#include <robot.hpp>

Inheritance diagram for frankx::Robot:

Public Member Functions
	Robot (std::string fci_ip, double dynamic_rel=1.0, bool repeat_on_error=true, bool stop_at_python_signal=true)
	Connects to a robot at the given FCI IP address. More...

void	setDefaultBehavior ()

void	setDynamicRel (double dynamic_rel)

bool	hasErrors ()

bool	recoverFromErrors ()

Affine	currentPose (const Affine &frame=Affine())

std::array< double, 7 >	currentJointPositions ()

Affine	forwardKinematics (const std::array< double, 7 > &q)

std::array< double, 7 >	inverseKinematics (const Affine &target, const std::array< double, 7 > &q0)

::franka::RobotState	get_state ()

bool	move (ImpedanceMotion &motion)

bool	move (ImpedanceMotion &motion, MotionData &data)

bool	move (const Affine &frame, ImpedanceMotion &motion)

bool	move (const Affine &frame, ImpedanceMotion &motion, MotionData &data)

bool	move (JointMotion motion)

bool	move (JointMotion motion, MotionData &data)

bool	move (PathMotion motion)

bool	move (PathMotion motion, MotionData &data)

bool	move (const Affine &frame, PathMotion motion)

bool	move (const Affine &frame, PathMotion motion, MotionData &data)

bool	move (WaypointMotion &motion)

bool	move (WaypointMotion &motion, MotionData &data)

bool	move (const Affine &frame, WaypointMotion &motion)

bool	move (const Affine &frame, WaypointMotion &motion, MotionData &data)

Public Attributes
std::string	fci_ip
	The robot's hostname / IP address. More...

double	velocity_rel {1.0}

double	acceleration_rel {1.0}

double	jerk_rel {1.0}

franka::ControllerMode	controller_mode {franka::ControllerMode::kJointImpedance}

bool	repeat_on_error {true}
	Whether the robots try to continue an interrupted motion due to a libfranka position/velocity/acceleration discontinuity with reduced dynamics. More...

bool	stop_at_python_signal {true}
	Whether the robot stops if a python error signal is detected. More...

Static Public Attributes
static constexpr double	max_translation_velocity {1.7}

static constexpr double	max_rotation_velocity {2.5}

static constexpr double	max_elbow_velocity {2.175}

static constexpr double	max_translation_acceleration {13.0}

static constexpr double	max_rotation_acceleration {25.0}

static constexpr double	max_elbow_acceleration {10.0}

static constexpr double	max_translation_jerk {6500.0}

static constexpr double	max_rotation_jerk {12500.0}

static constexpr double	max_elbow_jerk {5000.0}

static constexpr std::array< double, 7 >	max_joint_velocity {{2.175, 2.175, 2.175, 2.175, 2.610, 2.610, 2.610}}

static constexpr std::array< double, 7 >	max_joint_acceleration {{15.0, 7.5, 10.0, 12.5, 15.0, 20.0, 20.0}}

static constexpr std::array< double, 7 >	max_joint_jerk {{7500.0, 3750.0, 5000.0, 6250.0, 7500.0, 10000.0, 10000.0}}

static constexpr size_t	degrees_of_freedoms {7}

static constexpr double	control_rate {0.001}

Constructor & Destructor Documentation

◆ Robot()

frankx::Robot::Robot	(	std::string	fci_ip,
		double	dynamic_rel = `1.0`,
		bool	repeat_on_error = `true`,
		bool	stop_at_python_signal = `true`
	)

explicit

Connects to a robot at the given FCI IP address.

Member Function Documentation

◆ currentJointPositions()

std::array< double, 7 > frankx::Robot::currentJointPositions ( )

◆ currentPose()

Affine frankx::Robot::currentPose ( const Affine & frame = Affine() )

◆ forwardKinematics()

Affine frankx::Robot::forwardKinematics ( const std::array< double, 7 > & q )

◆ get_state()

franka::RobotState frankx::Robot::get_state ( )

◆ hasErrors()

bool frankx::Robot::hasErrors ( )

◆ inverseKinematics()

std::array< double, 7 > frankx::Robot::inverseKinematics	(	const Affine &	target,
		const std::array< double, 7 > &	q0
	)

◆ move() [1/14]

bool frankx::Robot::move	(	const Affine &	frame,
		ImpedanceMotion &	motion
	)

◆ move() [2/14]

bool frankx::Robot::move	(	const Affine &	frame,
		ImpedanceMotion &	motion,
		MotionData &	data
	)

◆ move() [3/14]

bool frankx::Robot::move	(	const Affine &	frame,
		PathMotion	motion
	)

◆ move() [4/14]

bool frankx::Robot::move	(	const Affine &	frame,
		PathMotion	motion,
		MotionData &	data
	)

◆ move() [5/14]

bool frankx::Robot::move	(	const Affine &	frame,
		WaypointMotion &	motion
	)

◆ move() [6/14]

bool frankx::Robot::move	(	const Affine &	frame,
		WaypointMotion &	motion,
		MotionData &	data
	)

◆ move() [7/14]

bool frankx::Robot::move ( ImpedanceMotion & motion )

◆ move() [8/14]

bool frankx::Robot::move	(	ImpedanceMotion &	motion,
		MotionData &	data
	)

◆ move() [9/14]

bool frankx::Robot::move ( JointMotion motion )

◆ move() [10/14]

bool frankx::Robot::move	(	JointMotion	motion,
		MotionData &	data
	)

◆ move() [11/14]

bool frankx::Robot::move ( PathMotion motion )

◆ move() [12/14]

bool frankx::Robot::move	(	PathMotion	motion,
		MotionData &	data
	)

◆ move() [13/14]

bool frankx::Robot::move ( WaypointMotion & motion )

◆ move() [14/14]

bool frankx::Robot::move	(	WaypointMotion &	motion,
		MotionData &	data
	)

◆ recoverFromErrors()

bool frankx::Robot::recoverFromErrors ( )

◆ setDefaultBehavior()

void frankx::Robot::setDefaultBehavior ( )

◆ setDynamicRel()

void frankx::Robot::setDynamicRel ( double dynamic_rel )

Member Data Documentation

◆ acceleration_rel

double frankx::Robot::acceleration_rel {1.0}

◆ control_rate

constexpr double frankx::Robot::control_rate {0.001}

staticconstexpr

◆ controller_mode

franka::ControllerMode frankx::Robot::controller_mode {franka::ControllerMode::kJointImpedance}

◆ degrees_of_freedoms

constexpr size_t frankx::Robot::degrees_of_freedoms {7}

staticconstexpr

◆ fci_ip

std::string frankx::Robot::fci_ip

The robot's hostname / IP address.

◆ jerk_rel

double frankx::Robot::jerk_rel {1.0}

◆ max_elbow_acceleration

constexpr double frankx::Robot::max_elbow_acceleration {10.0}

staticconstexpr

◆ max_elbow_jerk

constexpr double frankx::Robot::max_elbow_jerk {5000.0}

staticconstexpr

◆ max_elbow_velocity

constexpr double frankx::Robot::max_elbow_velocity {2.175}

staticconstexpr

◆ max_joint_acceleration

constexpr std::array<double, 7> frankx::Robot::max_joint_acceleration {{15.0, 7.5, 10.0, 12.5, 15.0, 20.0, 20.0}}

staticconstexpr

◆ max_joint_jerk

constexpr std::array<double, 7> frankx::Robot::max_joint_jerk {{7500.0, 3750.0, 5000.0, 6250.0, 7500.0, 10000.0, 10000.0}}

staticconstexpr

◆ max_joint_velocity

constexpr std::array<double, 7> frankx::Robot::max_joint_velocity {{2.175, 2.175, 2.175, 2.175, 2.610, 2.610, 2.610}}

staticconstexpr

◆ max_rotation_acceleration

constexpr double frankx::Robot::max_rotation_acceleration {25.0}

staticconstexpr

◆ max_rotation_jerk

constexpr double frankx::Robot::max_rotation_jerk {12500.0}

staticconstexpr

◆ max_rotation_velocity

constexpr double frankx::Robot::max_rotation_velocity {2.5}

staticconstexpr

◆ max_translation_acceleration

constexpr double frankx::Robot::max_translation_acceleration {13.0}

staticconstexpr

◆ max_translation_jerk

constexpr double frankx::Robot::max_translation_jerk {6500.0}

staticconstexpr

◆ max_translation_velocity

constexpr double frankx::Robot::max_translation_velocity {1.7}

staticconstexpr

◆ repeat_on_error

bool frankx::Robot::repeat_on_error {true}

Whether the robots try to continue an interrupted motion due to a libfranka position/velocity/acceleration discontinuity with reduced dynamics.

◆ stop_at_python_signal

bool frankx::Robot::stop_at_python_signal {true}

Whether the robot stops if a python error signal is detected.

◆ velocity_rel

double frankx::Robot::velocity_rel {1.0}

The documentation for this class was generated from the following files:

/home/runner/work/frankx/frankx/include/frankx/robot.hpp
/home/runner/work/frankx/frankx/src/frankx/robot.cpp

Public Member Functions

Public Attributes

Static Public Attributes

Constructor & Destructor Documentation

◆ Robot()

Member Function Documentation

◆ currentJointPositions()

◆ currentPose()

◆ forwardKinematics()

◆ get_state()

◆ hasErrors()

◆ inverseKinematics()

◆ move() [1/14]

◆ move() [2/14]

◆ move() [3/14]

◆ move() [4/14]

◆ move() [5/14]

◆ move() [6/14]

◆ move() [7/14]

◆ move() [8/14]

◆ move() [9/14]

◆ move() [10/14]

◆ move() [11/14]

◆ move() [12/14]

◆ move() [13/14]

◆ move() [14/14]

◆ recoverFromErrors()

◆ setDefaultBehavior()

◆ setDynamicRel()

Member Data Documentation

◆ acceleration_rel

◆ control_rate

◆ controller_mode

◆ degrees_of_freedoms

◆ fci_ip

◆ jerk_rel

◆ max_elbow_acceleration

◆ max_elbow_jerk

◆ max_elbow_velocity

◆ max_joint_acceleration

◆ max_joint_jerk

◆ max_joint_velocity

◆ max_rotation_acceleration

◆ max_rotation_jerk

◆ max_rotation_velocity

◆ max_translation_acceleration

◆ max_translation_jerk

◆ max_translation_velocity

◆ repeat_on_error

◆ stop_at_python_signal

◆ velocity_rel