#include <motion_joint_generator.hpp>
Inheritance diagram for frankx::JointMotionGenerator< RobotType >:
Public Member Functions | |
| JointMotionGenerator (RobotType *robot, JointMotion motion, MotionData &data) | |
| void | init (const franka::RobotState &robot_state, franka::Duration period) |
| franka::JointPositions | operator() (const franka::RobotState &robot_state, franka::Duration period) |
Public Attributes | |
| ruckig::Ruckig< RobotType::degrees_of_freedoms > | trajectory_generator {RobotType::control_rate} |
| ruckig::InputParameter< RobotType::degrees_of_freedoms > | input_para |
| ruckig::OutputParameter< RobotType::degrees_of_freedoms > | output_para |
| ruckig::Result | result |
| std::array< double, RobotType::degrees_of_freedoms > | joint_positions |
| double | time {0.0} |
| RobotType * | robot |
| JointMotion | 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
◆ JointMotionGenerator()
template<class RobotType >
|
inlineexplicit |
Member Function Documentation
◆ init()
template<class RobotType >
|
inline |
◆ operator()()
template<class RobotType >
|
inline |
Member Data Documentation
◆ data
template<class RobotType >
| MotionData& frankx::JointMotionGenerator< RobotType >::data |
◆ input_para
template<class RobotType >
| ruckig::InputParameter<RobotType::degrees_of_freedoms> frankx::JointMotionGenerator< RobotType >::input_para |
◆ joint_positions
template<class RobotType >
| std::array<double, RobotType::degrees_of_freedoms> frankx::JointMotionGenerator< RobotType >::joint_positions |
◆ motion
template<class RobotType >
| JointMotion frankx::JointMotionGenerator< RobotType >::motion |
◆ output_para
template<class RobotType >
| ruckig::OutputParameter<RobotType::degrees_of_freedoms> frankx::JointMotionGenerator< RobotType >::output_para |
◆ result
template<class RobotType >
| ruckig::Result frankx::JointMotionGenerator< RobotType >::result |
◆ robot
template<class RobotType >
| RobotType* frankx::JointMotionGenerator< RobotType >::robot |
◆ time
template<class RobotType >
| double frankx::JointMotionGenerator< RobotType >::time {0.0} |
◆ trajectory_generator
template<class RobotType >
| ruckig::Ruckig<RobotType::degrees_of_freedoms> frankx::JointMotionGenerator< RobotType >::trajectory_generator {RobotType::control_rate} |
The documentation for this struct was generated from the following file:
- /home/runner/work/frankx/frankx/include/frankx/motion_joint_generator.hpp
