frankx::WaypointMotionGenerator< RobotType > Struct Template Reference

#include <motion_waypoint_generator.hpp>

Inheritance diagram for frankx::WaypointMotionGenerator< RobotType >:

Public Member Functions
	WaypointMotionGenerator (RobotType *robot, const Affine &frame, WaypointMotion &motion, MotionData &data)
void	reset ()
void	init (const franka::RobotState &robot_state, franka::Duration period)
franka::CartesianPose	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
WaypointMotion	current_motion
std::vector< Waypoint >::iterator	waypoint_iterator
bool	waypoint_has_elbow {false}
Vector7d	old_vector
Affine	old_affine
double	old_elbow
double	time {0.0}
RobotType *	robot
Affine	frame
WaypointMotion &	motion
MotionData &	data
bool	set_target_at_zero_time {true}
const size_t	cooldown_iterations {5}
size_t	current_cooldown_iteration {0}

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

WaypointMotionGenerator()

template<class RobotType >

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

inlineexplicit

Member Function Documentation

init()

template<class RobotType >

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

inline

operator()()

template<class RobotType >

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

inline

reset()

template<class RobotType >

void frankx::WaypointMotionGenerator< RobotType >::reset ( )

inline

Member Data Documentation

cooldown_iterations

template<class RobotType >

const size_t frankx::WaypointMotionGenerator< RobotType >::cooldown_iterations {5}

current_cooldown_iteration

template<class RobotType >

size_t frankx::WaypointMotionGenerator< RobotType >::current_cooldown_iteration {0}

current_motion

template<class RobotType >

WaypointMotion frankx::WaypointMotionGenerator< RobotType >::current_motion

data

template<class RobotType >

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

frame

template<class RobotType >

Affine frankx::WaypointMotionGenerator< RobotType >::frame

input_para

template<class RobotType >

ruckig::InputParameter<RobotType::degrees_of_freedoms> frankx::WaypointMotionGenerator< RobotType >::input_para

motion

template<class RobotType >

WaypointMotion& frankx::WaypointMotionGenerator< RobotType >::motion

old_affine

template<class RobotType >

Affine frankx::WaypointMotionGenerator< RobotType >::old_affine

old_elbow

template<class RobotType >

double frankx::WaypointMotionGenerator< RobotType >::old_elbow

old_vector

template<class RobotType >

Vector7d frankx::WaypointMotionGenerator< RobotType >::old_vector

output_para

template<class RobotType >

ruckig::OutputParameter<RobotType::degrees_of_freedoms> frankx::WaypointMotionGenerator< RobotType >::output_para

result

template<class RobotType >

ruckig::Result frankx::WaypointMotionGenerator< RobotType >::result

robot

template<class RobotType >

RobotType* frankx::WaypointMotionGenerator< RobotType >::robot

set_target_at_zero_time

template<class RobotType >

bool frankx::WaypointMotionGenerator< RobotType >::set_target_at_zero_time {true}

time

template<class RobotType >

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

trajectory_generator

template<class RobotType >

ruckig::Ruckig<RobotType::degrees_of_freedoms> frankx::WaypointMotionGenerator< RobotType >::trajectory_generator {RobotType::control_rate}

waypoint_has_elbow

template<class RobotType >

bool frankx::WaypointMotionGenerator< RobotType >::waypoint_has_elbow {false}

waypoint_iterator

template<class RobotType >

std::vector<Waypoint>::iterator frankx::WaypointMotionGenerator< RobotType >::waypoint_iterator

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

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