefranka.html
a94c21b0e87afce0147a9cd6025c239ca
(double sample_time, double y, double y_last, double cutoff_frequency)
constexpr double
kDefaultCutoffFrequency
namespacefranka.html
ad8e3b7da346e03181ab5ac138a4171d4
constexpr double
kMaxCutoffFrequency
namespacefranka.html
adb10b364af8deb9e17d9bcc1ff2695be
mainpage.dox
/tmp/ws/src/libfranka/
mainpage_8dox
model.h
/tmp/ws/src/libfranka/include/franka/
model_8h
franka/robot.h
franka/robot_state.h
franka::Model
franka
Frame
namespacefranka.html
a00b729ddce916481d3f0d10febec4f5b
kJoint1
kJoint2
kJoint3
kJoint4
kJoint5
kJoint6
kJoint7
kFlange
kEndEffector
kStiffness
Frame
operator++
namespacefranka.html
ae39c3a098fdb1bc9a097a262312454d0
(Frame &frame, int) noexcept
rate_limiting.h
/tmp/ws/src/libfranka/include/franka/
rate__limiting_8h
franka
std::array< double, 7 >
limitRate
namespacefranka.html
aea6895d6bf209a86319c6cd5180e4b60
(const std::array< double, 7 > &max_derivatives, const std::array< double, 7 > &commanded_values, const std::array< double, 7 > &last_commanded_values)
double
limitRate
namespacefranka.html
a6953f5b41a9fd77389b92b82cf378056
(double max_velocity, double max_acceleration, double max_jerk, double commanded_velocity, double last_commanded_velocity, double last_commanded_acceleration)
double
limitRate
namespacefranka.html
a795142512ca54c220b2f2d52e239e35d
(double max_velocity, double max_acceleration, double max_jerk, double commanded_position, double last_commanded_position, double last_commanded_velocity, double last_commanded_acceleration)
std::array< double, 7 >
limitRate
namespacefranka.html
a1305865a42ca910eb5a9c912a8ae81a9
(const std::array< double, 7 > &max_velocity, const std::array< double, 7 > &max_acceleration, const std::array< double, 7 > &max_jerk, const std::array< double, 7 > &commanded_velocities, const std::array< double, 7 > &last_commanded_velocities, const std::array< double, 7 > &last_commanded_accelerations)
std::array< double, 7 >
limitRate
namespacefranka.html
aef657e3e3c7fc779c7944e0e5ac67308
(const std::array< double, 7 > &max_velocity, const std::array< double, 7 > &max_acceleration, const std::array< double, 7 > &max_jerk, const std::array< double, 7 > &commanded_positions, const std::array< double, 7 > &last_commanded_positions, const std::array< double, 7 > &last_commanded_velocities, const std::array< double, 7 > &last_commanded_accelerations)
std::array< double, 6 >
limitRate
namespacefranka.html
ad3e0243f9be5335ae3d04f87852dfccb
(double max_translational_velocity, double max_translational_acceleration, double max_translational_jerk, double max_rotational_velocity, double max_rotational_acceleration, double max_rotational_jerk, const std::array< double, 6 > &O_dP_EE_c, const std::array< double, 6 > &last_O_dP_EE_c, const std::array< double, 6 > &last_O_ddP_EE_c)
std::array< double, 16 >
limitRate
namespacefranka.html
a9288f438fcfc1aedf7e0b52aa95b23ba
(double max_translational_velocity, double max_translational_acceleration, double max_translational_jerk, double max_rotational_velocity, double max_rotational_acceleration, double max_rotational_jerk, const std::array< double, 16 > &O_T_EE_c, const std::array< double, 16 > &last_O_T_EE_c, const std::array< double, 6 > &last_O_dP_EE_c, const std::array< double, 6 > &last_O_ddP_EE_c)
constexpr double
kDeltaT
namespacefranka.html
a1e207a0d5a6e90c1e1a78e6e1057120a
constexpr double
kFactorCartesianRotationPoseInterface
namespacefranka.html
a19166d1a64c5a84f80b4ed3aa0bfb3a0
constexpr double
kLimitEps
namespacefranka.html
aad1f9b575274830b8da9e638559d424b
constexpr double
kMaxElbowAcceleration
namespacefranka.html
af365e574ad7b1580ce15e30dd909b3ba
constexpr double
kMaxElbowJerk
namespacefranka.html
adc70178204d4da073c78de777a2dff74
constexpr double
kMaxElbowVelocity
namespacefranka.html
a2896b2e0c8bd96f9ee242c1203ac3483
constexpr std::array< double, 7 >
kMaxJointAcceleration
namespacefranka.html
a826ecf0b7d214df69c1ee416d3e66b93
constexpr std::array< double, 7 >
kMaxJointJerk
namespacefranka.html
a600a21a6151ff2eee38294293dd8aeec
constexpr std::array< double, 7 >
kMaxJointVelocity
namespacefranka.html
a6d451800a90b939422dc9c3fb103ca23
constexpr double
kMaxRotationalAcceleration
namespacefranka.html
a5e3d5c95ba72f9660f17f8ebf1e0aa2e
constexpr double
kMaxRotationalJerk
namespacefranka.html
a259520ce1b6b5b85a88d05262286820d
constexpr double
kMaxRotationalVelocity
namespacefranka.html
aafb1f5ef8f8a7abd546edea498c18b45
constexpr std::array< double, 7 >
kMaxTorqueRate
namespacefranka.html
a6c1a0e9a5e1f375d2aad61edac907d4e
constexpr double
kMaxTranslationalAcceleration
namespacefranka.html
a3803b1a54ba526ccaa4fa0d15446f3db
constexpr double
kMaxTranslationalJerk
namespacefranka.html
a46b8f11959ed3f731a0914f524af8e69
constexpr double
kMaxTranslationalVelocity
namespacefranka.html
a857e1e5e18d688ec7095264a629bf474
constexpr double
kNormEps
namespacefranka.html
a420d72830a872ef375d9d6cbb1c439b5
constexpr double
kTolNumberPacketsLost
namespacefranka.html
a664b546834ceecd4e3220ffa92f1172c
robot.h
/tmp/ws/src/libfranka/include/franka/
robot_8h
franka/command_types.h
franka/control_types.h
franka/duration.h
franka/lowpass_filter.h
franka/robot_state.h
franka::Robot
franka
robot_state.h
/tmp/ws/src/libfranka/include/franka/
robot__state_8h
franka/duration.h
franka/errors.h
franka::RobotState
franka
RobotMode
namespacefranka.html
adfe059ae23ebbad59e421edaa879651a
kOther
kIdle
kMove
kGuiding
kReflex
kUserStopped
kAutomaticErrorRecovery
std::ostream &
operator<<
namespacefranka.html
aee38e87180cc96476d0f11335da29e20
(std::ostream &ostream, const franka::RobotState &robot_state)
franka::CartesianPose
classfranka_1_1CartesianPose.html
franka::Finishable
CartesianPose
classfranka_1_1CartesianPose.html
a5559a53a898f9b369b1df9d51f9351b5
(const std::array< double, 16 > &cartesian_pose) noexcept
CartesianPose
classfranka_1_1CartesianPose.html
a17272cb33af9aa4b726fa96b31cf0101
(const std::array< double, 16 > &cartesian_pose, const std::array< double, 2 > &elbow) noexcept
CartesianPose
classfranka_1_1CartesianPose.html
a70b6460e98bc763a49c53accd48d54a2
(std::initializer_list< double > cartesian_pose)
CartesianPose
classfranka_1_1CartesianPose.html
ab7fb1dfd7cdb89c0caebab95c669ba49
(std::initializer_list< double > cartesian_pose, std::initializer_list< double > elbow)
bool
hasElbow
classfranka_1_1CartesianPose.html
a5fa9f47dbf73ab45f671d89e11f89ccf
() const noexcept
std::array< double, 2 >
elbow
classfranka_1_1CartesianPose.html
abef660743df9cf94d11c556d9c3d25be
std::array< double, 16 >
O_T_EE
classfranka_1_1CartesianPose.html
a406e53e3d8fe594a11888f516eb4bf7d
franka::CartesianVelocities
classfranka_1_1CartesianVelocities.html
franka::Finishable
CartesianVelocities
classfranka_1_1CartesianVelocities.html
a713380954e1f10c1be3033b95ca00657
(const std::array< double, 6 > &cartesian_velocities) noexcept
CartesianVelocities
classfranka_1_1CartesianVelocities.html
a95f6feec3539ed9f96d555447717eb72
(const std::array< double, 6 > &cartesian_velocities, const std::array< double, 2 > &elbow) noexcept
CartesianVelocities
classfranka_1_1CartesianVelocities.html
a39c4b06c315c963460e24324de8ad079
(std::initializer_list< double > cartesian_velocities)
CartesianVelocities
classfranka_1_1CartesianVelocities.html
aec434afa3f92e462ad3ab4766d3456a4
(std::initializer_list< double > cartesian_velocities, std::initializer_list< double > elbow)
bool
hasElbow
classfranka_1_1CartesianVelocities.html
a51a41893b10250982597fe367abb2ca6
() const noexcept
std::array< double, 2 >
elbow
classfranka_1_1CartesianVelocities.html
a6419df1399d3dfab79b1654b94ced344
std::array< double, 6 >
O_dP_EE
classfranka_1_1CartesianVelocities.html
ab7a42c7c1ee7109025aff5c43a56b398
franka::CommandException
structfranka_1_1CommandException.html
franka::Exception
franka::ControlException
structfranka_1_1ControlException.html
franka::Exception
ControlException
structfranka_1_1ControlException.html
a2efb9628eef80a3819031dbf2e2cb518
(const std::string &what, std::vector< franka::Record > log={}) noexcept
const std::vector< franka::Record >
log
structfranka_1_1ControlException.html
ae57f0ac0a9aa195057af1f1cc712b41e
franka::Duration
classfranka_1_1Duration.html
Duration
classfranka_1_1Duration.html
af721da321423772b4ce7ff11280d38d5
() noexcept
Duration
classfranka_1_1Duration.html
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(uint64_t milliseconds) noexcept
Duration
classfranka_1_1Duration.html
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(std::chrono::duration< uint64_t, std::milli > duration) noexcept
Duration
classfranka_1_1Duration.html
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(const Duration &)=default
operator std::chrono::duration< uint64_t, std::milli >
classfranka_1_1Duration.html
ae58e283f511f9de8ac7e145db5cac1cf
() const noexcept
Duration &
operator=
classfranka_1_1Duration.html
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(const Duration &)=default
uint64_t
toMSec
classfranka_1_1Duration.html
a2a25ae33c8739b8f705f13798aa9e162
() const noexcept
double
toSec
classfranka_1_1Duration.html
a497af77a3280159547f231f0374e9ac1
() const noexcept
Duration
operator+
classfranka_1_1Duration.html
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(const Duration &rhs) const noexcept
Duration &
operator+=
classfranka_1_1Duration.html
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(const Duration &rhs) noexcept
Duration
operator-
classfranka_1_1Duration.html
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(const Duration &rhs) const noexcept
Duration &
operator-=
classfranka_1_1Duration.html
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(const Duration &rhs) noexcept
Duration
operator*
classfranka_1_1Duration.html
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(uint64_t rhs) const noexcept
Duration &
operator*=
classfranka_1_1Duration.html
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(uint64_t rhs) noexcept
uint64_t
operator/
classfranka_1_1Duration.html
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(const Duration &rhs) const noexcept
Duration
operator/
classfranka_1_1Duration.html
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(uint64_t rhs) const noexcept
Duration &
operator/=
classfranka_1_1Duration.html
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(uint64_t rhs) noexcept
Duration
operator%
classfranka_1_1Duration.html
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(const Duration &rhs) const noexcept
Duration
operator%
classfranka_1_1Duration.html
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(uint64_t rhs) const noexcept
Duration &
operator%=
classfranka_1_1Duration.html
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(const Duration &rhs) noexcept
Duration &
operator%=
classfranka_1_1Duration.html
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(uint64_t rhs) noexcept
bool
operator==
classfranka_1_1Duration.html
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(const Duration &rhs) const noexcept
bool
operator!=
classfranka_1_1Duration.html
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(const Duration &rhs) const noexcept
bool
operator<
classfranka_1_1Duration.html
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(const Duration &rhs) const noexcept
bool
operator<=
classfranka_1_1Duration.html
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(const Duration &rhs) const noexcept
bool
operator>
classfranka_1_1Duration.html
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(const Duration &rhs) const noexcept
bool
operator>=
classfranka_1_1Duration.html
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(const Duration &rhs) const noexcept
std::chrono::duration< uint64_t, std::milli >
duration_
classfranka_1_1Duration.html
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Duration
operator+
classfranka_1_1Duration.html
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(const Duration &rhs) const noexcept
Duration &
operator+=
classfranka_1_1Duration.html
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(const Duration &rhs) noexcept
Duration
operator-
classfranka_1_1Duration.html
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(const Duration &rhs) const noexcept
Duration &
operator-=
classfranka_1_1Duration.html
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(const Duration &rhs) noexcept
Duration
operator*
classfranka_1_1Duration.html
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(uint64_t rhs) const noexcept
Duration &
operator*=
classfranka_1_1Duration.html
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(uint64_t rhs) noexcept
uint64_t
operator/
classfranka_1_1Duration.html
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(const Duration &rhs) const noexcept
Duration
operator/
classfranka_1_1Duration.html
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(uint64_t rhs) const noexcept
Duration &
operator/=
classfranka_1_1Duration.html
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(uint64_t rhs) noexcept
Duration
operator%
classfranka_1_1Duration.html
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(const Duration &rhs) const noexcept
Duration
operator%
classfranka_1_1Duration.html
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(uint64_t rhs) const noexcept
Duration &
operator%=
classfranka_1_1Duration.html
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(const Duration &rhs) noexcept
Duration &
operator%=
classfranka_1_1Duration.html
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(uint64_t rhs) noexcept
bool
operator==
classfranka_1_1Duration.html
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(const Duration &rhs) const noexcept
bool
operator!=
classfranka_1_1Duration.html
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(const Duration &rhs) const noexcept
bool
operator<
classfranka_1_1Duration.html
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(const Duration &rhs) const noexcept
bool
operator<=
classfranka_1_1Duration.html
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(const Duration &rhs) const noexcept
bool
operator>
classfranka_1_1Duration.html
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(const Duration &rhs) const noexcept
bool
operator>=
classfranka_1_1Duration.html
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(const Duration &rhs) const noexcept
franka::Errors
structfranka_1_1Errors.html
Errors
structfranka_1_1Errors.html
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()
Errors
structfranka_1_1Errors.html
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(const Errors &other)
Errors
structfranka_1_1Errors.html
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(const std::array< bool, 37 > &errors)
operator bool
structfranka_1_1Errors.html
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() const noexcept
operator std::string
structfranka_1_1Errors.html
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() const
Errors &
operator=
structfranka_1_1Errors.html
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(Errors other)
const bool &
cartesian_motion_generator_acceleration_discontinuity
structfranka_1_1Errors.html
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const bool &
cartesian_motion_generator_elbow_limit_violation
structfranka_1_1Errors.html
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const bool &
cartesian_motion_generator_elbow_sign_inconsistent
structfranka_1_1Errors.html
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const bool &
cartesian_motion_generator_joint_acceleration_discontinuity
structfranka_1_1Errors.html
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const bool &
cartesian_motion_generator_joint_position_limits_violation
structfranka_1_1Errors.html
a73aef7473fd6d1d5b207e68fa35948c5
const bool &
cartesian_motion_generator_joint_velocity_discontinuity
structfranka_1_1Errors.html
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const bool &
cartesian_motion_generator_joint_velocity_limits_violation
structfranka_1_1Errors.html
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const bool &
cartesian_motion_generator_start_elbow_invalid
structfranka_1_1Errors.html
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const bool &
cartesian_motion_generator_velocity_discontinuity
structfranka_1_1Errors.html
a17e4a9b6b7dc4cc12c1328d36cac3eaf
const bool &
cartesian_motion_generator_velocity_limits_violation
structfranka_1_1Errors.html
a91437c081452ef708563346b102ba894
const bool &
cartesian_position_limits_violation
structfranka_1_1Errors.html
a41c8b50ecbb015a2dba1a3dbbff694b6
const bool &
cartesian_position_motion_generator_invalid_frame
structfranka_1_1Errors.html
aa1952c6da2f81578861a19b947c97b85
const bool &
cartesian_position_motion_generator_start_pose_invalid
structfranka_1_1Errors.html
aa910fad4992b91be1ea1c321ee9b7a1e
const bool &
cartesian_reflex
structfranka_1_1Errors.html
a47bd58b0ab2198e4d038e0a24eafb310
const bool &
cartesian_velocity_profile_safety_violation
structfranka_1_1Errors.html
afc093fc5f99e1f6cab6de4fa9bc32692
const bool &
cartesian_velocity_violation
structfranka_1_1Errors.html
a382fbec6b463ddcc2cbfd90340021ff1
const bool &
communication_constraints_violation
structfranka_1_1Errors.html
a4d17af86c1ebb698c218796fa15f9bd7
const bool &
controller_torque_discontinuity
structfranka_1_1Errors.html
af40d93759ace9ee6026208110692a732
const bool &
force_control_safety_violation
structfranka_1_1Errors.html
ae7b19674da28b11ba970c30c7d800923
const bool &
force_controller_desired_force_tolerance_violation
structfranka_1_1Errors.html
ae474f20a64b2585dbe6496966dddff0a
const bool &
instability_detected
structfranka_1_1Errors.html
aebb701987262097687d21b3cf1bc8930
const bool &
joint_motion_generator_acceleration_discontinuity
structfranka_1_1Errors.html
a633195adca91f5ecaf1506da12f3311f
const bool &
joint_motion_generator_position_limits_violation
structfranka_1_1Errors.html
a9536ad072868b90525c56143cbb956ef
const bool &
joint_motion_generator_velocity_discontinuity
structfranka_1_1Errors.html
abd6da8e6a32d817a7b4848a24efd9379
const bool &
joint_motion_generator_velocity_limits_violation
structfranka_1_1Errors.html
ae211638df9b0e23905c8a9d36e249207
const bool &
joint_move_in_wrong_direction
structfranka_1_1Errors.html
a7d3a6480cbe572fd46e579b43732edc9
const bool &
joint_p2p_insufficient_torque_for_planning
structfranka_1_1Errors.html
a1c78be870253b510a4516acf14c2d3e3
const bool &
joint_position_limits_violation
structfranka_1_1Errors.html
a44ba0d45e52639280d32cf447f967e29
const bool &
joint_position_motion_generator_start_pose_invalid
structfranka_1_1Errors.html
a7af91cbf61dc79304bff3ffadc51ea86
const bool &
joint_reflex
structfranka_1_1Errors.html
afb0928680c586e73d4e2cd4b42c7fe48
const bool &
joint_velocity_violation
structfranka_1_1Errors.html
a803ac4acbc26350602ea2eb02b7b30c4
const bool &
max_goal_pose_deviation_violation
structfranka_1_1Errors.html
ac55d3624087e606cb4ffab121869d580
const bool &
max_path_pose_deviation_violation
structfranka_1_1Errors.html
ad90cffe703ca1b782007f3ba49da587c
const bool &
power_limit_violation
structfranka_1_1Errors.html
a6c4d8cb1fb314567ebd07a6195b840f5
const bool &
self_collision_avoidance_violation
structfranka_1_1Errors.html
adf68f6333624cb5558864441a991de8c
const bool &
start_elbow_sign_inconsistent
structfranka_1_1Errors.html
aa6de1956ac056792a1dea6b9ddd52a50
const bool &
tau_j_range_violation
structfranka_1_1Errors.html
a1491f8428341649befa3d088aebb317e
std::array< bool, 37 >
errors_
structfranka_1_1Errors.html
ab269bb0ad30eb1aaa7009a246be8e8aa
franka::Exception
structfranka_1_1Exception.html
franka::Finishable
structfranka_1_1Finishable.html
bool
motion_finished
structfranka_1_1Finishable.html
a5d48028c0f912d4a089e6220d8715f7f
franka::Gripper
classfranka_1_1Gripper.html
uint16_t
ServerVersion
classfranka_1_1Gripper.html
a613bf52d9433b733685d0fb9ea71602e
bool
grasp
classfranka_1_1Gripper.html
abff6a03a6c75b9079bd4b9b5ca380254
(double width, double speed, double force, double epsilon_inner=0.005, double epsilon_outer=0.005) const
Gripper
classfranka_1_1Gripper.html
a02b30632b08001592c62d3563561afc5
(const std::string &franka_address)
Gripper
classfranka_1_1Gripper.html
aa045ea81b36f22420f9bc6f2a256a4f0
(Gripper &&gripper) noexcept
bool
homing
classfranka_1_1Gripper.html
aef356f93a4c3b9d6b2532c29126d478c
() const
bool
move
classfranka_1_1Gripper.html
a047bc39267d66d6fb26c4c70669d68c2
(double width, double speed) const
Gripper &
operator=
classfranka_1_1Gripper.html
a3c99c6973f8951ca489c4177cfacb069
(Gripper &&gripper) noexcept
GripperState
readOnce
classfranka_1_1Gripper.html
ab0afc8a41c9c5fff808e76851dcf23ce
() const
ServerVersion
serverVersion
classfranka_1_1Gripper.html
a8b0b4246c042465fb00871b31efdbd8b
() const noexcept
bool
stop
classfranka_1_1Gripper.html
add7397fb6c5631650c139d26a85c8e1d
() const
~Gripper
classfranka_1_1Gripper.html
ade253b8a35312d52c636c6aafb7b2e1d
() noexcept
std::unique_ptr< Network >
network_
classfranka_1_1Gripper.html
a0d6702c45e61147da44b08dd757890df
uint16_t
ri_version_
classfranka_1_1Gripper.html
ae3698ae18399317ca4a7fc4154be602f
franka::GripperState
structfranka_1_1GripperState.html
bool
is_grasped
structfranka_1_1GripperState.html
aa65b46313e740454ead9c9ea27e7bf8d
double
max_width
structfranka_1_1GripperState.html
ab71a26356c2898c49609bf991843e166
uint16_t
temperature
structfranka_1_1GripperState.html
aa6733fa786dbf3b073acbaf3779e34b3
Duration
time
structfranka_1_1GripperState.html
a80bf474b0e4351e2eefab62d1bd10c07
double
width
structfranka_1_1GripperState.html
adf095f446ec39a9a48e120b209dcd6e9
franka::IncompatibleVersionException
structfranka_1_1IncompatibleVersionException.html
franka::Exception
IncompatibleVersionException
structfranka_1_1IncompatibleVersionException.html
a518f40d994ed7e970c6f7fdafb673239
(uint16_t server_version, uint16_t library_version) noexcept
const uint16_t
library_version
structfranka_1_1IncompatibleVersionException.html
a81e6d7f01965ed7ee34f83dc3883ad01
const uint16_t
server_version
structfranka_1_1IncompatibleVersionException.html
a0928098d8c32f405d17b65a0f004b5ab
franka::InvalidOperationException
structfranka_1_1InvalidOperationException.html
franka::Exception
franka::JointPositions
classfranka_1_1JointPositions.html
franka::Finishable
JointPositions
classfranka_1_1JointPositions.html
a57bc9d7e033493b1182333276af5ce84
(const std::array< double, 7 > &joint_positions) noexcept
JointPositions
classfranka_1_1JointPositions.html
a1e2006bccc9de89d8eb1a4d1c4da2fb8
(std::initializer_list< double > joint_positions)
std::array< double, 7 >
q
classfranka_1_1JointPositions.html
a40e9098abe1c51cd48e17e41fbf78337
franka::JointVelocities
classfranka_1_1JointVelocities.html
franka::Finishable
JointVelocities
classfranka_1_1JointVelocities.html
a1130f851055de3b7ebe9e6fbac960826
(const std::array< double, 7 > &joint_velocities) noexcept
JointVelocities
classfranka_1_1JointVelocities.html
aed384fad8e302638c2e5baea6378c2d2
(std::initializer_list< double > joint_velocities)
std::array< double, 7 >
dq
classfranka_1_1JointVelocities.html
a14fddb6fe7a7c4034dc82c283de8c2d3
franka::Model
classfranka_1_1Model.html
std::array< double, 42 >
bodyJacobian
classfranka_1_1Model.html
a914a197a900a275799cf8d7461bb9d8a
(Frame frame, const franka::RobotState &robot_state) const
std::array< double, 42 >
bodyJacobian
classfranka_1_1Model.html
a9ceca00546fa221f15ddaa7c0d27c40e
(Frame frame, const std::array< double, 7 > &q, const std::array< double, 16 > &F_T_EE, const std::array< double, 16 > &EE_T_K) const
std::array< double, 7 >
coriolis
classfranka_1_1Model.html
a91424f181a93bb47bda6af2d3567c65c
(const franka::RobotState &robot_state) const noexcept
std::array< double, 7 >
coriolis
classfranka_1_1Model.html
a3445ad932ddda2e3540768af9b7b4852
(const std::array< double, 7 > &q, const std::array< double, 7 > &dq, const std::array< double, 9 > &I_total, double m_total, const std::array< double, 3 > &F_x_Ctotal) const noexcept
std::array< double, 7 >
gravity
classfranka_1_1Model.html
a9b28a648cf413297d80f383e62363ab9
(const std::array< double, 7 > &q, double m_total, const std::array< double, 3 > &F_x_Ctotal, const std::array< double, 3 > &gravity_earth={{0., 0., -9.81}}) const noexcept
std::array< double, 7 >
gravity
classfranka_1_1Model.html
a0552a9fa39f4b49d78e6b88d794cac92
(const franka::RobotState &robot_state, const std::array< double, 3 > &gravity_earth={ {0., 0., -9.81}}) const noexcept
std::array< double, 49 >
mass
classfranka_1_1Model.html
ad5f6156064bc18e42fc0b6d2f36b2006
(const franka::RobotState &robot_state) const noexcept
std::array< double, 49 >
mass
classfranka_1_1Model.html
a61c3a8968e927c8629f1d549d20aaf85
(const std::array< double, 7 > &q, const std::array< double, 9 > &I_total, double m_total, const std::array< double, 3 > &F_x_Ctotal) const noexcept
Model
classfranka_1_1Model.html
a751d939935eb51f06dcfd18c6c756ceb
(franka::Network &network)
Model
classfranka_1_1Model.html
a8b58ff37f62512aecdcd0e6aabfd9548
(Model &&model) noexcept
Model &
operator=
classfranka_1_1Model.html
a625529a4c9aed7783c9c6e150dbba793
(Model &&model) noexcept
std::array< double, 16 >
pose
classfranka_1_1Model.html
a593c39dae76a6801cdd2402c2a783157
(Frame frame, const franka::RobotState &robot_state) const
std::array< double, 16 >
pose
classfranka_1_1Model.html
adf4fdf0404c2acf783493f7e646a6281
(Frame frame, const std::array< double, 7 > &q, const std::array< double, 16 > &F_T_EE, const std::array< double, 16 > &EE_T_K) const
std::array< double, 42 >
zeroJacobian
classfranka_1_1Model.html
a6fb6347b571a6759bad10b3a9e28a28f
(Frame frame, const franka::RobotState &robot_state) const
std::array< double, 42 >
zeroJacobian
classfranka_1_1Model.html
a6522f1079e1dc5f6799dde6197b45259
(Frame frame, const std::array< double, 7 > &q, const std::array< double, 16 > &F_T_EE, const std::array< double, 16 > &EE_T_K) const
~Model
classfranka_1_1Model.html
a1d6ffa26afc6cfdff7e329d15b8bd65e
() noexcept
std::unique_ptr< ModelLibrary >
library_
classfranka_1_1Model.html
a966abbe74240654b093b4d18476ab09b
franka::ModelException
structfranka_1_1ModelException.html
franka::Exception
franka::NetworkException
structfranka_1_1NetworkException.html
franka::Exception
franka::ProtocolException
structfranka_1_1ProtocolException.html
franka::Exception
franka::RealtimeException
structfranka_1_1RealtimeException.html
franka::Exception
franka::Record
structfranka_1_1Record.html
RobotCommand
command
structfranka_1_1Record.html
a8106f2ba9c2cf5ec7cbcf914c4c99e9c
RobotState
state
structfranka_1_1Record.html
a58249658c9549fbc792eea90e7b6a7cc
franka::Robot
classfranka_1_1Robot.html
uint16_t
ServerVersion
classfranka_1_1Robot.html
ad1dd3dccff6f33691d2c66eaa5ac5a10
Model
loadModel
classfranka_1_1Robot.html
a2da598c539469827409ac7e3bb61d5da
()
Robot &
operator=
classfranka_1_1Robot.html
a35465b8497a7adbd277e70e98b7d97a7
(Robot &&other) noexcept
void
read
classfranka_1_1Robot.html
a82f85eed20426901a7e77b66c041664b
(std::function< bool(const RobotState &)> read_callback)
RobotState
readOnce
classfranka_1_1Robot.html
a7ea7074a07b63fcf6933e97b078c7168
()
Robot
classfranka_1_1Robot.html
ae63bc19390df3d54f3a270814df35eb6
(const std::string &franka_address, RealtimeConfig realtime_config=RealtimeConfig::kEnforce, size_t log_size=50)
Robot
classfranka_1_1Robot.html
a378d415475336082e81a35b9811dc6c2
(Robot &&other) noexcept
ServerVersion
serverVersion
classfranka_1_1Robot.html
a3b864e16b7accafdf1a755dc21765701
() const noexcept
~Robot
classfranka_1_1Robot.html
a28abb25d25b5a1ce4463e32a518682e4
() noexcept
void
control
classfranka_1_1Robot.html
a5b5ba0a4f2bfd20be963b05622e629e1
(std::function< Torques(const RobotState &, franka::Duration)> control_callback, bool limit_rate=true, double cutoff_frequency=kDefaultCutoffFrequency)
void
control
classfranka_1_1Robot.html
a5f012ef276eb94d2a98a077bafb49bfe
(std::function< Torques(const RobotState &, franka::Duration)> control_callback, std::function< JointPositions(const RobotState &, franka::Duration)> motion_generator_callback, bool limit_rate=true, double cutoff_frequency=kDefaultCutoffFrequency)
void
control
classfranka_1_1Robot.html
ab16874af2fa32c9ab901683c1666888b
(std::function< Torques(const RobotState &, franka::Duration)> control_callback, std::function< JointVelocities(const RobotState &, franka::Duration)> motion_generator_callback, bool limit_rate=true, double cutoff_frequency=kDefaultCutoffFrequency)
void
control
classfranka_1_1Robot.html
a368c282fca42f4214864d0d39893fc6e
(std::function< Torques(const RobotState &, franka::Duration)> control_callback, std::function< CartesianPose(const RobotState &, franka::Duration)> motion_generator_callback, bool limit_rate=true, double cutoff_frequency=kDefaultCutoffFrequency)
void
control
classfranka_1_1Robot.html
a3cc02de96810eebc74f499f5821f2ac9
(std::function< Torques(const RobotState &, franka::Duration)> control_callback, std::function< CartesianVelocities(const RobotState &, franka::Duration)> motion_generator_callback, bool limit_rate=true, double cutoff_frequency=kDefaultCutoffFrequency)
void
control
classfranka_1_1Robot.html
a8a41a2f208cc0c7e68569a550af4e1b2
(std::function< JointPositions(const RobotState &, franka::Duration)> motion_generator_callback, ControllerMode controller_mode=ControllerMode::kJointImpedance, bool limit_rate=true, double cutoff_frequency=kDefaultCutoffFrequency)
void
control
classfranka_1_1Robot.html
a7b2856e3c3c7a5582fd16f7414c30221
(std::function< JointVelocities(const RobotState &, franka::Duration)> motion_generator_callback, ControllerMode controller_mode=ControllerMode::kJointImpedance, bool limit_rate=true, double cutoff_frequency=kDefaultCutoffFrequency)
void
control
classfranka_1_1Robot.html
a6e59bd7b50b2de2e9e54f0b60d1a552e
(std::function< CartesianPose(const RobotState &, franka::Duration)> motion_generator_callback, ControllerMode controller_mode=ControllerMode::kJointImpedance, bool limit_rate=true, double cutoff_frequency=kDefaultCutoffFrequency)
void
control
classfranka_1_1Robot.html
a5d39a89a41edee89a776c3491dd20738
(std::function< CartesianVelocities(const RobotState &, franka::Duration)> motion_generator_callback, ControllerMode controller_mode=ControllerMode::kJointImpedance, bool limit_rate=true, double cutoff_frequency=kDefaultCutoffFrequency)
VirtualWallCuboid
getVirtualWall
classfranka_1_1Robot.html
a1739f6dc13f0c33b3213375323c93399
(int32_t id)
void
setCollisionBehavior
classfranka_1_1Robot.html
a168e1214ac36d74ac64f894332b84534
(const std::array< double, 7 > &lower_torque_thresholds_acceleration, const std::array< double, 7 > &upper_torque_thresholds_acceleration, const std::array< double, 7 > &lower_torque_thresholds_nominal, const std::array< double, 7 > &upper_torque_thresholds_nominal, const std::array< double, 6 > &lower_force_thresholds_acceleration, const std::array< double, 6 > &upper_force_thresholds_acceleration, const std::array< double, 6 > &lower_force_thresholds_nominal, const std::array< double, 6 > &upper_force_thresholds_nominal)
void
setCollisionBehavior
classfranka_1_1Robot.html
aa188f58c9025594be4d1700da744a962
(const std::array< double, 7 > &lower_torque_thresholds, const std::array< double, 7 > &upper_torque_thresholds, const std::array< double, 6 > &lower_force_thresholds, const std::array< double, 6 > &upper_force_thresholds)
void
setJointImpedance
classfranka_1_1Robot.html
aa18a28697cf6e3be16c6cff2dd839560
(const std::array< double, 7 > &K_theta)
void
setCartesianImpedance
classfranka_1_1Robot.html
ac2678c5c31cc8c0627ecda7485f81f6d
(const std::array< double, 6 > &K_x)
void
setGuidingMode
classfranka_1_1Robot.html
a7992cee203e66f9a61fe2f318ef88a26
(const std::array< bool, 6 > &guiding_mode, bool elbow)
void
setK
classfranka_1_1Robot.html
ad1cf59d1b11306d80cd3c7144a989c56
(const std::array< double, 16 > &EE_T_K)
void
setEE
classfranka_1_1Robot.html
a5043fca4c35f63b492d9e67c74ddc73b
(const std::array< double, 16 > &F_T_EE)
void
setLoad
classfranka_1_1Robot.html
afcb708df10f24563dbcf7d5b907b4a15
(double load_mass, const std::array< double, 3 > &F_x_Cload, const std::array< double, 9 > &load_inertia)
void
setFilters
classfranka_1_1Robot.html
aebce1a0dbe3b139bb24001845b2afe07
(double joint_position_filter_frequency, double joint_velocity_filter_frequency, double cartesian_position_filter_frequency, double cartesian_velocity_filter_frequency, double controller_filter_frequency)
void
automaticErrorRecovery
classfranka_1_1Robot.html
af682aa673415718715bd859116bc2fed
()
void
stop
classfranka_1_1Robot.html
a69cb08e075a81ecf3f26e94d26a06296
()
std::mutex
control_mutex_
classfranka_1_1Robot.html
a719ad1fab76f8edfc9f6f761671c1375
std::unique_ptr< Impl >
impl_
classfranka_1_1Robot.html
aca155054184e5b6478942fd6a1b82ba4
void
control
classfranka_1_1Robot.html
a5b5ba0a4f2bfd20be963b05622e629e1
(std::function< Torques(const RobotState &, franka::Duration)> control_callback, bool limit_rate=true, double cutoff_frequency=kDefaultCutoffFrequency)
void
control
classfranka_1_1Robot.html
a5f012ef276eb94d2a98a077bafb49bfe
(std::function< Torques(const RobotState &, franka::Duration)> control_callback, std::function< JointPositions(const RobotState &, franka::Duration)> motion_generator_callback, bool limit_rate=true, double cutoff_frequency=kDefaultCutoffFrequency)
void
control
classfranka_1_1Robot.html
ab16874af2fa32c9ab901683c1666888b
(std::function< Torques(const RobotState &, franka::Duration)> control_callback, std::function< JointVelocities(const RobotState &, franka::Duration)> motion_generator_callback, bool limit_rate=true, double cutoff_frequency=kDefaultCutoffFrequency)
void
control
classfranka_1_1Robot.html
a368c282fca42f4214864d0d39893fc6e
(std::function< Torques(const RobotState &, franka::Duration)> control_callback, std::function< CartesianPose(const RobotState &, franka::Duration)> motion_generator_callback, bool limit_rate=true, double cutoff_frequency=kDefaultCutoffFrequency)
void
control
classfranka_1_1Robot.html
a3cc02de96810eebc74f499f5821f2ac9
(std::function< Torques(const RobotState &, franka::Duration)> control_callback, std::function< CartesianVelocities(const RobotState &, franka::Duration)> motion_generator_callback, bool limit_rate=true, double cutoff_frequency=kDefaultCutoffFrequency)
void
control
classfranka_1_1Robot.html
a8a41a2f208cc0c7e68569a550af4e1b2
(std::function< JointPositions(const RobotState &, franka::Duration)> motion_generator_callback, ControllerMode controller_mode=ControllerMode::kJointImpedance, bool limit_rate=true, double cutoff_frequency=kDefaultCutoffFrequency)
void
control
classfranka_1_1Robot.html
a7b2856e3c3c7a5582fd16f7414c30221
(std::function< JointVelocities(const RobotState &, franka::Duration)> motion_generator_callback, ControllerMode controller_mode=ControllerMode::kJointImpedance, bool limit_rate=true, double cutoff_frequency=kDefaultCutoffFrequency)
void
control
classfranka_1_1Robot.html
a6e59bd7b50b2de2e9e54f0b60d1a552e
(std::function< CartesianPose(const RobotState &, franka::Duration)> motion_generator_callback, ControllerMode controller_mode=ControllerMode::kJointImpedance, bool limit_rate=true, double cutoff_frequency=kDefaultCutoffFrequency)
void
control
classfranka_1_1Robot.html
a5d39a89a41edee89a776c3491dd20738
(std::function< CartesianVelocities(const RobotState &, franka::Duration)> motion_generator_callback, ControllerMode controller_mode=ControllerMode::kJointImpedance, bool limit_rate=true, double cutoff_frequency=kDefaultCutoffFrequency)
VirtualWallCuboid
getVirtualWall
classfranka_1_1Robot.html
a1739f6dc13f0c33b3213375323c93399
(int32_t id)
void
setCollisionBehavior
classfranka_1_1Robot.html
a168e1214ac36d74ac64f894332b84534
(const std::array< double, 7 > &lower_torque_thresholds_acceleration, const std::array< double, 7 > &upper_torque_thresholds_acceleration, const std::array< double, 7 > &lower_torque_thresholds_nominal, const std::array< double, 7 > &upper_torque_thresholds_nominal, const std::array< double, 6 > &lower_force_thresholds_acceleration, const std::array< double, 6 > &upper_force_thresholds_acceleration, const std::array< double, 6 > &lower_force_thresholds_nominal, const std::array< double, 6 > &upper_force_thresholds_nominal)
void
setCollisionBehavior
classfranka_1_1Robot.html
aa188f58c9025594be4d1700da744a962
(const std::array< double, 7 > &lower_torque_thresholds, const std::array< double, 7 > &upper_torque_thresholds, const std::array< double, 6 > &lower_force_thresholds, const std::array< double, 6 > &upper_force_thresholds)
void
setJointImpedance
classfranka_1_1Robot.html
aa18a28697cf6e3be16c6cff2dd839560
(const std::array< double, 7 > &K_theta)
void
setCartesianImpedance
classfranka_1_1Robot.html
ac2678c5c31cc8c0627ecda7485f81f6d
(const std::array< double, 6 > &K_x)
void
setGuidingMode
classfranka_1_1Robot.html
a7992cee203e66f9a61fe2f318ef88a26
(const std::array< bool, 6 > &guiding_mode, bool elbow)
void
setK
classfranka_1_1Robot.html
ad1cf59d1b11306d80cd3c7144a989c56
(const std::array< double, 16 > &EE_T_K)
void
setEE
classfranka_1_1Robot.html
a5043fca4c35f63b492d9e67c74ddc73b
(const std::array< double, 16 > &F_T_EE)
void
setLoad
classfranka_1_1Robot.html
afcb708df10f24563dbcf7d5b907b4a15
(double load_mass, const std::array< double, 3 > &F_x_Cload, const std::array< double, 9 > &load_inertia)
void
setFilters
classfranka_1_1Robot.html
aebce1a0dbe3b139bb24001845b2afe07
(double joint_position_filter_frequency, double joint_velocity_filter_frequency, double cartesian_position_filter_frequency, double cartesian_velocity_filter_frequency, double controller_filter_frequency)
void
automaticErrorRecovery
classfranka_1_1Robot.html
af682aa673415718715bd859116bc2fed
()
void
stop
classfranka_1_1Robot.html
a69cb08e075a81ecf3f26e94d26a06296
()
k-frame
franka::RobotCommand
structfranka_1_1RobotCommand.html
CartesianPose
cartesian_pose
structfranka_1_1RobotCommand.html
acce2090d696ebb9759fd0f37fd35a298
CartesianVelocities
cartesian_velocities
structfranka_1_1RobotCommand.html
a04b4841130fab920936190be1bc5dba3
JointPositions
joint_positions
structfranka_1_1RobotCommand.html
a086afcec596eae5284b6c39dc1452280
JointVelocities
joint_velocities
structfranka_1_1RobotCommand.html
a049657cf2bbbb53d6ffa5581721e7b71
Torques
torques
structfranka_1_1RobotCommand.html
a8b23e8b669b1fd594988ecdbf54bfbce
franka::RobotState
structfranka_1_1RobotState.html
std::array< double, 6 >
cartesian_collision
structfranka_1_1RobotState.html
a52c20478f4c1e162df38582ea9bda044
std::array< double, 6 >
cartesian_contact
structfranka_1_1RobotState.html
a7fc1f0358d2104d39d301d70544fa6c1
double
control_command_success_rate
structfranka_1_1RobotState.html
af208572613a6afcdc61a24970c71fa28
Errors
current_errors
structfranka_1_1RobotState.html
abc5515f7a27f5de82396ea792a5ecb48
std::array< double, 2 >
ddelbow_c
structfranka_1_1RobotState.html
a1e5b6caf84249b1129491dbbcb1fc2e6
std::array< double, 7 >
ddq_d
structfranka_1_1RobotState.html
a6251e748cf72f4b86bcfdcb97d77ace2
std::array< double, 2 >
delbow_c
structfranka_1_1RobotState.html
a57c2c145e9f79010adf23085b8a9c5ad
std::array< double, 7 >
dq
structfranka_1_1RobotState.html
af372a0081d72bc7b4fe873f99c7b2d8c
std::array< double, 7 >
dq_d
structfranka_1_1RobotState.html
aed294a088be27b927be9575a18bec949
std::array< double, 7 >
dtau_J
structfranka_1_1RobotState.html
ae6b0d4ee0d7b36240a2165e6ded6f4b9
std::array< double, 7 >
dtheta
structfranka_1_1RobotState.html
a271db0a55dd346715ed8a0daf3f8887c
std::array< double, 16 >
EE_T_K
structfranka_1_1RobotState.html
aeb78a3b4b76d4f57b9898cbea3a0f7aa
std::array< double, 2 >
elbow
structfranka_1_1RobotState.html
a43485841c427d70e7f36a912cc3116d1
std::array< double, 2 >
elbow_c
structfranka_1_1RobotState.html
a16cfc844894e8b5b1ad829be529962f0
std::array< double, 2 >
elbow_d
structfranka_1_1RobotState.html
a295dada05d8588fc3c19a74fd427dcc0
std::array< double, 16 >
F_T_EE
structfranka_1_1RobotState.html
a705b85049fef747008b0eba8284c8057
std::array< double, 3 >
F_x_Cee
structfranka_1_1RobotState.html
a907c4561d8f1c1a2af7980cf58ceb112
std::array< double, 3 >
F_x_Cload
structfranka_1_1RobotState.html
a48e921e6215ad32f36e424b4d7b66a89
std::array< double, 3 >
F_x_Ctotal
structfranka_1_1RobotState.html
a72ee7362018e3c9e95e3c41e857bfd8d
std::array< double, 9 >
I_ee
structfranka_1_1RobotState.html
a74cee1beb5d400694133deea2846e611
std::array< double, 9 >
I_load
structfranka_1_1RobotState.html
a5b194153497eff98049681f852118f82
std::array< double, 9 >
I_total
structfranka_1_1RobotState.html
ad9120ae7b7613e77df8c1c3eba8fb033
std::array< double, 7 >
joint_collision
structfranka_1_1RobotState.html
a38757bafd4dd8e138410de1dca0c36f8
std::array< double, 7 >
joint_contact
structfranka_1_1RobotState.html
a7243c652a8efe58c343a0d1252302fa4
std::array< double, 6 >
K_F_ext_hat_K
structfranka_1_1RobotState.html
a96267d443c05fcc58d7ac32f63912649
Errors
last_motion_errors
structfranka_1_1RobotState.html
a06d7019f85339409e932dc086b7a260b
double
m_ee
structfranka_1_1RobotState.html
af982a16246e33c1495ec02972a36bce3
double
m_load
structfranka_1_1RobotState.html
a99ea4ab9c5a42a5c17365ed8fd730cd1
double
m_total
structfranka_1_1RobotState.html
a87880d4693c8f576ebdabf00f4d4f981
std::array< double, 6 >
O_ddP_EE_c
structfranka_1_1RobotState.html
ac8dfcf78ddbb27852484e921d6d66ca1
std::array< double, 6 >
O_dP_EE_c
structfranka_1_1RobotState.html
a4be112bd1a9a7d777a67aea4a18a8dcc
std::array< double, 6 >
O_dP_EE_d
structfranka_1_1RobotState.html
a1e0a82b98534929c3061295d5761d607
std::array< double, 6 >
O_F_ext_hat_K
structfranka_1_1RobotState.html
a5a830b4f9d6a3c2dc92e4a9cc6050493
std::array< double, 16 >
O_T_EE
structfranka_1_1RobotState.html
a193781d47722b32925e0ea7ac415f442
std::array< double, 16 >
O_T_EE_c
structfranka_1_1RobotState.html
a395c48eff099419ea5d42eaf0870fc18
std::array< double, 16 >
O_T_EE_d
structfranka_1_1RobotState.html
a3e5b4b7687856e92d826044be7d15733
std::array< double, 7 >
q
structfranka_1_1RobotState.html
ade3335d1ac2f6c44741a916d565f7091
std::array< double, 7 >
q_d
structfranka_1_1RobotState.html
a706045af1b176049e9e56df755325bd2
RobotMode
robot_mode
structfranka_1_1RobotState.html
a4943ae75e0e2ec534e0afac31cbcc987
std::array< double, 7 >
tau_ext_hat_filtered
structfranka_1_1RobotState.html
acdef8005828d193e45b128085a9e363b
std::array< double, 7 >
tau_J
structfranka_1_1RobotState.html
ad90e2518d661da0d8fa4c864bae210e5
std::array< double, 7 >
tau_J_d
structfranka_1_1RobotState.html
a7086a89a2705810f93a3a95d43df2d9d
std::array< double, 7 >
theta
structfranka_1_1RobotState.html
aa34145d77dd411d7ca578c355f0ba2b4
Duration
time
structfranka_1_1RobotState.html
aabfdabeaef8c1858c52dd32344bdd039
franka::Torques
classfranka_1_1Torques.html
franka::Finishable
Torques
classfranka_1_1Torques.html
a509d63195827289ffc645e4b62a9750d
(const std::array< double, 7 > &torques) noexcept
Torques
classfranka_1_1Torques.html
a744a08e16dcfc40b3a90ab6a85bac0d8
(std::initializer_list< double > torques)
std::array< double, 7 >
tau_J
classfranka_1_1Torques.html
ac2a266cc2d3b7e0fb4f8eff045dbaed8
franka::VirtualWallCuboid
structfranka_1_1VirtualWallCuboid.html
bool
active
structfranka_1_1VirtualWallCuboid.html
a69a20329da226fe49702b7d725670042
int32_t
id
structfranka_1_1VirtualWallCuboid.html
a2cee9b57fa420372a9576899875ad71a
std::array< double, 3 >
object_world_size
structfranka_1_1VirtualWallCuboid.html
a754b771744e0df1facecd31835a78790
std::array< double, 16 >
p_frame
structfranka_1_1VirtualWallCuboid.html
ab34ba4f99676a36a4e1171fd8b431391
franka
namespacefranka.html
franka::CartesianPose
franka::CartesianVelocities
franka::CommandException
franka::ControlException
franka::Duration
franka::Errors
franka::Exception
franka::Finishable
franka::Gripper
franka::GripperState
franka::IncompatibleVersionException
franka::InvalidOperationException
franka::JointPositions
franka::JointVelocities
franka::Model
franka::ModelException
franka::NetworkException
franka::ProtocolException
franka::RealtimeException
franka::Record
franka::Robot
franka::RobotCommand
franka::RobotState
franka::Torques
franka::VirtualWallCuboid
ControllerMode
namespacefranka.html
a3e20bc77587e2c0c53598753e3f4816b
kJointImpedance
kCartesianImpedance
Frame
namespacefranka.html
a00b729ddce916481d3f0d10febec4f5b
kJoint1
kJoint2
kJoint3
kJoint4
kJoint5
kJoint6
kJoint7
kFlange
kEndEffector
kStiffness
RealtimeConfig
namespacefranka.html
aeede4f4629390fea21ca5e5a35a8a943
kEnforce
kIgnore
RobotMode
namespacefranka.html
adfe059ae23ebbad59e421edaa879651a
kOther
kIdle
kMove
kGuiding
kReflex
kUserStopped
kAutomaticErrorRecovery
std::array< double, 16 >
cartesianLowpassFilter
namespacefranka.html
ac25e174345ea5e2ea9099287ad43cd2b
(double sample_time, std::array< double, 16 > y, std::array< double, 16 > y_last, double cutoff_frequency)
bool
hasRealtimeKernel
namespacefranka.html
ad165a74da105c78586c0cd4c1ed57bd2
()
bool
isHomogeneousTransformation
namespacefranka.html
ad81c99e8af3f2536ae3c6ec1ce8dce1e
(const std::array< double, 16 > &transform) noexcept
bool
isValidElbow
namespacefranka.html
a4eda3eda0514fabf6d630a6d8c0373a0
(const std::array< double, 2 > &elbow) noexcept
std::array< double, 7 >
limitRate
namespacefranka.html
aea6895d6bf209a86319c6cd5180e4b60
(const std::array< double, 7 > &max_derivatives, const std::array< double, 7 > &commanded_values, const std::array< double, 7 > &last_commanded_values)
double
limitRate
namespacefranka.html
a6953f5b41a9fd77389b92b82cf378056
(double max_velocity, double max_acceleration, double max_jerk, double commanded_velocity, double last_commanded_velocity, double last_commanded_acceleration)
double
limitRate
namespacefranka.html
a795142512ca54c220b2f2d52e239e35d
(double max_velocity, double max_acceleration, double max_jerk, double commanded_position, double last_commanded_position, double last_commanded_velocity, double last_commanded_acceleration)
std::array< double, 7 >
limitRate
namespacefranka.html
a1305865a42ca910eb5a9c912a8ae81a9
(const std::array< double, 7 > &max_velocity, const std::array< double, 7 > &max_acceleration, const std::array< double, 7 > &max_jerk, const std::array< double, 7 > &commanded_velocities, const std::array< double, 7 > &last_commanded_velocities, const std::array< double, 7 > &last_commanded_accelerations)
std::array< double, 7 >
limitRate
namespacefranka.html
aef657e3e3c7fc779c7944e0e5ac67308
(const std::array< double, 7 > &max_velocity, const std::array< double, 7 > &max_acceleration, const std::array< double, 7 > &max_jerk, const std::array< double, 7 > &commanded_positions, const std::array< double, 7 > &last_commanded_positions, const std::array< double, 7 > &last_commanded_velocities, const std::array< double, 7 > &last_commanded_accelerations)
std::array< double, 6 >
limitRate
namespacefranka.html
ad3e0243f9be5335ae3d04f87852dfccb
(double max_translational_velocity, double max_translational_acceleration, double max_translational_jerk, double max_rotational_velocity, double max_rotational_acceleration, double max_rotational_jerk, const std::array< double, 6 > &O_dP_EE_c, const std::array< double, 6 > &last_O_dP_EE_c, const std::array< double, 6 > &last_O_ddP_EE_c)
std::array< double, 16 >
limitRate
namespacefranka.html
a9288f438fcfc1aedf7e0b52aa95b23ba
(double max_translational_velocity, double max_translational_acceleration, double max_translational_jerk, double max_rotational_velocity, double max_rotational_acceleration, double max_rotational_jerk, const std::array< double, 16 > &O_T_EE_c, const std::array< double, 16 > &last_O_T_EE_c, const std::array< double, 6 > &last_O_dP_EE_c, const std::array< double, 6 > &last_O_ddP_EE_c)
std::string
logToCSV
namespacefranka.html
a01fbdb37b0e6beb04ba108d5f5024fd9
(const std::vector< Record > &log)
double
lowpassFilter
namespacefranka.html
a94c21b0e87afce0147a9cd6025c239ca
(double sample_time, double y, double y_last, double cutoff_frequency)
Torques
MotionFinished
namespacefranka.html
a20791f7142d78bbbe3c957cc66a23ade
(Torques command) noexcept
JointPositions
MotionFinished
namespacefranka.html
a7f505509951b6568b08b3aec8ffb9098
(JointPositions command) noexcept
JointVelocities
MotionFinished
namespacefranka.html
ab478c128d691a46c0ab85bbf3b5caac5
(JointVelocities command) noexcept
CartesianPose
MotionFinished
namespacefranka.html
ab0b308e2a9348fd3eb5fd1d08db12dcf
(CartesianPose command) noexcept
CartesianVelocities
MotionFinished
namespacefranka.html
a5898ad5e3bbc2682c24c0415bf7e9a95
(CartesianVelocities command) noexcept
Duration
operator*
namespacefranka.html
ab3a36a47682756845ef855994aadd7b6
(uint64_t lhs, const Duration &rhs) noexcept
Frame
operator++
namespacefranka.html
ae39c3a098fdb1bc9a097a262312454d0
(Frame &frame, int) noexcept
std::ostream &
operator<<
namespacefranka.html
ab66181a74d1d3b7e90ae3b424ee85f4f
(std::ostream &ostream, const franka::GripperState &gripper_state)
std::ostream &
operator<<
namespacefranka.html
ad1027058086c3c154f4bbc9cade1f197
(std::ostream &ostream, const Errors &errors)
std::ostream &
operator<<
namespacefranka.html
aee38e87180cc96476d0f11335da29e20
(std::ostream &ostream, const franka::RobotState &robot_state)
bool
setCurrentThreadToHighestSchedulerPriority
namespacefranka.html
a5c090196bc50ead82194d3e594e61e65
(std::string *error_message)
constexpr double
kDefaultCutoffFrequency
namespacefranka.html
ad8e3b7da346e03181ab5ac138a4171d4
constexpr double
kDeltaT
namespacefranka.html
a1e207a0d5a6e90c1e1a78e6e1057120a
constexpr double
kFactorCartesianRotationPoseInterface
namespacefranka.html
a19166d1a64c5a84f80b4ed3aa0bfb3a0
constexpr double
kLimitEps
namespacefranka.html
aad1f9b575274830b8da9e638559d424b
constexpr double
kMaxCutoffFrequency
namespacefranka.html
adb10b364af8deb9e17d9bcc1ff2695be
constexpr double
kMaxElbowAcceleration
namespacefranka.html
af365e574ad7b1580ce15e30dd909b3ba
constexpr double
kMaxElbowJerk
namespacefranka.html
adc70178204d4da073c78de777a2dff74
constexpr double
kMaxElbowVelocity
namespacefranka.html
a2896b2e0c8bd96f9ee242c1203ac3483
constexpr std::array< double, 7 >
kMaxJointAcceleration
namespacefranka.html
a826ecf0b7d214df69c1ee416d3e66b93
constexpr std::array< double, 7 >
kMaxJointJerk
namespacefranka.html
a600a21a6151ff2eee38294293dd8aeec
constexpr std::array< double, 7 >
kMaxJointVelocity
namespacefranka.html
a6d451800a90b939422dc9c3fb103ca23
constexpr double
kMaxRotationalAcceleration
namespacefranka.html
a5e3d5c95ba72f9660f17f8ebf1e0aa2e
constexpr double
kMaxRotationalJerk
namespacefranka.html
a259520ce1b6b5b85a88d05262286820d
constexpr double
kMaxRotationalVelocity
namespacefranka.html
aafb1f5ef8f8a7abd546edea498c18b45
constexpr std::array< double, 7 >
kMaxTorqueRate
namespacefranka.html
a6c1a0e9a5e1f375d2aad61edac907d4e
constexpr double
kMaxTranslationalAcceleration
namespacefranka.html
a3803b1a54ba526ccaa4fa0d15446f3db
constexpr double
kMaxTranslationalJerk
namespacefranka.html
a46b8f11959ed3f731a0914f524af8e69
constexpr double
kMaxTranslationalVelocity
namespacefranka.html
a857e1e5e18d688ec7095264a629bf474
constexpr double
kNormEps
namespacefranka.html
a420d72830a872ef375d9d6cbb1c439b5
constexpr double
kTolNumberPacketsLost
namespacefranka.html
a664b546834ceecd4e3220ffa92f1172c
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