C++ API

Class Hierarchy

• • Namespace franka
    • Struct CommandException
    • Struct ControlException
    • Struct Errors
    • Struct Exception
    • Struct Finishable
    • Struct GetRobotModelResult
    • Struct GripperState
    • Struct IncompatibleVersionException
    • Struct InvalidOperationException
    • Struct ModelException
    • Struct NetworkException
    • Struct ProtocolException
    • Struct RealtimeException
    • Struct Record
    • Struct RobotCommand
    • Struct RobotState
    • Struct VacuumGripperState
    • Class ActiveControl
    • Class ActiveControlBase
    • Template Class ActiveMotionGenerator
    • Class ActiveTorqueControl
    • Class CartesianPose
    • Class CartesianVelocities
    • Class CoutLoggingSink
    • Class Duration
    • Class Gripper
    • Class JointPositions
    • Class JointVelocities
    • Class LoggingSinkInterface
    • Class Model
    • Class Robot
    • Class RobotModel
    • Class Torques
    • Class VacuumGripper
    • Enum ControllerMode
    • Enum Frame
    • Enum RealtimeConfig
    • Enum RobotMode
    • Enum VacuumGripperDeviceStatus
  • Class RobotModelBase

File Hierarchy

• • Directory include
    • Directory franka
      • Directory commands
        • File get_robot_model_command.hpp
      • Directory logging
        • File cout_logging_sink.hpp
        • File logger.hpp
        • File logging_sink_interface.hpp
        • File robot_state_log.hpp
      • File active_control.h
      • File active_control_base.h
      • File active_motion_generator.h
      • File active_torque_control.h
      • File control_tools.h
      • File control_types.h
      • File duration.h
      • File errors.h
      • File exception.h
      • File gripper.h
      • File gripper_state.h
      • File lowpass_filter.h
      • File model.h
      • File rate_limiting.h
      • File robot.h
      • File robot_model.h
      • File robot_model_base.h
      • File robot_state.h
      • File vacuum_gripper.h
      • File vacuum_gripper_state.h

Full C++ API

Namespaces

• Namespace franka

• Namespace franka::logging

• Namespace std

Classes and Structs

• Struct CommandException

• Struct ControlException

• Struct Errors

• Struct Exception

• Struct Finishable

• Struct GetRobotModelResult

• Struct GripperState

• Struct IncompatibleVersionException

• Struct InvalidOperationException

• Struct ModelException

• Struct NetworkException

• Struct ProtocolException

• Struct RealtimeException

• Struct Record

• Struct RobotCommand

• Struct RobotState

• Struct VacuumGripperState

• Class ActiveControl

• Class ActiveControlBase

• Template Class ActiveMotionGenerator

• Class ActiveTorqueControl

• Class CartesianPose

• Class CartesianVelocities

• Class CoutLoggingSink

• Class Duration

• Class Gripper

• Class JointPositions

• Class JointVelocities

• Class LoggingSinkInterface

• Class Model

• Class Robot

• Class RobotModel

• Class Torques

• Class VacuumGripper

• Class RobotModelBase

Enums

• Enum ControllerMode

• Enum Frame

• Enum RealtimeConfig

• Enum RobotMode

• Enum VacuumGripperDeviceStatus

Functions

• Function franka::cartesianLowpassFilter

• Function franka::checkElbow

• Template Function franka::checkFinite

• Function franka::checkMatrix

• Function franka::computeLowerLimitsJointVelocity

• Function franka::computeUpperLimitsJointVelocity

• Function franka::hasRealtimeKernel

• Function franka::isHomogeneousTransformation

• Function franka::isValidElbow

• Function franka::limitRate(const std::array<double, 7>&, const std::array<double, 7>&, const std::array<double, 7>&)

• Function franka::limitRate(double, double, double, double, double, double, double)

• Function franka::limitRate(double, double, double, double, double, double, double, double)

• Function franka::limitRate(const std::array<double, 7>&, const std::array<double, 7>&, const std::array<double, 7>&, const std::array<double, 7>&, const std::array<double, 7>&, const std::array<double, 7>&, const std::array<double, 7>&)

• Function franka::limitRate(const std::array<double, 7>&, const std::array<double, 7>&, const std::array<double, 7>&, const std::array<double, 7>&, const std::array<double, 7>&, const std::array<double, 7>&, const std::array<double, 7>&, const std::array<double, 7>&)

• Function franka::limitRate(double, double, double, double, double, double, const std::array<double, 6>&, const std::array<double, 6>&, const std::array<double, 6>&)

• Function franka::limitRate(double, double, double, double, double, double, const std::array<double, 16>&, const std::array<double, 16>&, const std::array<double, 6>&, const std::array<double, 6>&)

• Function franka::logging::addLogger

• Function franka::logging::logError(const std::string&)

• Template Function franka::logging::logError(const S&, Args&&…)

• Function franka::logging::logInfo(const std::string&)

• Template Function franka::logging::logInfo(const S&, Args&&…)

• Function franka::logging::logWarn(const std::string&)

• Template Function franka::logging::logWarn(const S&, Args&&…)

• Function franka::logging::removeAllLoggers

• Function franka::logging::removeLogger

• Function franka::logToCSV

• Function franka::lowpassFilter

• Function franka::MotionFinished(Torques)

• Function franka::MotionFinished(JointPositions)

• Function franka::MotionFinished(JointVelocities)

• Function franka::MotionFinished(CartesianPose)

• Function franka::MotionFinished(CartesianVelocities)

• Function franka::operator*

• Function franka::operator++

• Function franka::operator<<(std::ostream&, const Errors&)

• Function franka::operator<<(std::ostream&, const franka::GripperState&)

• Function franka::operator<<(std::ostream&, const franka::RobotState&)

• Function franka::operator<<(std::ostream&, RobotMode)

• Function franka::operator<<(std::ostream&, const franka::VacuumGripperState&)

• Function franka::setCurrentThreadToHighestSchedulerPriority

Variables

• Variable franka::kDefaultCutoffFrequency

• Variable franka::kDeltaT

• Variable franka::kFactorCartesianRotationPoseInterface

• Variable franka::kJointVelocityLimitsTolerance

• Variable franka::kLimitEps

• Variable franka::kMaxCutoffFrequency

• Variable franka::kMaxElbowAcceleration

• Variable franka::kMaxElbowJerk

• Variable franka::kMaxElbowVelocity

• Variable franka::kMaxJointAcceleration

• Variable franka::kMaxJointJerk

• Variable franka::kMaxRotationalAcceleration

• Variable franka::kMaxRotationalJerk

• Variable franka::kMaxRotationalVelocity

• Variable franka::kMaxTorqueRate

• Variable franka::kMaxTranslationalAcceleration

• Variable franka::kMaxTranslationalJerk

• Variable franka::kMaxTranslationalVelocity

• Variable franka::kNormEps

• Variable franka::kTolNumberPacketsLost

Directories

• Directory include

• Directory franka

• Directory commands

• Directory logging

Files

• File active_control.h

• File active_control_base.h

• File active_motion_generator.h

• File active_torque_control.h

• File control_tools.h

• File control_types.h

• File cout_logging_sink.hpp

• File duration.h

• File errors.h

• File exception.h

• File get_robot_model_command.hpp

• File gripper.h

• File gripper_state.h

• File logger.hpp

• File logging_sink_interface.hpp

• File lowpass_filter.h

• File model.h

• File rate_limiting.h

• File robot.h

• File robot_model.h

• File robot_model_base.h

• File robot_state.h

• File robot_state_log.hpp

• File vacuum_gripper.h

• File vacuum_gripper_state.h