frankx::ImpedanceMotionGenerator< RobotType > Struct Template Reference

#include <motion_impedance_generator.hpp>

Inheritance diagram for frankx::ImpedanceMotionGenerator< RobotType >:

Public Member Functions
	ImpedanceMotionGenerator (RobotType *robot, const Affine &frame, ImpedanceMotion &motion, MotionData &data)
void	init (const franka::RobotState &robot_state, franka::Duration period)
franka::Torques	operator() (const franka::RobotState &robot_state, franka::Duration period)

Public Attributes
double	time {0.0}
double	motion_init_time {0.0}
RobotType *	robot
Eigen::Matrix< double, 6, 6 >	stiffness
Eigen::Matrix< double, 6, 6 >	damping
Affine	initial_affine
Eigen::Vector3d	position_d
Eigen::Quaterniond	orientation_d
franka::RobotState	initial_state
franka::Model *	model
Affine	frame
ImpedanceMotion &	motion
MotionData &	data

Additional Inherited Members
Static Public Member Functions inherited from frankx::MotionGenerator
static franka::CartesianPose	CartesianPose (const Vector7d &vector, bool include_elbow=true)
static franka::CartesianPose	CartesianPose (const std::array< double, 7 > &vector, bool include_elbow=true)
template<class T = double>
static std::array< T, 7 >	VectorCartRotElbow (T cart, T rot, T elbow)
static void	setCartRotElbowVector (Vector7d &vector, double cart, double rot, double elbow)
static std::array< double, 7 >	toStd (const Vector7d &vector)
static movex::RobotState< 7 >	convertState (const franka::RobotState &franka)
template<class RobotType >
static std::tuple< std::array< double, 7 >, std::array< double, 7 >, std::array< double, 7 > >	getInputLimits (RobotType *robot, const MotionData &data)
template<class RobotType >
static std::tuple< std::array< double, 7 >, std::array< double, 7 >, std::array< double, 7 > >	getInputLimits (RobotType *robot, const Waypoint &waypoint, const MotionData &data)
template<class RobotType >
static void	setInputLimits (ruckig::InputParameter< 7 > &input_parameters, RobotType *robot, const MotionData &data)
template<class RobotType >
static void	setInputLimits (ruckig::InputParameter< 7 > &input_parameters, RobotType *robot, const Waypoint &waypoint, const MotionData &data)

Constructor & Destructor Documentation

ImpedanceMotionGenerator()

template<class RobotType >

frankx::ImpedanceMotionGenerator< RobotType >::ImpedanceMotionGenerator ( RobotType *  robot, const Affine &  frame, ImpedanceMotion &  motion, MotionData &  data  )

inlineexplicit

Member Function Documentation

init()

template<class RobotType >

void frankx::ImpedanceMotionGenerator< RobotType >::init ( const franka::RobotState &  robot_state, franka::Duration  period  )

inline

operator()()

template<class RobotType >

franka::Torques frankx::ImpedanceMotionGenerator< RobotType >::operator() ( const franka::RobotState &  robot_state, franka::Duration  period  )

inline

Member Data Documentation

damping

template<class RobotType >

Eigen::Matrix<double, 6, 6> frankx::ImpedanceMotionGenerator< RobotType >::damping

data

template<class RobotType >

MotionData& frankx::ImpedanceMotionGenerator< RobotType >::data

frame

template<class RobotType >

Affine frankx::ImpedanceMotionGenerator< RobotType >::frame

initial_affine

template<class RobotType >

Affine frankx::ImpedanceMotionGenerator< RobotType >::initial_affine

initial_state

template<class RobotType >

franka::RobotState frankx::ImpedanceMotionGenerator< RobotType >::initial_state

model

template<class RobotType >

franka::Model* frankx::ImpedanceMotionGenerator< RobotType >::model

motion

template<class RobotType >

ImpedanceMotion& frankx::ImpedanceMotionGenerator< RobotType >::motion

motion_init_time

template<class RobotType >

double frankx::ImpedanceMotionGenerator< RobotType >::motion_init_time {0.0}

orientation_d

template<class RobotType >

Eigen::Quaterniond frankx::ImpedanceMotionGenerator< RobotType >::orientation_d

position_d

template<class RobotType >

Eigen::Vector3d frankx::ImpedanceMotionGenerator< RobotType >::position_d

robot

template<class RobotType >

RobotType* frankx::ImpedanceMotionGenerator< RobotType >::robot

stiffness

template<class RobotType >

Eigen::Matrix<double, 6, 6> frankx::ImpedanceMotionGenerator< RobotType >::stiffness

time

template<class RobotType >

double frankx::ImpedanceMotionGenerator< RobotType >::time {0.0}

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The documentation for this struct was generated from the following file:

• /home/runner/work/frankx/frankx/include/frankx/motion_impedance_generator.hpp