#include <motion_path_generator.hpp>
Inheritance diagram for frankx::PathMotionGenerator< RobotType >:
Public Member Functions | |
| PathMotionGenerator (RobotType *robot, const Affine &frame, PathMotion motion, MotionData &data) | |
| franka::CartesianPose | operator() (const franka::RobotState &robot_state, franka::Duration period) |
Public Attributes | |
| size_t | trajectory_index {0} |
| double | s_current {0.0} |
| const bool | use_elbow {false} |
| double | time {0.0} |
| Trajectory | trajectory {} |
| RobotType * | robot |
| Affine | frame |
| PathMotion | 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
◆ PathMotionGenerator()
template<class RobotType >
|
inlineexplicit |
Member Function Documentation
◆ operator()()
template<class RobotType >
|
inline |
Member Data Documentation
◆ data
template<class RobotType >
| MotionData& frankx::PathMotionGenerator< RobotType >::data |
◆ frame
template<class RobotType >
| Affine frankx::PathMotionGenerator< RobotType >::frame |
◆ motion
template<class RobotType >
| PathMotion frankx::PathMotionGenerator< RobotType >::motion |
◆ robot
template<class RobotType >
| RobotType* frankx::PathMotionGenerator< RobotType >::robot |
◆ s_current
template<class RobotType >
| double frankx::PathMotionGenerator< RobotType >::s_current {0.0} |
◆ time
template<class RobotType >
| double frankx::PathMotionGenerator< RobotType >::time {0.0} |
◆ trajectory
template<class RobotType >
| Trajectory frankx::PathMotionGenerator< RobotType >::trajectory {} |
◆ trajectory_index
template<class RobotType >
| size_t frankx::PathMotionGenerator< RobotType >::trajectory_index {0} |
◆ use_elbow
template<class RobotType >
| const bool frankx::PathMotionGenerator< RobotType >::use_elbow {false} |
The documentation for this struct was generated from the following file:
- /home/runner/work/frankx/frankx/include/frankx/motion_path_generator.hpp
