Frankx  0.2.0
A High-Level Motion API for Franka
Static Public Member Functions | List of all members
frankx::MotionGenerator Struct Reference

#include <motion_generator.hpp>

Inheritance diagram for frankx::MotionGenerator:
frankx::ImpedanceMotionGenerator< RobotType > frankx::JointMotionGenerator< RobotType > frankx::PathMotionGenerator< RobotType > frankx::WaypointMotionGenerator< RobotType >

Static Public Member Functions

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)
 

Member Function Documentation

◆ CartesianPose() [1/2]

static franka::CartesianPose frankx::MotionGenerator::CartesianPose ( const std::array< double, 7 > &  vector,
bool  include_elbow = true 
)
inlinestatic

◆ CartesianPose() [2/2]

static franka::CartesianPose frankx::MotionGenerator::CartesianPose ( const Vector7d &  vector,
bool  include_elbow = true 
)
inlinestatic

◆ convertState()

static movex::RobotState<7> frankx::MotionGenerator::convertState ( const franka::RobotState &  franka)
inlinestatic

◆ getInputLimits() [1/2]

template<class RobotType >
static std::tuple<std::array<double, 7>, std::array<double, 7>, std::array<double, 7> > frankx::MotionGenerator::getInputLimits ( RobotType *  robot,
const MotionData &  data 
)
inlinestatic

◆ getInputLimits() [2/2]

template<class RobotType >
static std::tuple<std::array<double, 7>, std::array<double, 7>, std::array<double, 7> > frankx::MotionGenerator::getInputLimits ( RobotType *  robot,
const Waypoint &  waypoint,
const MotionData &  data 
)
inlinestatic

◆ setCartRotElbowVector()

static void frankx::MotionGenerator::setCartRotElbowVector ( Vector7d &  vector,
double  cart,
double  rot,
double  elbow 
)
inlinestatic

◆ setInputLimits() [1/2]

template<class RobotType >
static void frankx::MotionGenerator::setInputLimits ( ruckig::InputParameter< 7 > &  input_parameters,
RobotType *  robot,
const MotionData &  data 
)
inlinestatic

◆ setInputLimits() [2/2]

template<class RobotType >
static void frankx::MotionGenerator::setInputLimits ( ruckig::InputParameter< 7 > &  input_parameters,
RobotType *  robot,
const Waypoint &  waypoint,
const MotionData &  data 
)
inlinestatic

◆ toStd()

static std::array<double, 7> frankx::MotionGenerator::toStd ( const Vector7d &  vector)
inlinestatic

◆ VectorCartRotElbow()

template<class T = double>
static std::array<T, 7> frankx::MotionGenerator::VectorCartRotElbow ( T  cart,
T  rot,
T  elbow 
)
inlinestatic
The documentation for this struct was generated from the following file:
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