movex::ImpedanceMotion Struct Reference

#include <motion_impedance.hpp>

Classes
struct	LinearTargetMotion
struct	SpiralTargetMotion

Public Types
enum	Axis { Axis::X, Axis::Y, Axis::Z }
enum	Type { Type::Cartesian, Type::Joint }
enum	TargetMotion { TargetMotion::Exponential, TargetMotion::Linear, TargetMotion::Spiral }
using	Affine = affx::Affine

Public Member Functions
	ImpedanceMotion ()
	ImpedanceMotion (double joint_stiffness)
	ImpedanceMotion (double translational_stiffness, double rotational_stiffness)
Affine	getTarget () const
void	setTarget (const Affine &new_target)
void	setLinearRelativeTargetMotion (const Affine &relative_target, double duration)
void	setSpiralTargetMotion (const Affine &center, double revolutions_per_second, double radius_per_revolution)
void	addForceConstraint (Axis axis, double value)
void	addForceConstraint (std::optional< double > x=std::nullopt, std::optional< double > y=std::nullopt, std::optional< double > z=std::nullopt)
bool	isActive () const
void	finish ()

Public Attributes
Type	type
TargetMotion	target_motion {TargetMotion::Exponential}
double	exponential_decay {0.005}
LinearTargetMotion	linear_motion
SpiralTargetMotion	spiral_motion
std::map< Axis, double >	force_constraints
const double	translational_stiffness {2000.0}
const double	rotational_stiffness {200.0}
const double	joint_stiffness {200.0}
Affine	target
bool	is_active {false}
bool	should_finish {false}

Member Typedef Documentation

Affine

using movex::ImpedanceMotion::Affine = affx::Affine

Member Enumeration Documentation

Axis

enum movex::ImpedanceMotion::Axis

strong

Enumerator
X
Y
Z

TargetMotion

enum movex::ImpedanceMotion::TargetMotion

strong

Enumerator
Exponential
Linear
Spiral

Type

enum movex::ImpedanceMotion::Type

strong

Enumerator
Cartesian
Joint

Constructor & Destructor Documentation

ImpedanceMotion() [1/3]

movex::ImpedanceMotion::ImpedanceMotion ( )

inlineexplicit

ImpedanceMotion() [2/3]

movex::ImpedanceMotion::ImpedanceMotion ( double  joint_stiffness )

inlineexplicit

ImpedanceMotion() [3/3]

movex::ImpedanceMotion::ImpedanceMotion ( double  translational_stiffness, double  rotational_stiffness  )

inlineexplicit

Member Function Documentation

addForceConstraint() [1/2]

void movex::ImpedanceMotion::addForceConstraint ( Axis  axis, double  value  )

inline

addForceConstraint() [2/2]

void movex::ImpedanceMotion::addForceConstraint ( std::optional< double >  x = std::nullopt, std::optional< double >  y = std::nullopt, std::optional< double >  z = std::nullopt  )

inline

finish()

void movex::ImpedanceMotion::finish ( )

inline

getTarget()

Affine movex::ImpedanceMotion::getTarget ( ) const

inline

isActive()

bool movex::ImpedanceMotion::isActive ( ) const

inline

setLinearRelativeTargetMotion()

void movex::ImpedanceMotion::setLinearRelativeTargetMotion ( const Affine &  relative_target, double  duration  )

inline

setSpiralTargetMotion()

void movex::ImpedanceMotion::setSpiralTargetMotion ( const Affine &  center, double  revolutions_per_second, double  radius_per_revolution  )

inline

setTarget()

void movex::ImpedanceMotion::setTarget ( const Affine &  new_target )

inline

Member Data Documentation

exponential_decay

double movex::ImpedanceMotion::exponential_decay {0.005}

force_constraints

std::map<Axis, double> movex::ImpedanceMotion::force_constraints

is_active

bool movex::ImpedanceMotion::is_active {false}

joint_stiffness

const double movex::ImpedanceMotion::joint_stiffness {200.0}

linear_motion

LinearTargetMotion movex::ImpedanceMotion::linear_motion

rotational_stiffness

const double movex::ImpedanceMotion::rotational_stiffness {200.0}

should_finish

bool movex::ImpedanceMotion::should_finish {false}

spiral_motion

SpiralTargetMotion movex::ImpedanceMotion::spiral_motion

target

Affine movex::ImpedanceMotion::target

target_motion

TargetMotion movex::ImpedanceMotion::target_motion {TargetMotion::Exponential}

translational_stiffness

const double movex::ImpedanceMotion::translational_stiffness {2000.0}

type

Type movex::ImpedanceMotion::type

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

• /home/runner/work/frankx/frankx/include/movex/motion/motion_impedance.hpp