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[detail level 12]
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 ▼Nfranka
 CCartesianPoseStores values for Cartesian pose motion generation
 CCartesianVelocitiesStores values for Cartesian velocity motion generation
 CCommandExceptionCommandException is thrown if an error occurs during command execution
 CControlExceptionControlException is thrown if an error occurs during motion generation or torque control
 CDurationRepresents a duration with millisecond resolution
 CErrorsEnumerates errors that can occur while controlling a franka::Robot
 CExceptionBase class for all exceptions used by libfranka
 CFinishableHelper type for control and motion generation loops
 CGripperMaintains a network connection to the gripper, provides the current gripper state, and allows the execution of commands
 CGripperStateDescribes the gripper state
 CIncompatibleVersionExceptionIncompatibleVersionException is thrown if the robot does not support this version of libfranka
 CInvalidOperationExceptionInvalidOperationException is thrown if an operation cannot be performed
 CJointPositionsStores values for joint position motion generation
 CJointVelocitiesStores values for joint velocity motion generation
 CModelCalculates poses of joints and dynamic properties of the robot
 CModelExceptionModelException is thrown if an error occurs when loading the model library
 CNetworkExceptionNetworkException is thrown if a connection to the robot cannot be established, or when a timeout occurs
 CProtocolExceptionProtocolException is thrown if the robot returns an incorrect message
 CRealtimeExceptionRealtimeException is thrown if realtime priority cannot be set
 CRecordOne row of the log contains a robot command of timestamp n and a corresponding robot state of timestamp n+1
 CRobotMaintains a network connection to the robot, provides the current robot state, gives access to the model library and allows to control the robot
 CRobotCommandCommand sent to the robot
 CRobotStateDescribes the robot state
 CTorquesStores joint-level torque commands without gravity and friction
 CVacuumGripperMaintains a network connection to the vacuum gripper, provides the current vacuum gripper state, and allows the execution of commands
 CVacuumGripperStateDescribes the vacuum gripper state
 CVirtualWallCuboidParameters of a cuboid used as virtual wall
 CMotionGeneratorAn example showing how to generate a joint pose motion to a goal position
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cartesian_impedance_control.cpp
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An example showing a simple cartesian impedance controller without inertia shaping that renders a spring damper system where the equilibrium is the initial configuration.After starting the controller try to push the robot around and try different stiffness levels.

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Warning
collision thresholds are set to high values. Make sure you have the user stop at hand!
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// Copyright (c) 2017 Franka Emika GmbH
// Use of this source code is governed by the Apache-2.0 license, see LICENSE
#include <array>
#include <cmath>
#include <functional>
#include <iostream>
#include <Eigen/Dense>
#include <franka/duration.h>
#include <franka/exception.h>
#include <franka/model.h>
#include <franka/robot.h>
#include "examples_common.h"
int main(int argc, char** argv) {
// Check whether the required arguments were passed
if (argc != 2) {
std::cerr << "Usage: " << argv[0] << " <robot-hostname>" << std::endl;
return -1;
}
// Compliance parameters
const double translational_stiffness{150.0};
const double rotational_stiffness{10.0};
Eigen::MatrixXd stiffness(6, 6), damping(6, 6);
stiffness.setZero();
stiffness.topLeftCorner(3, 3) << translational_stiffness * Eigen::MatrixXd::Identity(3, 3);
stiffness.bottomRightCorner(3, 3) << rotational_stiffness * Eigen::MatrixXd::Identity(3, 3);
damping.setZero();
damping.topLeftCorner(3, 3) << 2.0 * sqrt(translational_stiffness) *
Eigen::MatrixXd::Identity(3, 3);
damping.bottomRightCorner(3, 3) << 2.0 * sqrt(rotational_stiffness) *
Eigen::MatrixXd::Identity(3, 3);
try {
// connect to robot
franka::Robot robot(argv[1]);
setDefaultBehavior(robot);
// load the kinematics and dynamics model
franka::Model model = robot.loadModel();
franka::RobotState initial_state = robot.readOnce();
// equilibrium point is the initial position
Eigen::Affine3d initial_transform(Eigen::Matrix4d::Map(initial_state.O_T_EE.data()));
Eigen::Vector3d position_d(initial_transform.translation());
Eigen::Quaterniond orientation_d(initial_transform.linear());
// set collision behavior
robot.setCollisionBehavior({{100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0}},
{{100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0}},
{{100.0, 100.0, 100.0, 100.0, 100.0, 100.0}},
{{100.0, 100.0, 100.0, 100.0, 100.0, 100.0}});
// define callback for the torque control loop
std::function<franka::Torques(const franka::RobotState&, franka::Duration)>
impedance_control_callback = [&](const franka::RobotState& robot_state,
franka::Duration /*duration*/) -> franka::Torques {
// get state variables
std::array<double, 7> coriolis_array = model.coriolis(robot_state);
std::array<double, 42> jacobian_array =
model.zeroJacobian(franka::Frame::kEndEffector, robot_state);
// convert to Eigen
Eigen::Map<const Eigen::Matrix<double, 7, 1>> coriolis(coriolis_array.data());
Eigen::Map<const Eigen::Matrix<double, 6, 7>> jacobian(jacobian_array.data());
Eigen::Map<const Eigen::Matrix<double, 7, 1>> q(robot_state.q.data());
Eigen::Map<const Eigen::Matrix<double, 7, 1>> dq(robot_state.dq.data());
Eigen::Affine3d transform(Eigen::Matrix4d::Map(robot_state.O_T_EE.data()));
Eigen::Vector3d position(transform.translation());
Eigen::Quaterniond orientation(transform.linear());
// compute error to desired equilibrium pose
// position error
Eigen::Matrix<double, 6, 1> error;
error.head(3) << position - position_d;
// orientation error
// "difference" quaternion
if (orientation_d.coeffs().dot(orientation.coeffs()) < 0.0) {
orientation.coeffs() << -orientation.coeffs();
}
// "difference" quaternion
Eigen::Quaterniond error_quaternion(orientation.inverse() * orientation_d);
error.tail(3) << error_quaternion.x(), error_quaternion.y(), error_quaternion.z();
// Transform to base frame
error.tail(3) << -transform.linear() * error.tail(3);
// compute control
Eigen::VectorXd tau_task(7), tau_d(7);
// Spring damper system with damping ratio=1
tau_task << jacobian.transpose() * (-stiffness * error - damping * (jacobian * dq));
tau_d << tau_task + coriolis;
std::array<double, 7> tau_d_array{};
Eigen::VectorXd::Map(&tau_d_array[0], 7) = tau_d;
return tau_d_array;
};
// start real-time control loop
std::cout << "WARNING: Collision thresholds are set to high values. "
<< "Make sure you have the user stop at hand!" << std::endl
<< "After starting try to push the robot and see how it reacts." << std::endl
<< "Press Enter to continue..." << std::endl;
std::cin.ignore();
robot.control(impedance_control_callback);
} catch (const franka::Exception& ex) {
// print exception
std::cout << ex.what() << std::endl;
}
return 0;
}
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MotionGenerator(double speed_factor, const std::array< double, 7 > q_goal)MotionGenerator
operator()(const franka::RobotState &robot_state, franka::Duration period)MotionGenerator
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MotionGenerator Class Reference
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An example showing how to generate a joint pose motion to a goal position. - More...

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#include <examples_common.h>

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 MotionGenerator (double speed_factor, const std::array< double, 7 > q_goal)
 Creates a new MotionGenerator instance for a target q. More...
 
franka::JointPositions operator() (const franka::RobotState &robot_state, franka::Duration period)
 Sends joint position calculations. More...
 
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Detailed Description

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An example showing how to generate a joint pose motion to a goal position.

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Adapted from: Wisama Khalil and Etienne Dombre. 2002. Modeling, Identification and Control of Robots (Kogan Page Science Paper edition).

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Examples:
communication_test.cpp, generate_cartesian_pose_motion.cpp, generate_cartesian_velocity_motion.cpp, generate_consecutive_motions.cpp, generate_elbow_motion.cpp, generate_joint_position_motion.cpp, generate_joint_velocity_motion.cpp, joint_impedance_control.cpp, joint_point_to_point_motion.cpp, and motion_with_control.cpp.
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◆ MotionGenerator()

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MotionGenerator::MotionGenerator (double speed_factor,
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Creates a new MotionGenerator instance for a target q.

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[in]speed_factorGeneral speed factor in range [0, 1].
[in]q_goalTarget joint positions.
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◆ operator()()

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franka::JointPositions MotionGenerator::operator() (const franka::RobotState & robot_state,
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Sends joint position calculations.

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[in]robot_stateCurrent state of the robot.
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Joint positions for use inside a control loop.
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CartesianPose(const std::array< double, 16 > &cartesian_pose) noexceptfranka::CartesianPose
CartesianPose(const std::array< double, 16 > &cartesian_pose, const std::array< double, 2 > &elbow) noexceptfranka::CartesianPose
CartesianPose(std::initializer_list< double > cartesian_pose)franka::CartesianPose
CartesianPose(std::initializer_list< double > cartesian_pose, std::initializer_list< double > elbow)franka::CartesianPose
elbowfranka::CartesianPose
hasElbow() const noexceptfranka::CartesianPose
motion_finishedfranka::Finishable
O_T_EEfranka::CartesianPose
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Stores values for Cartesian pose motion generation. - More...

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#include <control_types.h>

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 CartesianPose (const std::array< double, 16 > &cartesian_pose) noexcept
 Creates a new CartesianPose instance. More...
 
 CartesianPose (const std::array< double, 16 > &cartesian_pose, const std::array< double, 2 > &elbow) noexcept
 Creates a new CartesianPose instance. More...
 
 CartesianPose (std::initializer_list< double > cartesian_pose)
 Creates a new CartesianPose instance. More...
 
 CartesianPose (std::initializer_list< double > cartesian_pose, std::initializer_list< double > elbow)
 Creates a new CartesianPose instance. More...
 
bool hasElbow () const noexcept
 Determines whether there is a stored elbow configuration. More...
 
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std::array< double, 16 > O_T_EE {}
 Homogeneous transformation \(^O{\mathbf{T}_{EE}}_{d}\), column major, that transforms from the end effector frame \(EE\) to base frame \(O\). More...
 
std::array< double, 2 > elbow {}
 Elbow configuration. More...
 
- Public Attributes inherited from franka::Finishable
-bool motion_finished = false
 Determines whether to finish a currently running motion.
 
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Detailed Description

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Stores values for Cartesian pose motion generation.

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Examples:
generate_cartesian_pose_motion.cpp, generate_elbow_motion.cpp, and joint_impedance_control.cpp.
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◆ CartesianPose() [1/4]

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Creates a new CartesianPose instance.

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[in]cartesian_poseDesired vectorized homogeneous transformation matrix \(^O {\mathbf{T}_{EE}}_{d}\), column major, that transforms from the end effector frame \(EE\) to base frame \(O\). Equivalently, it is the desired end effector pose in base frame.
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Creates a new CartesianPose instance.

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[in]cartesian_poseDesired vectorized homogeneous transformation matrix \(^O {\mathbf{T}_{EE}}_{d}\), column major, that transforms from the end effector frame \(EE\) to base frame \(O\). Equivalently, it is the desired end effector pose in base frame.
[in]elbowElbow configuration (see elbow member for more details).
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[in]cartesian_poseDesired vectorized homogeneous transformation matrix \(^O {\mathbf{T}_{EE}}_{d}\), column major, that transforms from the end effector frame \(EE\) to base frame \(O\). Equivalently, it is the desired end effector pose in base frame.
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Creates a new CartesianPose instance.

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[in]cartesian_poseDesired vectorized homogeneous transformation matrix \(^O {\mathbf{T}_{EE}}_{d}\), column major, that transforms from the end effector frame \(EE\) to base frame \(O\). Equivalently, it is the desired end effector pose in base frame.
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◆ hasElbow()

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Determines whether there is a stored elbow configuration.

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◆ elbow

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Elbow configuration.

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The values of the array are:

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◆ O_T_EE

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Homogeneous transformation \(^O{\mathbf{T}_{EE}}_{d}\), column major, that transforms from the end effector frame \(EE\) to base frame \(O\).

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franka::CartesianVelocities Member List
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This is the complete list of members for franka::CartesianVelocities, including all inherited members.

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CartesianVelocities(const std::array< double, 6 > &cartesian_velocities) noexceptfranka::CartesianVelocities
CartesianVelocities(const std::array< double, 6 > &cartesian_velocities, const std::array< double, 2 > &elbow) noexceptfranka::CartesianVelocities
CartesianVelocities(std::initializer_list< double > cartesian_velocities)franka::CartesianVelocities
CartesianVelocities(std::initializer_list< double > cartesian_velocities, std::initializer_list< double > elbow)franka::CartesianVelocities
elbowfranka::CartesianVelocities
hasElbow() const noexceptfranka::CartesianVelocities
motion_finishedfranka::Finishable
O_dP_EEfranka::CartesianVelocities
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franka::CartesianVelocities Class Reference
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Stores values for Cartesian velocity motion generation. - More...

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#include <control_types.h>

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 CartesianVelocities (const std::array< double, 6 > &cartesian_velocities) noexcept
 Creates a new CartesianVelocities instance. More...
 
 CartesianVelocities (const std::array< double, 6 > &cartesian_velocities, const std::array< double, 2 > &elbow) noexcept
 Creates a new CartesianVelocities instance. More...
 
 CartesianVelocities (std::initializer_list< double > cartesian_velocities)
 Creates a new CartesianVelocities instance. More...
 
 CartesianVelocities (std::initializer_list< double > cartesian_velocities, std::initializer_list< double > elbow)
 Creates a new CartesianVelocities instance. More...
 
bool hasElbow () const noexcept
 Determines whether there is a stored elbow configuration. More...
 
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-Public Attributes

std::array< double, 6 > O_dP_EE {}
 Desired Cartesian velocity w.r.t. More...
 
std::array< double, 2 > elbow {}
 Elbow configuration. More...
 
- Public Attributes inherited from franka::Finishable
-bool motion_finished = false
 Determines whether to finish a currently running motion.
 
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Detailed Description

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Stores values for Cartesian velocity motion generation.

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Examples:
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Constructor & Destructor Documentation

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◆ CartesianVelocities() [1/4]

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franka::CartesianVelocities::CartesianVelocities (const std::array< double, 6 > & cartesian_velocities)
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Creates a new CartesianVelocities instance.

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[in]cartesian_velocitiesDesired Cartesian velocity w.r.t. O-frame {dx in [m/s], dy in [m/s], dz in [m/s], omegax in [rad/s], omegay in [rad/s], omegaz in [rad/s]}.
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◆ CartesianVelocities() [2/4]

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Creates a new CartesianVelocities instance.

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[in]cartesian_velocitiesDesired Cartesian velocity w.r.t. O-frame {dx in [m/s], dy in [m/s], dz in [m/s], omegax in [rad/s], omegay in [rad/s], omegaz in [rad/s]}.
[in]elbowElbow configuration (see elbow member for more details).
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◆ CartesianVelocities() [3/4]

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Creates a new CartesianVelocities instance.

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[in]cartesian_velocitiesDesired Cartesian velocity w.r.t. O-frame {dx in [m/s], dy in [m/s], dz in [m/s], omegax in [rad/s], omegay in [rad/s], omegaz in [rad/s]}.
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Creates a new CartesianVelocities instance.

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[in]cartesian_velocitiesDesired Cartesian velocity w.r.t. O-frame {dx in [m/s], dy in [m/s], dz in [m/s], omegax in [rad/s], omegay in [rad/s], omegaz in [rad/s]}.
[in]elbowElbow configuration (see elbow member for more details).
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◆ hasElbow()

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bool franka::CartesianVelocities::hasElbow () const
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Determines whether there is a stored elbow configuration.

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Member Data Documentation

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◆ elbow

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std::array<double, 2> franka::CartesianVelocities::elbow {}
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Elbow configuration.

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The values of the array are:

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◆ O_dP_EE

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std::array<double, 6> franka::CartesianVelocities::O_dP_EE {}
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Desired Cartesian velocity w.r.t.

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O-frame {dx in [m/s], dy in [m/s], dz in [m/s], omegax in [rad/s], omegay in [rad/s], omegaz in [rad/s]}.

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franka::Duration Member List
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This is the complete list of members for franka::Duration, including all inherited members.

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Duration() noexceptfranka::Duration
Duration(uint64_t milliseconds) noexceptfranka::Durationexplicit
Duration(std::chrono::duration< uint64_t, std::milli > duration) noexceptfranka::Duration
Duration(const Duration &)=defaultfranka::Duration
operator std::chrono::duration< uint64_t, std::milli >() const noexceptfranka::Duration
operator!=(const Duration &rhs) const noexceptfranka::Duration
operator%(const Duration &rhs) const noexceptfranka::Duration
operator%(uint64_t rhs) const noexceptfranka::Duration
operator%=(const Duration &rhs) noexceptfranka::Duration
operator%=(uint64_t rhs) noexceptfranka::Duration
operator*(uint64_t rhs) const noexceptfranka::Duration
operator*=(uint64_t rhs) noexceptfranka::Duration
operator+(const Duration &rhs) const noexceptfranka::Duration
operator+=(const Duration &rhs) noexceptfranka::Duration
operator-(const Duration &rhs) const noexceptfranka::Duration
operator-=(const Duration &rhs) noexceptfranka::Duration
operator/(const Duration &rhs) const noexceptfranka::Duration
operator/(uint64_t rhs) const noexceptfranka::Duration
operator/=(uint64_t rhs) noexceptfranka::Duration
operator<(const Duration &rhs) const noexceptfranka::Duration
operator<=(const Duration &rhs) const noexceptfranka::Duration
operator=(const Duration &)=defaultfranka::Duration
operator==(const Duration &rhs) const noexceptfranka::Duration
operator>(const Duration &rhs) const noexceptfranka::Duration
operator>=(const Duration &rhs) const noexceptfranka::Duration
toMSec() const noexceptfranka::Duration
toSec() const noexceptfranka::Duration
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franka::Duration Class Reference
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Represents a duration with millisecond resolution. - More...

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#include <duration.h>

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-Public Member Functions

- Duration () noexcept
 Creates a new Duration instance with zero milliseconds.
 
 Duration (uint64_t milliseconds) noexcept
 Creates a new Duration instance from the given number of milliseconds. More...
 
 Duration (std::chrono::duration< uint64_t, std::milli > duration) noexcept
 Creates a new Duration instance from an std::chrono::duration. More...
 
- Duration (const Duration &)=default
 Creates a copy of a Duration instance.
 
Duration & operator= (const Duration &)=default
 Assigns the contents of one Duration to another. More...
 
 operator std::chrono::duration< uint64_t, std::milli > () const noexcept
 Returns the stored duration as an std::chrono::duration. More...
 
double toSec () const noexcept
 Returns the stored duration in \([s]\). More...
 
uint64_t toMSec () const noexcept
 Returns the stored duration in \([ms]\). More...
 
Arithmetic operators
Duration operator+ (const Duration &rhs) const noexcept
 Performs addition. More...
 
Duration & operator+= (const Duration &rhs) noexcept
 Performs addition. More...
 
Duration operator- (const Duration &rhs) const noexcept
 Performs subtraction. More...
 
Duration & operator-= (const Duration &rhs) noexcept
 Performs subtraction. More...
 
Duration operator* (uint64_t rhs) const noexcept
 Performs multiplication. More...
 
Duration & operator*= (uint64_t rhs) noexcept
 Performs multiplication. More...
 
uint64_t operator/ (const Duration &rhs) const noexcept
 Performs division. More...
 
Duration operator/ (uint64_t rhs) const noexcept
 Performs division. More...
 
Duration & operator/= (uint64_t rhs) noexcept
 Performs division. More...
 
Duration operator% (const Duration &rhs) const noexcept
 Performs the modulo operation. More...
 
Duration operator% (uint64_t rhs) const noexcept
 Performs the modulo operation. More...
 
Duration & operator%= (const Duration &rhs) noexcept
 Performs the modulo operation. More...
 
Duration & operator%= (uint64_t rhs) noexcept
 Performs the modulo operation. More...
 
Comparison operators
bool operator== (const Duration &rhs) const noexcept
 Compares two durations for equality. More...
 
bool operator!= (const Duration &rhs) const noexcept
 Compares two durations for inequality. More...
 
bool operator< (const Duration &rhs) const noexcept
 Compares two durations. More...
 
bool operator<= (const Duration &rhs) const noexcept
 Compares two durations. More...
 
bool operator> (const Duration &rhs) const noexcept
 Compares two durations. More...
 
bool operator>= (const Duration &rhs) const noexcept
 Compares two durations. More...
 
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Detailed Description

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Represents a duration with millisecond resolution.

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Examples:
cartesian_impedance_control.cpp, communication_test.cpp, force_control.cpp, generate_cartesian_pose_motion.cpp, generate_cartesian_velocity_motion.cpp, generate_consecutive_motions.cpp, generate_elbow_motion.cpp, generate_joint_position_motion.cpp, generate_joint_velocity_motion.cpp, joint_impedance_control.cpp, and motion_with_control.cpp.
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Constructor & Destructor Documentation

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◆ Duration() [1/2]

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Creates a new Duration instance from the given number of milliseconds.

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◆ Duration() [2/2]

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Creates a new Duration instance from an std::chrono::duration.

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Member Function Documentation

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◆ operator std::chrono::duration< uint64_t, std::milli >()

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Returns the stored duration as an std::chrono::duration.

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Duration as std::chrono::duration.
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Compares two durations for inequality.

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[in]rhsRight-hand side of the comparison.
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True if the duration are not equal, false otherwise.
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◆ operator%() [1/2]

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Performs the modulo operation.

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Result of the operation.
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Performs the modulo operation.

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Result of the operation.
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Performs the modulo operation.

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◆ operator*()

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Duration franka::Duration::operator* (uint64_t rhs) const
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Performs multiplication.

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Compares two durations.

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Assigns the contents of one Duration to another.

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◆ operator==()

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Compares two durations for equality.

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Compares two durations.

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Compares two durations.

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Returns the stored duration in \([ms]\).

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communication_test.cpp.
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Returns the stored duration in \([s]\).

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Examples:
generate_cartesian_pose_motion.cpp, generate_cartesian_velocity_motion.cpp, generate_consecutive_motions.cpp, generate_elbow_motion.cpp, generate_joint_position_motion.cpp, and generate_joint_velocity_motion.cpp.
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franka::Gripper Member List
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This is the complete list of members for franka::Gripper, including all inherited members.

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grasp(double width, double speed, double force, double epsilon_inner=0.005, double epsilon_outer=0.005) constfranka::Gripper
Gripper(const std::string &franka_address)franka::Gripperexplicit
Gripper(Gripper &&gripper) noexceptfranka::Gripper
homing() constfranka::Gripper
move(double width, double speed) constfranka::Gripper
operator=(Gripper &&gripper) noexceptfranka::Gripper
readOnce() constfranka::Gripper
ServerVersion typedeffranka::Gripper
serverVersion() const noexceptfranka::Gripper
stop() constfranka::Gripper
~Gripper() noexceptfranka::Gripper
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franka::Gripper Class Reference
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Maintains a network connection to the gripper, provides the current gripper state, and allows the execution of commands. - More...

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#include <gripper.h>

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-Public Types

-using ServerVersion = uint16_t
 Version of the gripper server.
 
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 Gripper (const std::string &franka_address)
 Establishes a connection with a gripper connected to a robot. More...
 
 Gripper (Gripper &&gripper) noexcept
 Move-constructs a new Gripper instance. More...
 
Gripper & operator= (Gripper &&gripper) noexcept
 Move-assigns this Gripper from another Gripper instance. More...
 
- ~Gripper () noexcept
 Closes the connection.
 
bool homing () const
 Performs homing of the gripper. More...
 
bool grasp (double width, double speed, double force, double epsilon_inner=0.005, double epsilon_outer=0.005) const
 Grasps an object. More...
 
bool move (double width, double speed) const
 Moves the gripper fingers to a specified width. More...
 
bool stop () const
 Stops a currently running gripper move or grasp. More...
 
GripperState readOnce () const
 Waits for a gripper state update and returns it. More...
 
ServerVersion serverVersion () const noexcept
 Returns the software version reported by the connected server. More...
 
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Detailed Description

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Maintains a network connection to the gripper, provides the current gripper state, and allows the execution of commands.

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Note
The members of this class are threadsafe.
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Examples:
grasp_object.cpp.
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Constructor & Destructor Documentation

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◆ Gripper() [1/2]

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franka::Gripper::Gripper (const std::string & franka_address)
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Establishes a connection with a gripper connected to a robot.

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[in]franka_addressIP/hostname of the robot the gripper is connected to.
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NetworkExceptionif the connection is unsuccessful.
IncompatibleVersionExceptionif this version of libfranka is not supported.
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Move-constructs a new Gripper instance.

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Member Function Documentation

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◆ grasp()

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bool franka::Gripper::grasp (double width,
double speed,
double force,
double epsilon_inner = 0.005,
double epsilon_outer = 0.005 
) const
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Grasps an object.

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An object is considered grasped if the distance \(d\) between the gripper fingers satisfies \((\text{width} - \text{epsilon_inner}) < d < (\text{width} + \text{epsilon_outer})\).

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[in]widthSize of the object to grasp. [m]
[in]speedClosing speed. [m/s]
[in]forceGrasping force. [N]
[in]epsilon_innerMaximum tolerated deviation when the actual grasped width is smaller than the commanded grasp width.
[in]epsilon_outerMaximum tolerated deviation when the actual grasped width is larger than the commanded grasp width.
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True if an object has been grasped, false otherwise.
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CommandExceptionif an error occurred.
NetworkExceptionif the connection is lost, e.g. after a timeout.
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grasp_object.cpp.
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◆ homing()

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bool franka::Gripper::homing () const
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Performs homing of the gripper.

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After changing the gripper fingers, a homing needs to be done. This is needed to estimate the maximum grasping width.

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True if command was successful, false otherwise.
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CommandExceptionif an error occurred.
NetworkExceptionif the connection is lost, e.g. after a timeout.
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GripperState for the maximum grasping width.
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grasp_object.cpp.
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◆ move()

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bool franka::Gripper::move (double width,
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Moves the gripper fingers to a specified width.

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[in]widthIntended opening width. [m]
[in]speedClosing speed. [m/s]
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True if command was successful, false otherwise.
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CommandExceptionif an error occurred.
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◆ operator=()

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Gripper& franka::Gripper::operator= (Gripper && gripper)
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Move-assigns this Gripper from another Gripper instance.

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[in]gripperOther Gripper instance.
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Model instance.
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◆ readOnce()

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GripperState franka::Gripper::readOnce () const
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Waits for a gripper state update and returns it.

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Current gripper state.
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NetworkExceptionif the connection is lost, e.g. after a timeout.
InvalidOperationExceptionif another readOnce is already running.
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◆ serverVersion()

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ServerVersion franka::Gripper::serverVersion () const
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Returns the software version reported by the connected server.

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Software version of the connected server.
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◆ stop()

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bool franka::Gripper::stop () const
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Stops a currently running gripper move or grasp.

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True if command was successful, false otherwise.
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CommandExceptionif an error occurred.
NetworkExceptionif the connection is lost, e.g. after a timeout.
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grasp_object.cpp.
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JointPositions(const std::array< double, 7 > &joint_positions) noexceptfranka::JointPositions
JointPositions(std::initializer_list< double > joint_positions)franka::JointPositions
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Stores values for joint position motion generation. - More...

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-Public Member Functions

 JointPositions (const std::array< double, 7 > &joint_positions) noexcept
 Creates a new JointPositions instance. More...
 
 JointPositions (std::initializer_list< double > joint_positions)
 Creates a new JointPositions instance. More...
 
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-Public Attributes

-std::array< double, 7 > q {}
 Desired joint angles in [rad].
 
- Public Attributes inherited from franka::Finishable
-bool motion_finished = false
 Determines whether to finish a currently running motion.
 
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Detailed Description

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Stores values for joint position motion generation.

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Examples:
generate_joint_position_motion.cpp.
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Constructor & Destructor Documentation

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◆ JointPositions() [1/2]

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Creates a new JointPositions instance.

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[in]joint_positionsDesired joint angles in [rad].
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◆ JointPositions() [2/2]

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Creates a new JointPositions instance.

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[in]joint_positionsDesired joint angles in [rad].
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std::invalid_argumentif the given initializer list has an invalid number of arguments.
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franka::JointVelocities Member List
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This is the complete list of members for franka::JointVelocities, including all inherited members.

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dqfranka::JointVelocities
JointVelocities(const std::array< double, 7 > &joint_velocities) noexceptfranka::JointVelocities
JointVelocities(std::initializer_list< double > joint_velocities)franka::JointVelocities
motion_finishedfranka::Finishable
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-Public Member Functions | -Public Attributes | -List of all members
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franka::JointVelocities Class Reference
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Stores values for joint velocity motion generation. - More...

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#include <control_types.h>

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-Public Member Functions

 JointVelocities (const std::array< double, 7 > &joint_velocities) noexcept
 Creates a new JointVelocities instance. More...
 
 JointVelocities (std::initializer_list< double > joint_velocities)
 Creates a new JointVelocities instance. More...
 
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-Public Attributes

-std::array< double, 7 > dq {}
 Desired joint velocities in [rad/s].
 
- Public Attributes inherited from franka::Finishable
-bool motion_finished = false
 Determines whether to finish a currently running motion.
 
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Detailed Description

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Stores values for joint velocity motion generation.

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Examples:
generate_consecutive_motions.cpp, generate_joint_velocity_motion.cpp, and motion_with_control.cpp.
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Constructor & Destructor Documentation

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◆ JointVelocities() [1/2]

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franka::JointVelocities::JointVelocities (const std::array< double, 7 > & joint_velocities)
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Creates a new JointVelocities instance.

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[in]joint_velocitiesDesired joint velocities in [rad/s].
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◆ JointVelocities() [2/2]

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franka::JointVelocities::JointVelocities (std::initializer_list< double > joint_velocities)
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Creates a new JointVelocities instance.

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[in]joint_velocitiesDesired joint velocities in [rad/s].
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std::invalid_argumentif the given initializer list has an invalid number of arguments.
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franka::Model Member List
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This is the complete list of members for franka::Model, including all inherited members.

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bodyJacobian(Frame frame, const franka::RobotState &robot_state) constfranka::Model
bodyJacobian(Frame frame, const std::array< double, 7 > &q, const std::array< double, 16 > &F_T_EE, const std::array< double, 16 > &EE_T_K) constfranka::Model
coriolis(const franka::RobotState &robot_state) const noexceptfranka::Model
coriolis(const std::array< double, 7 > &q, const std::array< double, 7 > &dq, const std::array< double, 9 > &I_total, double m_total, const std::array< double, 3 > &F_x_Ctotal) const noexceptfranka::Model
gravity(const std::array< double, 7 > &q, double m_total, const std::array< double, 3 > &F_x_Ctotal, const std::array< double, 3 > &gravity_earth={{0., 0., -9.81}}) const noexceptfranka::Model
gravity(const franka::RobotState &robot_state, const std::array< double, 3 > &gravity_earth={ {0., 0., -9.81}}) const noexceptfranka::Model
mass(const franka::RobotState &robot_state) const noexceptfranka::Model
mass(const std::array< double, 7 > &q, const std::array< double, 9 > &I_total, double m_total, const std::array< double, 3 > &F_x_Ctotal) const noexceptfranka::Model
Model(franka::Network &network)franka::Modelexplicit
Model(Model &&model) noexceptfranka::Model
operator=(Model &&model) noexceptfranka::Model
pose(Frame frame, const franka::RobotState &robot_state) constfranka::Model
pose(Frame frame, const std::array< double, 7 > &q, const std::array< double, 16 > &F_T_EE, const std::array< double, 16 > &EE_T_K) constfranka::Model
zeroJacobian(Frame frame, const franka::RobotState &robot_state) constfranka::Model
zeroJacobian(Frame frame, const std::array< double, 7 > &q, const std::array< double, 16 > &F_T_EE, const std::array< double, 16 > &EE_T_K) constfranka::Model
~Model() noexceptfranka::Model
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franka::Model Class Reference
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Calculates poses of joints and dynamic properties of the robot. - More...

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#include <model.h>

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 Model (franka::Network &network)
 Creates a new Model instance. More...
 
 Model (Model &&model) noexcept
 Move-constructs a new Model instance. More...
 
Model & operator= (Model &&model) noexcept
 Move-assigns this Model from another Model instance. More...
 
- ~Model () noexcept
 Unloads the model library.
 
std::array< double, 16 > pose (Frame frame, const franka::RobotState &robot_state) const
 Gets the 4x4 pose matrix for the given frame in base frame. More...
 
std::array< double, 16 > pose (Frame frame, const std::array< double, 7 > &q, const std::array< double, 16 > &F_T_EE, const std::array< double, 16 > &EE_T_K) const
 Gets the 4x4 pose matrix for the given frame in base frame. More...
 
std::array< double, 42 > bodyJacobian (Frame frame, const franka::RobotState &robot_state) const
 Gets the 6x7 Jacobian for the given frame, relative to that frame. More...
 
std::array< double, 42 > bodyJacobian (Frame frame, const std::array< double, 7 > &q, const std::array< double, 16 > &F_T_EE, const std::array< double, 16 > &EE_T_K) const
 Gets the 6x7 Jacobian for the given frame, relative to that frame. More...
 
std::array< double, 42 > zeroJacobian (Frame frame, const franka::RobotState &robot_state) const
 Gets the 6x7 Jacobian for the given joint relative to the base frame. More...
 
std::array< double, 42 > zeroJacobian (Frame frame, const std::array< double, 7 > &q, const std::array< double, 16 > &F_T_EE, const std::array< double, 16 > &EE_T_K) const
 Gets the 6x7 Jacobian for the given joint relative to the base frame. More...
 
std::array< double, 49 > mass (const franka::RobotState &robot_state) const noexcept
 Calculates the 7x7 mass matrix. More...
 
std::array< double, 49 > mass (const std::array< double, 7 > &q, const std::array< double, 9 > &I_total, double m_total, const std::array< double, 3 > &F_x_Ctotal) const noexcept
 Calculates the 7x7 mass matrix. More...
 
std::array< double, 7 > coriolis (const franka::RobotState &robot_state) const noexcept
 Calculates the Coriolis force vector (state-space equation): \( c= C \times dq\), in \([Nm]\). More...
 
std::array< double, 7 > coriolis (const std::array< double, 7 > &q, const std::array< double, 7 > &dq, const std::array< double, 9 > &I_total, double m_total, const std::array< double, 3 > &F_x_Ctotal) const noexcept
 Calculates the Coriolis force vector (state-space equation): \( c= C \times dq\), in \([Nm]\). More...
 
std::array< double, 7 > gravity (const std::array< double, 7 > &q, double m_total, const std::array< double, 3 > &F_x_Ctotal, const std::array< double, 3 > &gravity_earth={{0., 0., -9.81}}) const noexcept
 Calculates the gravity vector. More...
 
std::array< double, 7 > gravity (const franka::RobotState &robot_state, const std::array< double, 3 > &gravity_earth={ {0., 0., -9.81}}) const noexcept
 Calculates the gravity vector. More...
 
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Detailed Description

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Calculates poses of joints and dynamic properties of the robot.

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Examples:
cartesian_impedance_control.cpp, force_control.cpp, joint_impedance_control.cpp, and print_joint_poses.cpp.
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Constructor & Destructor Documentation

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◆ Model() [1/2]

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franka::Model::Model (franka::Network & network)
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Creates a new Model instance.

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Robot::loadModel
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[in]networkFor internal use.
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ModelExceptionif the model library cannot be loaded.
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◆ Model() [2/2]

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Move-constructs a new Model instance.

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Member Function Documentation

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◆ bodyJacobian() [1/2]

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std::array<double, 42> franka::Model::bodyJacobian (Frame frame,
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Gets the 6x7 Jacobian for the given frame, relative to that frame.

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The Jacobian is represented as a 6x7 matrix in column-major format.

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[in]frameThe desired frame.
[in]robot_stateState from which the pose should be calculated.
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Vectorized 6x7 Jacobian, column-major.
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◆ bodyJacobian() [2/2]

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std::array<double, 42> franka::Model::bodyJacobian (Frame frame,
const std::array< double, 7 > & q,
const std::array< double, 16 > & F_T_EE,
const std::array< double, 16 > & EE_T_K 
) const
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Gets the 6x7 Jacobian for the given frame, relative to that frame.

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The Jacobian is represented as a 6x7 matrix in column-major format.

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[in]frameThe desired frame.
[in]qJoint position.
[in]F_T_EEEnd effector in flange frame.
[in]EE_T_KStiffness frame K in the end effector frame.
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Vectorized 6x7 Jacobian, column-major.
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◆ coriolis() [1/2]

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std::array<double, 7> franka::Model::coriolis (const franka::RobotState & robot_state) const
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Calculates the Coriolis force vector (state-space equation): \( c= C \times dq\), in \([Nm]\).

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[in]robot_stateState from which the Coriolis force vector should be calculated.
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Coriolis force vector.
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cartesian_impedance_control.cpp.
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std::array<double, 7> franka::Model::coriolis (const std::array< double, 7 > & q,
const std::array< double, 7 > & dq,
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double m_total,
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Calculates the Coriolis force vector (state-space equation): \( c= C \times dq\), in \([Nm]\).

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[in]qJoint position.
[in]dqJoint velocity.
[in]I_totalInertia of the attached total load including end effector, relative to center of mass, given as vectorized 3x3 column-major matrix. Unit: \([kg \times m^2]\).
[in]m_totalWeight of the attached total load including end effector. Unit: \([kg]\).
[in]F_x_CtotalTranslation from flange to center of mass of the attached total load. Unit: \([m]\).
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◆ gravity() [1/2]

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double m_total,
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Calculates the gravity vector.

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Unit: \([Nm]\).

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[in]qJoint position.
[in]m_totalWeight of the attached total load including end effector. Unit: \([kg]\).
[in]F_x_CtotalTranslation from flange to center of mass of the attached total load. Unit: \([m]\).
[in]gravity_earthEarth's gravity vector. Unit: \(\frac{m}{s^2}\). Default to {0.0, 0.0, -9.81}.
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std::array<double, 7> franka::Model::gravity (const franka::RobotState & robot_state,
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Calculates the gravity vector.

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Unit: \([Nm]\).

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[in]robot_stateState from which the gravity vector should be calculated.
[in]gravity_earthEarth's gravity vector. Unit: \(\frac{m}{s^2}\). Default to {0.0, 0.0, -9.81}.
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◆ mass() [1/2]

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std::array<double, 49> franka::Model::mass (const franka::RobotState & robot_state) const
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Calculates the 7x7 mass matrix.

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Unit: \([kg \times m^2]\).

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[in]robot_stateState from which the pose should be calculated.
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Calculates the 7x7 mass matrix.

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Unit: \([kg \times m^2]\).

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[in]qJoint position.
[in]I_totalInertia of the attached total load including end effector, relative to center of mass, given as vectorized 3x3 column-major matrix. Unit: \([kg \times m^2]\).
[in]m_totalWeight of the attached total load including end effector. Unit: \([kg]\).
[in]F_x_CtotalTranslation from flange to center of mass of the attached total load. Unit: \([m]\).
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Vectorized 7x7 mass matrix, column-major.
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Move-assigns this Model from another Model instance.

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◆ pose() [1/2]

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Gets the 4x4 pose matrix for the given frame in base frame.

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The pose is represented as a 4x4 matrix in column-major format.

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[in]frameThe desired frame.
[in]robot_stateState from which the pose should be calculated.
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print_joint_poses.cpp.
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std::array<double, 16> franka::Model::pose (Frame frame,
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const std::array< double, 16 > & F_T_EE,
const std::array< double, 16 > & EE_T_K 
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Gets the 4x4 pose matrix for the given frame in base frame.

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The pose is represented as a 4x4 matrix in column-major format.

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[in]frameThe desired frame.
[in]qJoint position.
[in]F_T_EEEnd effector in flange frame.
[in]EE_T_KStiffness frame K in the end effector frame.
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Vectorized 4x4 pose matrix, column-major.
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◆ zeroJacobian() [1/2]

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std::array<double, 42> franka::Model::zeroJacobian (Frame frame,
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Gets the 6x7 Jacobian for the given joint relative to the base frame.

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The Jacobian is represented as a 6x7 matrix in column-major format.

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[in]frameThe desired frame.
[in]robot_stateState from which the pose should be calculated.
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Vectorized 6x7 Jacobian, column-major.
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std::array<double, 42> franka::Model::zeroJacobian (Frame frame,
const std::array< double, 7 > & q,
const std::array< double, 16 > & F_T_EE,
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) const
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Gets the 6x7 Jacobian for the given joint relative to the base frame.

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The Jacobian is represented as a 6x7 matrix in column-major format.

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[in]frameThe desired frame.
[in]qJoint position.
[in]F_T_EEEnd effector in flange frame.
[in]EE_T_KStiffness frame K in the end effector frame.
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franka::Robot Member List
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This is the complete list of members for franka::Robot, including all inherited members.

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automaticErrorRecovery()franka::Robot
control(std::function< Torques(const RobotState &, franka::Duration)> control_callback, bool limit_rate=true, double cutoff_frequency=kDefaultCutoffFrequency)franka::Robot
control(std::function< Torques(const RobotState &, franka::Duration)> control_callback, std::function< JointPositions(const RobotState &, franka::Duration)> motion_generator_callback, bool limit_rate=true, double cutoff_frequency=kDefaultCutoffFrequency)franka::Robot
control(std::function< Torques(const RobotState &, franka::Duration)> control_callback, std::function< JointVelocities(const RobotState &, franka::Duration)> motion_generator_callback, bool limit_rate=true, double cutoff_frequency=kDefaultCutoffFrequency)franka::Robot
control(std::function< Torques(const RobotState &, franka::Duration)> control_callback, std::function< CartesianPose(const RobotState &, franka::Duration)> motion_generator_callback, bool limit_rate=true, double cutoff_frequency=kDefaultCutoffFrequency)franka::Robot
control(std::function< Torques(const RobotState &, franka::Duration)> control_callback, std::function< CartesianVelocities(const RobotState &, franka::Duration)> motion_generator_callback, bool limit_rate=true, double cutoff_frequency=kDefaultCutoffFrequency)franka::Robot
control(std::function< JointPositions(const RobotState &, franka::Duration)> motion_generator_callback, ControllerMode controller_mode=ControllerMode::kJointImpedance, bool limit_rate=true, double cutoff_frequency=kDefaultCutoffFrequency)franka::Robot
control(std::function< JointVelocities(const RobotState &, franka::Duration)> motion_generator_callback, ControllerMode controller_mode=ControllerMode::kJointImpedance, bool limit_rate=true, double cutoff_frequency=kDefaultCutoffFrequency)franka::Robot
control(std::function< CartesianPose(const RobotState &, franka::Duration)> motion_generator_callback, ControllerMode controller_mode=ControllerMode::kJointImpedance, bool limit_rate=true, double cutoff_frequency=kDefaultCutoffFrequency)franka::Robot
control(std::function< CartesianVelocities(const RobotState &, franka::Duration)> motion_generator_callback, ControllerMode controller_mode=ControllerMode::kJointImpedance, bool limit_rate=true, double cutoff_frequency=kDefaultCutoffFrequency)franka::Robot
getVirtualWall(int32_t id)franka::Robot
loadModel()franka::Robot
operator=(Robot &&other) noexceptfranka::Robot
read(std::function< bool(const RobotState &)> read_callback)franka::Robot
readOnce()franka::Robot
Robot(const std::string &franka_address, RealtimeConfig realtime_config=RealtimeConfig::kEnforce, size_t log_size=50)franka::Robotexplicit
Robot(Robot &&other) noexceptfranka::Robot
ServerVersion typedeffranka::Robot
serverVersion() const noexceptfranka::Robot
setCartesianImpedance(const std::array< double, 6 > &K_x)franka::Robot
setCollisionBehavior(const std::array< double, 7 > &lower_torque_thresholds_acceleration, const std::array< double, 7 > &upper_torque_thresholds_acceleration, const std::array< double, 7 > &lower_torque_thresholds_nominal, const std::array< double, 7 > &upper_torque_thresholds_nominal, const std::array< double, 6 > &lower_force_thresholds_acceleration, const std::array< double, 6 > &upper_force_thresholds_acceleration, const std::array< double, 6 > &lower_force_thresholds_nominal, const std::array< double, 6 > &upper_force_thresholds_nominal)franka::Robot
setCollisionBehavior(const std::array< double, 7 > &lower_torque_thresholds, const std::array< double, 7 > &upper_torque_thresholds, const std::array< double, 6 > &lower_force_thresholds, const std::array< double, 6 > &upper_force_thresholds)franka::Robot
setEE(const std::array< double, 16 > &NE_T_EE)franka::Robot
setFilters(double joint_position_filter_frequency, double joint_velocity_filter_frequency, double cartesian_position_filter_frequency, double cartesian_velocity_filter_frequency, double controller_filter_frequency)franka::Robot
setGuidingMode(const std::array< bool, 6 > &guiding_mode, bool elbow)franka::Robot
setJointImpedance(const std::array< double, 7 > &K_theta)franka::Robot
setK(const std::array< double, 16 > &EE_T_K)franka::Robot
setLoad(double load_mass, const std::array< double, 3 > &F_x_Cload, const std::array< double, 9 > &load_inertia)franka::Robot
stop()franka::Robot
~Robot() noexceptfranka::Robot
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franka::Robot Class Reference
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Maintains a network connection to the robot, provides the current robot state, gives access to the model library and allows to control the robot. - More...

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#include <robot.h>

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-Public Types

-using ServerVersion = uint16_t
 Version of the robot server.
 
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 Robot (const std::string &franka_address, RealtimeConfig realtime_config=RealtimeConfig::kEnforce, size_t log_size=50)
 Establishes a connection with the robot. More...
 
 Robot (Robot &&other) noexcept
 Move-constructs a new Robot instance. More...
 
Robot & operator= (Robot &&other) noexcept
 Move-assigns this Robot from another Robot instance. More...
 
- ~Robot () noexcept
 Closes the connection.
 
void read (std::function< bool(const RobotState &)> read_callback)
 Starts a loop for reading the current robot state. More...
 
RobotState readOnce ()
 Waits for a robot state update and returns it. More...
 
Model loadModel ()
 Loads the model library from the robot. More...
 
ServerVersion serverVersion () const noexcept
 Returns the software version reported by the connected server. More...
 
Motion generation and joint-level torque commands

The following methods allow to perform motion generation and/or send joint-level torque commands without gravity and friction by providing callback functions.

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Only one of these methods can be active at the same time; a franka::ControlException is thrown otherwise.

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When a robot state is received, the callback function is used to calculate the response: the desired values for that time step. After sending back the response, the callback function will be called again with the most recently received robot state. Since the robot is controlled with a 1 kHz frequency, the callback functions have to compute their result in a short time frame in order to be accepted. Callback functions take two parameters:

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  • A franka::RobotState showing the current robot state.
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The following incomplete example shows the general structure of a callback function:

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double time = 0.0;
auto control_callback = [&time](const franka::RobotState& robot_state,
franka::Duration time_step) -> franka::JointPositions {
time += time_step.toSec(); // Update time at the beginning of the callback.
franka::JointPositions output = getJointPositions(time);
if (time >= max_time) {
// Return MotionFinished at the end of the trajectory.
return franka::MotionFinished(output);
}
return output;
}
void control (std::function< Torques(const RobotState &, franka::Duration)> control_callback, bool limit_rate=true, double cutoff_frequency=kDefaultCutoffFrequency)
 Starts a control loop for sending joint-level torque commands. More...
 
void control (std::function< Torques(const RobotState &, franka::Duration)> control_callback, std::function< JointPositions(const RobotState &, franka::Duration)> motion_generator_callback, bool limit_rate=true, double cutoff_frequency=kDefaultCutoffFrequency)
 Starts a control loop for sending joint-level torque commands and joint positions. More...
 
void control (std::function< Torques(const RobotState &, franka::Duration)> control_callback, std::function< JointVelocities(const RobotState &, franka::Duration)> motion_generator_callback, bool limit_rate=true, double cutoff_frequency=kDefaultCutoffFrequency)
 Starts a control loop for sending joint-level torque commands and joint velocities. More...
 
void control (std::function< Torques(const RobotState &, franka::Duration)> control_callback, std::function< CartesianPose(const RobotState &, franka::Duration)> motion_generator_callback, bool limit_rate=true, double cutoff_frequency=kDefaultCutoffFrequency)
 Starts a control loop for sending joint-level torque commands and Cartesian poses. More...
 
void control (std::function< Torques(const RobotState &, franka::Duration)> control_callback, std::function< CartesianVelocities(const RobotState &, franka::Duration)> motion_generator_callback, bool limit_rate=true, double cutoff_frequency=kDefaultCutoffFrequency)
 Starts a control loop for sending joint-level torque commands and Cartesian velocities. More...
 
void control (std::function< JointPositions(const RobotState &, franka::Duration)> motion_generator_callback, ControllerMode controller_mode=ControllerMode::kJointImpedance, bool limit_rate=true, double cutoff_frequency=kDefaultCutoffFrequency)
 Starts a control loop for a joint position motion generator with a given controller mode. More...
 
void control (std::function< JointVelocities(const RobotState &, franka::Duration)> motion_generator_callback, ControllerMode controller_mode=ControllerMode::kJointImpedance, bool limit_rate=true, double cutoff_frequency=kDefaultCutoffFrequency)
 Starts a control loop for a joint velocity motion generator with a given controller mode. More...
 
void control (std::function< CartesianPose(const RobotState &, franka::Duration)> motion_generator_callback, ControllerMode controller_mode=ControllerMode::kJointImpedance, bool limit_rate=true, double cutoff_frequency=kDefaultCutoffFrequency)
 Starts a control loop for a Cartesian pose motion generator with a given controller mode. More...
 
void control (std::function< CartesianVelocities(const RobotState &, franka::Duration)> motion_generator_callback, ControllerMode controller_mode=ControllerMode::kJointImpedance, bool limit_rate=true, double cutoff_frequency=kDefaultCutoffFrequency)
 Starts a control loop for a Cartesian velocity motion generator with a given controller mode. More...
 
Commands

Commands are executed by communicating with the robot over the network.

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These functions should therefore not be called from within control or motion generator loops.

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VirtualWallCuboid getVirtualWall (int32_t id)
 Returns the parameters of a virtual wall. More...
 
void setCollisionBehavior (const std::array< double, 7 > &lower_torque_thresholds_acceleration, const std::array< double, 7 > &upper_torque_thresholds_acceleration, const std::array< double, 7 > &lower_torque_thresholds_nominal, const std::array< double, 7 > &upper_torque_thresholds_nominal, const std::array< double, 6 > &lower_force_thresholds_acceleration, const std::array< double, 6 > &upper_force_thresholds_acceleration, const std::array< double, 6 > &lower_force_thresholds_nominal, const std::array< double, 6 > &upper_force_thresholds_nominal)
 Changes the collision behavior. More...
 
void setCollisionBehavior (const std::array< double, 7 > &lower_torque_thresholds, const std::array< double, 7 > &upper_torque_thresholds, const std::array< double, 6 > &lower_force_thresholds, const std::array< double, 6 > &upper_force_thresholds)
 Changes the collision behavior. More...
 
void setJointImpedance (const std::array< double, 7 > &K_theta)
 Sets the impedance for each joint in the internal controller. More...
 
void setCartesianImpedance (const std::array< double, 6 > &K_x)
 Sets the Cartesian impedance for (x, y, z, roll, pitch, yaw) in the internal controller. More...
 
void setGuidingMode (const std::array< bool, 6 > &guiding_mode, bool elbow)
 Locks or unlocks guiding mode movement in (x, y, z, roll, pitch, yaw). More...
 
void setK (const std::array< double, 16 > &EE_T_K)
 Sets the transformation \(^{EE}T_K\) from end effector frame to stiffness frame. More...
 
void setEE (const std::array< double, 16 > &NE_T_EE)
 Sets the transformation \(^{NE}T_{EE}\) from nominal end effector to end effector frame. More...
 
void setLoad (double load_mass, const std::array< double, 3 > &F_x_Cload, const std::array< double, 9 > &load_inertia)
 Sets dynamic parameters of a payload. More...
 
void setFilters (double joint_position_filter_frequency, double joint_velocity_filter_frequency, double cartesian_position_filter_frequency, double cartesian_velocity_filter_frequency, double controller_filter_frequency)
 Sets the cut off frequency for the given motion generator or controller. More...
 
void automaticErrorRecovery ()
 Runs automatic error recovery on the robot. More...
 
void stop ()
 Stops all currently running motions. More...
 
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Detailed Description

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Maintains a network connection to the robot, provides the current robot state, gives access to the model library and allows to control the robot.

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Note
The members of this class are threadsafe.
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Nominal end effector frame NE
The nominal end effector frame is configured outside of libfranka and cannot be changed here.
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End effector frame EE
By default, the end effector frame EE is the same as the nominal end effector frame NE (i.e. the transformation between NE and EE is the identity transformation). With Robot::setEE, a custom transformation matrix can be set.
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Stiffness frame K
The stiffness frame is used for Cartesian impedance control, and for measuring and applying forces. It can be set with Robot::setK.
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Examples:
cartesian_impedance_control.cpp, communication_test.cpp, echo_robot_state.cpp, force_control.cpp, generate_cartesian_pose_motion.cpp, generate_cartesian_velocity_motion.cpp, generate_consecutive_motions.cpp, generate_elbow_motion.cpp, generate_joint_position_motion.cpp, generate_joint_velocity_motion.cpp, joint_impedance_control.cpp, joint_point_to_point_motion.cpp, motion_with_control.cpp, and print_joint_poses.cpp.
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Constructor & Destructor Documentation

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◆ Robot() [1/2]

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Establishes a connection with the robot.

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[in]franka_addressIP/hostname of the robot.
[in]realtime_configif set to Enforce, an exception will be thrown if realtime priority cannot be set when required. Setting realtime_config to Ignore disables this behavior.
[in]log_sizesets how many last states should be kept for logging purposes. The log is provided when a ControlException is thrown.
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NetworkExceptionif the connection is unsuccessful.
IncompatibleVersionExceptionif this version of libfranka is not supported.
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Member Function Documentation

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◆ automaticErrorRecovery()

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void franka::Robot::automaticErrorRecovery ()
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Runs automatic error recovery on the robot.

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Automatic error recovery e.g. resets the robot after a collision occurred.

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Exceptions
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CommandExceptionif the Control reports an error.
NetworkExceptionif the connection is lost, e.g. after a timeout.
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Examples:
generate_consecutive_motions.cpp.
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◆ control() [1/9]

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void franka::Robot::control (std::function< Torques(const RobotState &, franka::Duration)> control_callback,
bool limit_rate = true,
double cutoff_frequency = kDefaultCutoffFrequency 
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Starts a control loop for sending joint-level torque commands.

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Sets realtime priority for the current thread. Cannot be executed while another control or motion generator loop is active.

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Parameters
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[in]control_callbackCallback function providing joint-level torque commands. See here for more details.
[in]limit_rateTrue if rate limiting should be activated. True by default. This could distort your motion!
[in]cutoff_frequencyCutoff frequency for a first order low-pass filter applied on the user commanded signal. Set to franka::kMaxCutoffFrequency to disable.
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Exceptions
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ControlExceptionif an error related to torque control or motion generation occurred.
InvalidOperationExceptionif a conflicting operation is already running.
NetworkExceptionif the connection is lost, e.g. after a timeout.
RealtimeExceptionif realtime priority cannot be set for the current thread.
std::invalid_argumentif joint-level torque commands are NaN or infinity.
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See also
Robot::Robot to change behavior if realtime priority cannot be set.
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Examples:
cartesian_impedance_control.cpp, communication_test.cpp, force_control.cpp, generate_cartesian_pose_motion.cpp, generate_cartesian_velocity_motion.cpp, generate_consecutive_motions.cpp, generate_elbow_motion.cpp, generate_joint_position_motion.cpp, generate_joint_velocity_motion.cpp, joint_impedance_control.cpp, joint_point_to_point_motion.cpp, and motion_with_control.cpp.
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◆ control() [2/9]

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void franka::Robot::control (std::function< Torques(const RobotState &, franka::Duration)> control_callback,
std::function< JointPositions(const RobotState &, franka::Duration)> motion_generator_callback,
bool limit_rate = true,
double cutoff_frequency = kDefaultCutoffFrequency 
)
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Starts a control loop for sending joint-level torque commands and joint positions.

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Sets realtime priority for the current thread. Cannot be executed while another control or motion generator loop is active.

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Parameters
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[in]control_callbackCallback function providing joint-level torque commands. See here for more details.
[in]motion_generator_callbackCallback function for motion generation. See here for more details.
[in]limit_rateTrue if rate limiting should be activated. True by default. This could distort your motion!
[in]cutoff_frequencyCutoff frequency for a first order low-pass filter applied on the user commanded signal. Set to franka::kMaxCutoffFrequency to disable.
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Exceptions
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ControlExceptionif an error related to torque control or motion generation occurred.
InvalidOperationExceptionif a conflicting operation is already running.
NetworkExceptionif the connection is lost, e.g. after a timeout.
RealtimeExceptionif realtime priority cannot be set for the current thread.
std::invalid_argumentif joint-level torque or joint position commands are NaN or infinity.
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See also
Robot::Robot to change behavior if realtime priority cannot be set.
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◆ control() [3/9]

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void franka::Robot::control (std::function< Torques(const RobotState &, franka::Duration)> control_callback,
std::function< JointVelocities(const RobotState &, franka::Duration)> motion_generator_callback,
bool limit_rate = true,
double cutoff_frequency = kDefaultCutoffFrequency 
)
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Starts a control loop for sending joint-level torque commands and joint velocities.

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Sets realtime priority for the current thread. Cannot be executed while another control or motion generator loop is active.

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Parameters
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[in]control_callbackCallback function providing joint-level torque commands. See here for more details.
[in]motion_generator_callbackCallback function for motion generation. See here for more details.
[in]limit_rateTrue if rate limiting should be activated. True by default. This could distort your motion!
[in]cutoff_frequencyCutoff frequency for a first order low-pass filter applied on the user commanded signal. Set to franka::kMaxCutoffFrequency to disable.
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Exceptions
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ControlExceptionif an error related to torque control or motion generation occurred.
InvalidOperationExceptionif a conflicting operation is already running.
NetworkExceptionif the connection is lost, e.g. after a timeout.
RealtimeExceptionif realtime priority cannot be set for the current thread.
std::invalid_argumentif joint-level torque or joint velocitiy commands are NaN or infinity.
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See also
Robot::Robot to change behavior if realtime priority cannot be set.
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◆ control() [4/9]

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void franka::Robot::control (std::function< Torques(const RobotState &, franka::Duration)> control_callback,
std::function< CartesianPose(const RobotState &, franka::Duration)> motion_generator_callback,
bool limit_rate = true,
double cutoff_frequency = kDefaultCutoffFrequency 
)
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Starts a control loop for sending joint-level torque commands and Cartesian poses.

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Sets realtime priority for the current thread. Cannot be executed while another control or motion generator loop is active.

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Parameters
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[in]control_callbackCallback function providing joint-level torque commands. See here for more details.
[in]motion_generator_callbackCallback function for motion generation. See here for more details.
[in]limit_rateTrue if rate limiting should be activated. True by default. This could distort your motion!
[in]cutoff_frequencyCutoff frequency for a first order low-pass filter applied on the user commanded signal. Set to franka::kMaxCutoffFrequency to disable.
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Exceptions
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ControlExceptionif an error related to torque control or motion generation occurred.
InvalidOperationExceptionif a conflicting operation is already running.
NetworkExceptionif the connection is lost, e.g. after a timeout.
RealtimeExceptionif realtime priority cannot be set for the current thread.
std::invalid_argumentif joint-level torque or Cartesian pose command elements are NaN or infinity.
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See also
Robot::Robot to change behavior if realtime priority cannot be set.
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◆ control() [5/9]

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void franka::Robot::control (std::function< Torques(const RobotState &, franka::Duration)> control_callback,
std::function< CartesianVelocities(const RobotState &, franka::Duration)> motion_generator_callback,
bool limit_rate = true,
double cutoff_frequency = kDefaultCutoffFrequency 
)
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Starts a control loop for sending joint-level torque commands and Cartesian velocities.

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Sets realtime priority for the current thread. Cannot be executed while another control or motion generator loop is active.

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Parameters
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[in]control_callbackCallback function providing joint-level torque commands. See here for more details.
[in]motion_generator_callbackCallback function for motion generation. See here for more details.
[in]limit_rateTrue if rate limiting should be activated. True by default. This could distort your motion!
[in]cutoff_frequencyCutoff frequency for a first order low-pass filter applied on the user commanded signal. Set to franka::kMaxCutoffFrequency to disable.
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Exceptions
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ControlExceptionif an error related to torque control or motion generation occurred.
InvalidOperationExceptionif a conflicting operation is already running.
NetworkExceptionif the connection is lost, e.g. after a timeout.
RealtimeExceptionif realtime priority cannot be set for the current thread.
std::invalid_argumentif joint-level torque or Cartesian velocity command elements are NaN or infinity.
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See also
Robot::Robot to change behavior if realtime priority cannot be set.
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◆ control() [6/9]

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void franka::Robot::control (std::function< JointPositions(const RobotState &, franka::Duration)> motion_generator_callback,
ControllerMode controller_mode = ControllerMode::kJointImpedance,
bool limit_rate = true,
double cutoff_frequency = kDefaultCutoffFrequency 
)
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Starts a control loop for a joint position motion generator with a given controller mode.

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Sets realtime priority for the current thread. Cannot be executed while another control or motion generator loop is active.

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Parameters
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[in]motion_generator_callbackCallback function for motion generation. See here for more details.
[in]controller_modeController to use to execute the motion.
[in]limit_rateTrue if rate limiting should be activated. True by default. This could distort your motion!
[in]cutoff_frequencyCutoff frequency for a first order low-pass filter applied on the user commanded signal. Set to franka::kMaxCutoffFrequency to disable.
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Exceptions
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ControlExceptionif an error related to motion generation occurred.
InvalidOperationExceptionif a conflicting operation is already running.
NetworkExceptionif the connection is lost, e.g. after a timeout.
RealtimeExceptionif realtime priority cannot be set for the current thread.
std::invalid_argumentif joint position commands are NaN or infinity.
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See also
Robot::Robot to change behavior if realtime priority cannot be set.
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◆ control() [7/9]

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void franka::Robot::control (std::function< JointVelocities(const RobotState &, franka::Duration)> motion_generator_callback,
ControllerMode controller_mode = ControllerMode::kJointImpedance,
bool limit_rate = true,
double cutoff_frequency = kDefaultCutoffFrequency 
)
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Starts a control loop for a joint velocity motion generator with a given controller mode.

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Sets realtime priority for the current thread. Cannot be executed while another control or motion generator loop is active.

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Parameters
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[in]motion_generator_callbackCallback function for motion generation. See here for more details.
[in]controller_modeController to use to execute the motion.
[in]limit_rateTrue if rate limiting should be activated. True by default. This could distort your motion!
[in]cutoff_frequencyCutoff frequency for a first order low-pass filter applied on the user commanded signal. Set to franka::kMaxCutoffFrequency to disable.
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Exceptions
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ControlExceptionif an error related to motion generation occurred.
InvalidOperationExceptionif a conflicting operation is already running.
NetworkExceptionif the connection is lost, e.g. after a timeout.
RealtimeExceptionif realtime priority cannot be set for the current thread.
std::invalid_argumentif joint velocity commands are NaN or infinity.
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See also
Robot::Robot to change behavior if realtime priority cannot be set.
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◆ control() [8/9]

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void franka::Robot::control (std::function< CartesianPose(const RobotState &, franka::Duration)> motion_generator_callback,
ControllerMode controller_mode = ControllerMode::kJointImpedance,
bool limit_rate = true,
double cutoff_frequency = kDefaultCutoffFrequency 
)
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Starts a control loop for a Cartesian pose motion generator with a given controller mode.

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Sets realtime priority for the current thread. Cannot be executed while another control or motion generator loop is active.

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Parameters
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[in]motion_generator_callbackCallback function for motion generation. See here for more details.
[in]controller_modeController to use to execute the motion.
[in]limit_rateTrue if rate limiting should be activated. True by default. This could distort your motion!
[in]cutoff_frequencyCutoff frequency for a first order low-pass filter applied on the user commanded signal. Set to franka::kMaxCutoffFrequency to disable.
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Exceptions
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ControlExceptionif an error related to motion generation occurred.
InvalidOperationExceptionif a conflicting operation is already running.
NetworkExceptionif the connection is lost, e.g. after a timeout.
RealtimeExceptionif realtime priority cannot be set for the current thread.
std::invalid_argumentif Cartesian pose command elements are NaN or infinity.
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See also
Robot::Robot to change behavior if realtime priority cannot be set.
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◆ control() [9/9]

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void franka::Robot::control (std::function< CartesianVelocities(const RobotState &, franka::Duration)> motion_generator_callback,
ControllerMode controller_mode = ControllerMode::kJointImpedance,
bool limit_rate = true,
double cutoff_frequency = kDefaultCutoffFrequency 
)
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Starts a control loop for a Cartesian velocity motion generator with a given controller mode.

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Sets realtime priority for the current thread. Cannot be executed while another control or motion generator loop is active.

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Parameters
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[in]motion_generator_callbackCallback function for motion generation. See here for more details.
[in]controller_modeController to use to execute the motion.
[in]limit_rateTrue if rate limiting should be activated. True by default. This could distort your motion!
[in]cutoff_frequencyCutoff frequency for a first order low-pass filter applied on the user commanded signal. Set to franka::kMaxCutoffFrequency to disable.
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Exceptions
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ControlExceptionif an error related to motion generation occurred.
InvalidOperationExceptionif a conflicting operation is already running.
NetworkExceptionif the connection is lost, e.g. after a timeout.
RealtimeExceptionif realtime priority cannot be set for the current thread.
std::invalid_argumentif Cartesian velocity command elements are NaN or infinity.
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See also
Robot::Robot to change behavior if realtime priority cannot be set.
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◆ getVirtualWall()

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VirtualWallCuboid franka::Robot::getVirtualWall (int32_t id)
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Returns the parameters of a virtual wall.

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Parameters
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[in]idID of the virtual wall.
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Returns
Parameters of virtual wall.
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Exceptions
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CommandExceptionif the Control reports an error.
NetworkExceptionif the connection is lost, e.g. after a timeout.
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◆ loadModel()

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Model franka::Robot::loadModel ()
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Loads the model library from the robot.

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Returns
Model instance.
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Exceptions
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ModelExceptionif the model library cannot be loaded.
NetworkExceptionif the connection is lost, e.g. after a timeout.
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Examples:
cartesian_impedance_control.cpp, force_control.cpp, joint_impedance_control.cpp, and print_joint_poses.cpp.
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◆ operator=()

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Robot& franka::Robot::operator= (Robot && other)
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Move-assigns this Robot from another Robot instance.

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[in]otherOther Robot instance.
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Returns
Robot instance.
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◆ read()

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void franka::Robot::read (std::function< bool(const RobotState &)> read_callback)
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Starts a loop for reading the current robot state.

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Cannot be executed while a control or motion generator loop is running.

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This minimal example will print the robot state 100 times:

franka::Robot robot("robot.franka.de");
size_t count = 0;
robot.read([&count](const franka::RobotState& robot_state) {
std::cout << robot_state << std::endl;
return count++ < 100;
});
Parameters
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[in]read_callbackCallback function for robot state reading.
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InvalidOperationExceptionif a conflicting operation is already running.
NetworkExceptionif the connection is lost, e.g. after a timeout.
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Examples:
echo_robot_state.cpp.
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◆ readOnce()

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RobotState franka::Robot::readOnce ()
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Waits for a robot state update and returns it.

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Cannot be executed while a control or motion generator loop is running.

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Returns
Current robot state.
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Exceptions
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InvalidOperationExceptionif a conflicting operation is already running.
NetworkExceptionif the connection is lost, e.g. after a timeout.
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Robot::read for a way to repeatedly receive the robot state.
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Examples:
cartesian_impedance_control.cpp, force_control.cpp, and print_joint_poses.cpp.
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◆ serverVersion()

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ServerVersion franka::Robot::serverVersion () const
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Returns the software version reported by the connected server.

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Software version of the connected server.
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◆ setCartesianImpedance()

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void franka::Robot::setCartesianImpedance (const std::array< double, 6 > & K_x)
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Sets the Cartesian impedance for (x, y, z, roll, pitch, yaw) in the internal controller.

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User-provided torques are not affected by this setting.

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Parameters
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[in]K_xCartesian impedance values \(K_x=(x \in [10,3000] \frac{N}{m}, y \in [10,3000] \frac{N}{m}, z \in [10,3000] \frac{N}{m}, R \in [1,300] \frac{Nm}{rad}, P \in [1,300] \frac{Nm}{rad}, Y \in [1,300] \frac{Nm}{rad})\)
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CommandExceptionif the Control reports an error.
NetworkExceptionif the connection is lost, e.g. after a timeout.
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◆ setCollisionBehavior() [1/2]

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void franka::Robot::setCollisionBehavior (const std::array< double, 7 > & lower_torque_thresholds_acceleration,
const std::array< double, 7 > & upper_torque_thresholds_acceleration,
const std::array< double, 7 > & lower_torque_thresholds_nominal,
const std::array< double, 7 > & upper_torque_thresholds_nominal,
const std::array< double, 6 > & lower_force_thresholds_acceleration,
const std::array< double, 6 > & upper_force_thresholds_acceleration,
const std::array< double, 6 > & lower_force_thresholds_nominal,
const std::array< double, 6 > & upper_force_thresholds_nominal 
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Changes the collision behavior.

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Set separate torque and force boundaries for acceleration/deceleration and constant velocity movement phases.

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Forces or torques between lower and upper threshold are shown as contacts in the RobotState. Forces or torques above the upper threshold are registered as collision and cause the robot to stop moving.

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[in]lower_torque_thresholds_accelerationContact torque thresholds during acceleration/deceleration for each joint in \([Nm]\).
[in]upper_torque_thresholds_accelerationCollision torque thresholds during acceleration/deceleration for each joint in \([Nm]\).
[in]lower_torque_thresholds_nominalContact torque thresholds for each joint in \([Nm]\).
[in]upper_torque_thresholds_nominalCollision torque thresholds for each joint in \([Nm]\).
[in]lower_force_thresholds_accelerationContact force thresholds during acceleration/deceleration for \((x,y,z,R,P,Y)\) in \([N]\).
[in]upper_force_thresholds_accelerationCollision force thresholds during acceleration/deceleration for \((x,y,z,R,P,Y)\) in \([N]\).
[in]lower_force_thresholds_nominalContact force thresholds for \((x,y,z,R,P,Y)\) in \([N]\).
[in]upper_force_thresholds_nominalCollision force thresholds for \((x,y,z,R,P,Y)\) in \([N]\).
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CommandExceptionif the Control reports an error.
NetworkExceptionif the connection is lost, e.g. after a timeout.
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See also
RobotState::cartesian_contact
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Examples:
cartesian_impedance_control.cpp, communication_test.cpp, force_control.cpp, generate_cartesian_pose_motion.cpp, generate_cartesian_velocity_motion.cpp, generate_consecutive_motions.cpp, generate_elbow_motion.cpp, generate_joint_position_motion.cpp, generate_joint_velocity_motion.cpp, joint_impedance_control.cpp, joint_point_to_point_motion.cpp, and motion_with_control.cpp.
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◆ setCollisionBehavior() [2/2]

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void franka::Robot::setCollisionBehavior (const std::array< double, 7 > & lower_torque_thresholds,
const std::array< double, 7 > & upper_torque_thresholds,
const std::array< double, 6 > & lower_force_thresholds,
const std::array< double, 6 > & upper_force_thresholds 
)
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Changes the collision behavior.

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Set common torque and force boundaries for acceleration/deceleration and constant velocity movement phases.

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Forces or torques between lower and upper threshold are shown as contacts in the RobotState. Forces or torques above the upper threshold are registered as collision and cause the robot to stop moving.

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Parameters
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[in]lower_torque_thresholdsContact torque thresholds for each joint in \([Nm]\).
[in]upper_torque_thresholdsCollision torque thresholds for each joint in \([Nm]\).
[in]lower_force_thresholdsContact force thresholds for \((x,y,z,R,P,Y)\) in \([N]\).
[in]upper_force_thresholdsCollision force thresholds for \((x,y,z,R,P,Y)\) in \([N]\).
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CommandExceptionif the Control reports an error.
NetworkExceptionif the connection is lost, e.g. after a timeout.
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See also
RobotState::cartesian_contact
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◆ setEE()

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void franka::Robot::setEE (const std::array< double, 16 > & NE_T_EE)
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Sets the transformation \(^{NE}T_{EE}\) from nominal end effector to end effector frame.

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The transformation matrix is represented as a vectorized 4x4 matrix in column-major format.

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Parameters
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[in]NE_T_EEVectorized NE-to-EE transformation matrix \(^{NE}T_{EE}\), column-major.
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CommandExceptionif the Control reports an error.
NetworkExceptionif the connection is lost, e.g. after a timeout.
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See also
RobotState::NE_T_EE for end effector pose in nominal end effector frame.
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-Robot for an explanation of the NE and EE frames.
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◆ setFilters()

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void franka::Robot::setFilters (double joint_position_filter_frequency,
double joint_velocity_filter_frequency,
double cartesian_position_filter_frequency,
double cartesian_velocity_filter_frequency,
double controller_filter_frequency 
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Sets the cut off frequency for the given motion generator or controller.

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Deprecated:
Use franka::lowpassFilter() instead.
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Allowed input range for all the filters is between 1.0 Hz and 1000.0 Hz. If the value is set to maximum (1000Hz) then no filtering is done.

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Parameters
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[in]joint_position_filter_frequencyFrequency at which the commanded joint position is cut off.
[in]joint_velocity_filter_frequencyFrequency at which the commanded joint velocity is cut off.
[in]cartesian_position_filter_frequencyFrequency at which the commanded Cartesian position is cut off.
[in]cartesian_velocity_filter_frequencyFrequency at which the commanded Cartesian velocity is cut off.
[in]controller_filter_frequencyFrequency at which the commanded torque is cut off.
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CommandExceptionif the Control reports an error.
NetworkExceptionif the connection is lost, e.g. after a timeout.
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◆ setGuidingMode()

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void franka::Robot::setGuidingMode (const std::array< bool, 6 > & guiding_mode,
bool elbow 
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Locks or unlocks guiding mode movement in (x, y, z, roll, pitch, yaw).

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If a flag is set to true, movement is unlocked.

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Note
Guiding mode can be enabled by pressing the two opposing buttons near the robot's flange.
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[in]guiding_modeUnlocked movement in (x, y, z, R, P, Y) in guiding mode.
[in]elbowTrue if the elbow is free in guiding mode, false otherwise.
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CommandExceptionif the Control reports an error.
NetworkExceptionif the connection is lost, e.g. after a timeout.
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◆ setJointImpedance()

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void franka::Robot::setJointImpedance (const std::array< double, 7 > & K_theta)
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Sets the impedance for each joint in the internal controller.

-

User-provided torques are not affected by this setting.

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[in]K_thetaJoint impedance values \(K_{\theta}\).
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CommandExceptionif the Control reports an error.
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generate_cartesian_velocity_motion.cpp.
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◆ setK()

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void franka::Robot::setK (const std::array< double, 16 > & EE_T_K)
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Sets the transformation \(^{EE}T_K\) from end effector frame to stiffness frame.

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The transformation matrix is represented as a vectorized 4x4 matrix in column-major format.

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Parameters
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[in]EE_T_KVectorized EE-to-K transformation matrix \(^{EE}T_K\), column-major.
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CommandExceptionif the Control reports an error.
NetworkExceptionif the connection is lost, e.g. after a timeout.
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Robot for an explanation of the stiffness frame.
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◆ setLoad()

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const std::array< double, 3 > & F_x_Cload,
const std::array< double, 9 > & load_inertia 
)
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Sets dynamic parameters of a payload.

-
Note
This is not for setting end effector parameters, which have to be set in the administrator's interface.
-
Parameters
- - - - -
[in]load_massMass of the load in \([kg]\).
[in]F_x_CloadTranslation from flange to center of mass of load \(^Fx_{C_\text{load}}\) in \([m]\).
[in]load_inertiaInertia matrix \(I_\text{load}\) in \([kg \times m^2]\), column-major.
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NetworkExceptionif the connection is lost, e.g. after a timeout.
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◆ stop()

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void franka::Robot::stop ()
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Stops all currently running motions.

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If a control or motion generator loop is running in another thread, it will be preempted with a franka::ControlException.

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CommandExceptionif the Control reports an error.
NetworkExceptionif the connection is lost, e.g. after a timeout.
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franka::Torques Member List
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This is the complete list of members for franka::Torques, including all inherited members.

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motion_finishedfranka::Finishable
tau_Jfranka::Torques
Torques(const std::array< double, 7 > &torques) noexceptfranka::Torques
Torques(std::initializer_list< double > torques)franka::Torques
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-Public Member Functions | -Public Attributes | -List of all members
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franka::Torques Class Reference
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Stores joint-level torque commands without gravity and friction. - More...

- -

#include <control_types.h>

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-Public Member Functions

 Torques (const std::array< double, 7 > &torques) noexcept
 Creates a new Torques instance. More...
 
 Torques (std::initializer_list< double > torques)
 Creates a new Torques instance. More...
 
- - - - - - - - -

-Public Attributes

-std::array< double, 7 > tau_J {}
 Desired torques in [Nm].
 
- Public Attributes inherited from franka::Finishable
-bool motion_finished = false
 Determines whether to finish a currently running motion.
 
-

Detailed Description

-

Stores joint-level torque commands without gravity and friction.

-
Examples:
cartesian_impedance_control.cpp, communication_test.cpp, force_control.cpp, joint_impedance_control.cpp, and motion_with_control.cpp.
-

Constructor & Destructor Documentation

- -

◆ Torques() [1/2]

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franka::Torques::Torques (const std::array< double, 7 > & torques)
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Creates a new Torques instance.

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Parameters
- - -
[in]torquesDesired joint-level torques without gravity and friction in [Nm].
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◆ Torques() [2/2]

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franka::Torques::Torques (std::initializer_list< double > torques)
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Creates a new Torques instance.

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Parameters
- - -
[in]torquesDesired joint-level torques without gravity and friction in [Nm].
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Exceptions
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std::invalid_argumentif the given initializer list has an invalid number of arguments.
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franka::VacuumGripper Member List
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This is the complete list of members for franka::VacuumGripper, including all inherited members.

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dropOff(std::chrono::milliseconds timeout) constfranka::VacuumGripper
operator=(VacuumGripper &&vacuum_gripper) noexceptfranka::VacuumGripper
ProductionSetupProfile enum namefranka::VacuumGripper
readOnce() constfranka::VacuumGripper
ServerVersion typedeffranka::VacuumGripper
serverVersion() const noexceptfranka::VacuumGripper
stop() constfranka::VacuumGripper
vacuum(uint8_t vacuum, std::chrono::milliseconds timeout, ProductionSetupProfile profile=ProductionSetupProfile::kP0) constfranka::VacuumGripper
VacuumGripper(const std::string &franka_address)franka::VacuumGripperexplicit
VacuumGripper(VacuumGripper &&vacuum_gripper) noexceptfranka::VacuumGripper
~VacuumGripper() noexceptfranka::VacuumGripper
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franka::VacuumGripper Class Reference
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- -

Maintains a network connection to the vacuum gripper, provides the current vacuum gripper state, and allows the execution of commands. - More...

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#include <vacuum_gripper.h>

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-Public Types

enum  ProductionSetupProfile { kP0, -kP1, -kP2, -kP3 - }
 Vacuum production setup profile.
 
-using ServerVersion = uint16_t
 Version of the vacuum gripper server.
 
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-Public Member Functions

 VacuumGripper (const std::string &franka_address)
 Establishes a connection with a vacuum gripper connected to a robot. More...
 
 VacuumGripper (VacuumGripper &&vacuum_gripper) noexcept
 Move-constructs a new VacuumGripper instance. More...
 
VacuumGripper & operator= (VacuumGripper &&vacuum_gripper) noexcept
 Move-assigns this VacuumGripper from another VacuumGripper instance. More...
 
- ~VacuumGripper () noexcept
 Closes the connection.
 
bool vacuum (uint8_t vacuum, std::chrono::milliseconds timeout, ProductionSetupProfile profile=ProductionSetupProfile::kP0) const
 Vacuums an object. More...
 
bool dropOff (std::chrono::milliseconds timeout) const
 Drops the grasped object off. More...
 
bool stop () const
 Stops a currently running vacuum gripper vacuum or drop off operation. More...
 
VacuumGripperState readOnce () const
 Waits for a vacuum gripper state update and returns it. More...
 
ServerVersion serverVersion () const noexcept
 Returns the software version reported by the connected server. More...
 
-

Detailed Description

-

Maintains a network connection to the vacuum gripper, provides the current vacuum gripper state, and allows the execution of commands.

-
Note
The members of this class are threadsafe.
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Examples:
vacuum_object.cpp.
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Constructor & Destructor Documentation

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◆ VacuumGripper() [1/2]

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franka::VacuumGripper::VacuumGripper (const std::string & franka_address)
- 		-explicit
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Establishes a connection with a vacuum gripper connected to a robot.

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Parameters
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[in]franka_addressIP/hostname of the robot the vacuum gripper is connected to.
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NetworkExceptionif the connection is unsuccessful.
IncompatibleVersionExceptionif this version of libfranka is not supported.
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Move-constructs a new VacuumGripper instance.

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[in]vacuum_gripperOther VacuumGripper instance.
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Member Function Documentation

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◆ dropOff()

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bool franka::VacuumGripper::dropOff (std::chrono::milliseconds timeout) const
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Drops the grasped object off.

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[in]timeoutDropoff timeout. Unit: \([ms]\).
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True if command was successful, false otherwise.
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CommandExceptionif an error occurred.
NetworkExceptionif the connection is lost, e.g. after a timeout.
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vacuum_object.cpp.
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◆ operator=()

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VacuumGripper& franka::VacuumGripper::operator= (VacuumGripper && vacuum_gripper)
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Move-assigns this VacuumGripper from another VacuumGripper instance.

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[in]vacuum_gripperOther VacuumGripper instance.
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Model instance.
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◆ readOnce()

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VacuumGripperState franka::VacuumGripper::readOnce () const
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Waits for a vacuum gripper state update and returns it.

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Returns
Current vacuum gripper state.
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Exceptions
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NetworkExceptionif the connection is lost, e.g. after a timeout.
InvalidOperationExceptionif another readOnce is already running.
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vacuum_object.cpp.
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◆ serverVersion()

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ServerVersion franka::VacuumGripper::serverVersion () const
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Returns the software version reported by the connected server.

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Returns
Software version of the connected server.
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◆ stop()

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bool franka::VacuumGripper::stop () const
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Stops a currently running vacuum gripper vacuum or drop off operation.

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Returns
True if command was successful, false otherwise.
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Exceptions
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CommandExceptionif an error occurred.
NetworkExceptionif the connection is lost, e.g. after a timeout.
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Examples:
vacuum_object.cpp.
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◆ vacuum()

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bool franka::VacuumGripper::vacuum (uint8_t vacuum,
std::chrono::milliseconds timeout,
ProductionSetupProfile profile = ProductionSetupProfile::kP0 
) const
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Vacuums an object.

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Parameters
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[in]vacuumSetpoint for control mode. Unit: \([10*mbar]\).
[in]timeoutVacuum timeout. Unit: \([ms]\).
[in]profileProduction setup profile P0 to P3. Default: P0.
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Returns
True if the vacuum has been established, false otherwise.
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Exceptions
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CommandExceptionif an error occurred.
NetworkExceptionif the connection is lost, e.g. after a timeout.
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Examples:
vacuum_object.cpp.
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The documentation for this class was generated from the following file: -
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-Generated by   -doxygen - 1.8.13 -
- - diff --git a/command__types_8h.html b/command__types_8h.html deleted file mode 100644 index dde5b2cf..00000000 --- a/command__types_8h.html +++ /dev/null @@ -1,119 +0,0 @@ - - - - - - - -libfranka: include/franka/command_types.h File Reference - - - - - - - - - - -
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libfranka -  0.8.0 -
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FCI C++ API
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-Classes
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command_types.h File Reference
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Contains types for the commands that can be sent from franka::Robot. -More...

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#include <array>
-#include <cstdint>
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-Include dependency graph for command_types.h:
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-This graph shows which files directly or indirectly include this file:
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Go to the source code of this file.

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-Classes

struct  franka::VirtualWallCuboid
 Parameters of a cuboid used as virtual wall. More...
 
-

Detailed Description

-

Contains types for the commands that can be sent from franka::Robot.

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-Generated by   -doxygen - 1.8.13 -
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1 // Copyright (c) 2017 Franka Emika GmbH
2 // Use of this source code is governed by the Apache-2.0 license, see LICENSE
3 #pragma once
4 
5 #include <array>
6 #include <cstdint>
7 
13 namespace franka {
14 
20 struct VirtualWallCuboid {
24  int32_t id;
25 
29  std::array<double, 3> object_world_size;
30 
34  std::array<double, 16> p_frame;
35 
39  bool active;
40 };
41 
42 } // namespace franka
franka::VirtualWallCuboid::active
bool active
True if this Cartesian limit is active, false otherwise.
Definition: command_types.h:39
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franka::VirtualWallCuboid
Parameters of a cuboid used as virtual wall.
Definition: command_types.h:20
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franka::VirtualWallCuboid::p_frame
std::array< double, 16 > p_frame
4x4 transformation matrix, column-major.
Definition: command_types.h:34
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franka
Definition: command_types.h:13
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franka::VirtualWallCuboid::id
int32_t id
ID of the virtual wall.
Definition: command_types.h:24
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franka::VirtualWallCuboid::object_world_size
std::array< double, 3 > object_world_size
Corner point of the cuboid in world frame in .
Definition: command_types.h:29
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- - diff --git a/communication_test_8cpp-example.html b/communication_test_8cpp-example.html deleted file mode 100644 index 55f152bd..00000000 --- a/communication_test_8cpp-example.html +++ /dev/null @@ -1,83 +0,0 @@ - - - - - - - -libfranka: communication_test.cpp - - - - - - - - - - -
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communication_test.cpp
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An example indicating the network performance.

Warning
Before executing this example, make sure there is enough space in front of the robot.
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// Copyright (c) 2017 Franka Emika GmbH
// Use of this source code is governed by the Apache-2.0 license, see LICENSE
#include <chrono>
#include <iostream>
#include <thread>
#include <franka/duration.h>
#include <franka/exception.h>
#include <franka/robot.h>
#include "examples_common.h"
int main(int argc, char** argv) {
if (argc != 2) {
std::cerr << "Usage: " << argv[0] << " <robot-hostname>" << std::endl;
return -1;
}
uint64_t counter = 0;
double avg_success_rate = 0.0;
double min_success_rate = 1.0;
double max_success_rate = 0.0;
uint64_t time = 0;
std::cout.precision(2);
std::cout << std::fixed;
try {
franka::Robot robot(argv[1]);
setDefaultBehavior(robot);
// First move the robot to a suitable joint configuration
std::array<double, 7> q_goal = {{0, -M_PI_4, 0, -3 * M_PI_4, 0, M_PI_2, M_PI_4}};
MotionGenerator motion_generator(0.5, q_goal);
std::cout << "WARNING: This example will move the robot! "
<< "Please make sure to have the user stop button at hand!" << std::endl
<< "Press Enter to continue..." << std::endl;
std::cin.ignore();
robot.control(motion_generator);
std::cout << "Finished moving to initial joint configuration." << std::endl << std::endl;
std::cout << "Starting communication test." << std::endl;
robot.setCollisionBehavior(
{{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}}, {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}},
{{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}}, {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}},
{{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}}, {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}},
{{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}}, {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}});
franka::Torques zero_torques{{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}};
robot.control(
[&time, &counter, &avg_success_rate, &min_success_rate, &max_success_rate, zero_torques](
const franka::RobotState& robot_state, franka::Duration period) -> franka::Torques {
time += period.toMSec();
if (time == 0.0) {
return zero_torques;
}
counter++;
if (counter % 100 == 0) {
std::cout << "#" << counter
<< " Current success rate: " << robot_state.control_command_success_rate
<< std::endl;
}
std::this_thread::sleep_for(std::chrono::microseconds(100));
avg_success_rate += robot_state.control_command_success_rate;
if (robot_state.control_command_success_rate > max_success_rate) {
max_success_rate = robot_state.control_command_success_rate;
}
if (robot_state.control_command_success_rate < min_success_rate) {
min_success_rate = robot_state.control_command_success_rate;
}
if (time >= 10000) {
std::cout << std::endl << "Finished test, shutting down example" << std::endl;
return franka::MotionFinished(zero_torques);
}
// Sending zero torques - if EE is configured correctly, robot should not move
return zero_torques;
},
false, 1000);
} catch (const franka::Exception& e) {
std::cout << e.what() << std::endl;
return -1;
}
avg_success_rate = avg_success_rate / counter;
std::cout << std::endl
<< std::endl
<< "#######################################################" << std::endl;
uint64_t lost_robot_states = time - counter;
if (lost_robot_states > 0) {
std::cout << "The control loop did not get executed " << lost_robot_states << " times in the"
<< std::endl
<< "last " << time << " milliseconds! (lost " << lost_robot_states << " robot states)"
<< std::endl
<< std::endl;
}
std::cout << "Control command success rate of " << counter << " samples: " << std::endl;
std::cout << "Max: " << max_success_rate << std::endl;
std::cout << "Avg: " << avg_success_rate << std::endl;
std::cout << "Min: " << min_success_rate << std::endl;
if (avg_success_rate < 0.90) {
std::cout << std::endl
<< "WARNING: THIS SETUP IS PROBABLY NOT SUFFICIENT FOR FCI!" << std::endl;
std::cout << "PLEASE TRY OUT A DIFFERENT PC / NIC" << std::endl;
} else if (avg_success_rate < 0.95) {
std::cout << std::endl << "WARNING: MANY PACKETS GOT LOST!" << std::endl;
std::cout << "PLEASE INSPECT YOUR SETUP AND FOLLOW ADVICE ON" << std::endl
<< "https://frankaemika.github.io/docs/troubleshooting.html" << std::endl;
}
std::cout << "#######################################################" << std::endl << std::endl;
return 0;
}
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- - diff --git a/control__tools_8h.html b/control__tools_8h.html deleted file mode 100644 index 2c7b9834..00000000 --- a/control__tools_8h.html +++ /dev/null @@ -1,238 +0,0 @@ - - - - - - - -libfranka: include/franka/control_tools.h File Reference - - - - - - - - - - -
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control_tools.h File Reference
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Contains helper functions for writing control loops. -More...

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#include <array>
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-Functions

bool franka::isValidElbow (const std::array< double, 2 > &elbow) noexcept
 Determines whether the given elbow configuration is valid or not. More...
 
bool franka::isHomogeneousTransformation (const std::array< double, 16 > &transform) noexcept
 Determines whether the given array represents a valid homogeneous transformation matrix. More...
 
bool franka::hasRealtimeKernel ()
 Determines whether the current OS kernel is a realtime kernel. More...
 
bool franka::setCurrentThreadToHighestSchedulerPriority (std::string *error_message)
 Sets the current thread to the highest possible scheduler priority. More...
 
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Detailed Description

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Contains helper functions for writing control loops.

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Function Documentation

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◆ hasRealtimeKernel()

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Determines whether the current OS kernel is a realtime kernel.

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On Linux, this checks for the existence of /sys/kernel/realtime. On Windows, this always returns true.

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True if running a realtime kernel, false otherwise.
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Determines whether the given array represents a valid homogeneous transformation matrix.

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Determines whether the given elbow configuration is valid or not.

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True if successful, false otherwise.
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1 // Copyright (c) 2019 Franka Emika GmbH
2 // Use of this source code is governed by the Apache-2.0 license, see LICENSE
3 #pragma once
4 
5 #include <array>
6 #include <cmath>
7 #include <string>
8 
14 namespace franka {
15 
23 inline bool isValidElbow(const std::array<double, 2>& elbow) noexcept {
24  return elbow[1] == -1.0 || elbow[1] == 1.0;
25 }
26 
34 inline bool isHomogeneousTransformation(const std::array<double, 16>& transform) noexcept {
35  constexpr double kOrthonormalThreshold = 1e-5;
36 
37  if (transform[3] != 0.0 || transform[7] != 0.0 || transform[11] != 0.0 || transform[15] != 1.0) {
38  return false;
39  }
40  for (size_t j = 0; j < 3; ++j) { // i..column
41  if (std::abs(std::sqrt(std::pow(transform[j * 4 + 0], 2) + std::pow(transform[j * 4 + 1], 2) +
42  std::pow(transform[j * 4 + 2], 2)) -
43  1.0) > kOrthonormalThreshold) {
44  return false;
45  }
46  }
47  for (size_t i = 0; i < 3; ++i) { // j..row
48  if (std::abs(std::sqrt(std::pow(transform[0 * 4 + i], 2) + std::pow(transform[1 * 4 + i], 2) +
49  std::pow(transform[2 * 4 + i], 2)) -
50  1.0) > kOrthonormalThreshold) {
51  return false;
52  }
53  }
54  return true;
55 }
56 
65 bool hasRealtimeKernel();
66 
75 bool setCurrentThreadToHighestSchedulerPriority(std::string* error_message);
76 
77 } // namespace franka
franka::isHomogeneousTransformation
bool isHomogeneousTransformation(const std::array< double, 16 > &transform) noexcept
Determines whether the given array represents a valid homogeneous transformation matrix.
Definition: control_tools.h:34
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franka::isValidElbow
bool isValidElbow(const std::array< double, 2 > &elbow) noexcept
Determines whether the given elbow configuration is valid or not.
Definition: control_tools.h:23
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franka
Definition: command_types.h:13
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franka::hasRealtimeKernel
bool hasRealtimeKernel()
Determines whether the current OS kernel is a realtime kernel.
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franka::setCurrentThreadToHighestSchedulerPriority
bool setCurrentThreadToHighestSchedulerPriority(std::string *error_message)
Sets the current thread to the highest possible scheduler priority.
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- - diff --git a/control__types_8h.html b/control__types_8h.html deleted file mode 100644 index deaec7e5..00000000 --- a/control__types_8h.html +++ /dev/null @@ -1,378 +0,0 @@ - - - - - - - -libfranka: include/franka/control_types.h File Reference - - - - - - - - - - -
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control_types.h File Reference
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Contains helper types for returning motion generation and joint-level torque commands. -More...

-
#include <array>
-#include <cmath>
-#include <initializer_list>
-
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-Classes

struct  franka::Finishable
 Helper type for control and motion generation loops. More...
 
class  franka::Torques
 Stores joint-level torque commands without gravity and friction. More...
 
class  franka::JointPositions
 Stores values for joint position motion generation. More...
 
class  franka::JointVelocities
 Stores values for joint velocity motion generation. More...
 
class  franka::CartesianPose
 Stores values for Cartesian pose motion generation. More...
 
class  franka::CartesianVelocities
 Stores values for Cartesian velocity motion generation. More...
 
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-Enumerations

enum  franka::ControllerMode { kJointImpedance, -kCartesianImpedance - }
 Available controller modes for a franka::Robot.
 
enum  franka::RealtimeConfig { kEnforce, -kIgnore - }
 Used to decide whether to enforce realtime mode for a control loop thread. More...
 
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-Functions

Torques franka::MotionFinished (Torques command) noexcept
 Helper method to indicate that a motion should stop after processing the given command. More...
 
JointPositions franka::MotionFinished (JointPositions command) noexcept
 Helper method to indicate that a motion should stop after processing the given command. More...
 
JointVelocities franka::MotionFinished (JointVelocities command) noexcept
 Helper method to indicate that a motion should stop after processing the given command. More...
 
CartesianPose franka::MotionFinished (CartesianPose command) noexcept
 Helper method to indicate that a motion should stop after processing the given command. More...
 
CartesianVelocities franka::MotionFinished (CartesianVelocities command) noexcept
 Helper method to indicate that a motion should stop after processing the given command. More...
 
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Detailed Description

-

Contains helper types for returning motion generation and joint-level torque commands.

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Enumeration Type Documentation

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◆ RealtimeConfig

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enum franka::RealtimeConfig
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Used to decide whether to enforce realtime mode for a control loop thread.

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See also
Robot::Robot
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Function Documentation

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◆ MotionFinished() [1/5]

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Torques franka::MotionFinished (Torques command)
- 		-inlinenoexcept
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Helper method to indicate that a motion should stop after processing the given command.

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Parameters
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[in]commandLast command to be executed before the motion terminates.
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Returns
Command with motion_finished set to true.
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See also
Documentation on callbacks
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Examples:
communication_test.cpp, generate_cartesian_pose_motion.cpp, generate_cartesian_velocity_motion.cpp, generate_consecutive_motions.cpp, generate_elbow_motion.cpp, generate_joint_position_motion.cpp, generate_joint_velocity_motion.cpp, joint_impedance_control.cpp, and motion_with_control.cpp.
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◆ MotionFinished() [2/5]

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JointPositions franka::MotionFinished (JointPositions command)
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Helper method to indicate that a motion should stop after processing the given command.

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Parameters
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[in]commandLast command to be executed before the motion terminates.
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Returns
Command with motion_finished set to true.
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◆ MotionFinished() [3/5]

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JointVelocities franka::MotionFinished (JointVelocities command)
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Helper method to indicate that a motion should stop after processing the given command.

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[in]commandLast command to be executed before the motion terminates.
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Command with motion_finished set to true.
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◆ MotionFinished() [4/5]

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CartesianPose franka::MotionFinished (CartesianPose command)
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Helper method to indicate that a motion should stop after processing the given command.

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[in]commandLast command to be executed before the motion terminates.
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Command with motion_finished set to true.
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◆ MotionFinished() [5/5]

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CartesianVelocities franka::MotionFinished (CartesianVelocities command)
- 		-inlinenoexcept
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Helper method to indicate that a motion should stop after processing the given command.

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[in]commandLast command to be executed before the motion terminates.
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Returns
Command with motion_finished set to true.
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See also
Documentation on callbacks
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control_types.h
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1 // Copyright (c) 2017 Franka Emika GmbH
2 // Use of this source code is governed by the Apache-2.0 license, see LICENSE
3 #pragma once
4 
5 #include <array>
6 #include <cmath>
7 #include <initializer_list>
8 
14 namespace franka {
15 
19 enum class ControllerMode { kJointImpedance, kCartesianImpedance };
20 
26 enum class RealtimeConfig { kEnforce, kIgnore };
27 
35 struct Finishable {
39  bool motion_finished = false;
40 };
41 
45 class Torques : public Finishable {
46  public:
52  Torques(const std::array<double, 7>& torques) noexcept;
53 
61  Torques(std::initializer_list<double> torques);
62 
66  std::array<double, 7> tau_J{}; // NOLINT(readability-identifier-naming)
67 };
68 
72 class JointPositions : public Finishable {
73  public:
79  JointPositions(const std::array<double, 7>& joint_positions) noexcept;
80 
88  JointPositions(std::initializer_list<double> joint_positions);
89 
93  std::array<double, 7> q{};
94 };
95 
99 class JointVelocities : public Finishable {
100  public:
107  JointVelocities(const std::array<double, 7>& joint_velocities) noexcept;
108 
116  JointVelocities(std::initializer_list<double> joint_velocities);
117 
121  std::array<double, 7> dq{};
122 };
123 
127 class CartesianPose : public Finishable {
128  public:
136  CartesianPose(const std::array<double, 16>& cartesian_pose) noexcept;
137 
146  CartesianPose(const std::array<double, 16>& cartesian_pose,
147  const std::array<double, 2>& elbow) noexcept;
148 
158  CartesianPose(std::initializer_list<double> cartesian_pose);
159 
171  CartesianPose(std::initializer_list<double> cartesian_pose, std::initializer_list<double> elbow);
172 
178  std::array<double, 16> O_T_EE{}; // NOLINT(readability-identifier-naming)
179 
187  std::array<double, 2> elbow{};
188 
195  bool hasElbow() const noexcept;
196 };
197 
201 class CartesianVelocities : public Finishable {
202  public:
209  CartesianVelocities(const std::array<double, 6>& cartesian_velocities) noexcept;
210 
218  CartesianVelocities(const std::array<double, 6>& cartesian_velocities,
219  const std::array<double, 2>& elbow) noexcept;
220 
229  CartesianVelocities(std::initializer_list<double> cartesian_velocities);
230 
240  CartesianVelocities(std::initializer_list<double> cartesian_velocities,
241  std::initializer_list<double> elbow);
242 
247  std::array<double, 6> O_dP_EE{}; // NOLINT(readability-identifier-naming)
248 
256  std::array<double, 2> elbow{};
257 
263  bool hasElbow() const noexcept;
264 };
265 
275 inline Torques MotionFinished(Torques command) noexcept { // NOLINT(readability-identifier-naming)
276  command.motion_finished = true;
277  return command;
278 }
279 
289 inline JointPositions MotionFinished( // NOLINT(readability-identifier-naming)
290  JointPositions command) noexcept {
291  command.motion_finished = true;
292  return command;
293 }
294 
304 inline JointVelocities MotionFinished( // NOLINT(readability-identifier-naming)
305  JointVelocities command) noexcept {
306  command.motion_finished = true;
307  return command;
308 }
309 
319 inline CartesianPose MotionFinished( // NOLINT(readability-identifier-naming)
320  CartesianPose command) noexcept {
321  command.motion_finished = true;
322  return command;
323 }
324 
334 inline CartesianVelocities MotionFinished( // NOLINT(readability-identifier-naming)
335  CartesianVelocities command) noexcept {
336  command.motion_finished = true;
337  return command;
338 }
339 
340 } // namespace franka
franka::JointVelocities
Stores values for joint velocity motion generation.
Definition: control_types.h:99
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franka::CartesianVelocities
Stores values for Cartesian velocity motion generation.
Definition: control_types.h:201
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franka::RealtimeConfig
RealtimeConfig
Used to decide whether to enforce realtime mode for a control loop thread.
Definition: control_types.h:26
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franka::Torques
Stores joint-level torque commands without gravity and friction.
Definition: control_types.h:45
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franka::Finishable
Helper type for control and motion generation loops.
Definition: control_types.h:35
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franka::Finishable::motion_finished
bool motion_finished
Determines whether to finish a currently running motion.
Definition: control_types.h:39
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franka::CartesianPose
Stores values for Cartesian pose motion generation.
Definition: control_types.h:127
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franka
Definition: command_types.h:13
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franka::JointPositions
Stores values for joint position motion generation.
Definition: control_types.h:72
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franka::MotionFinished
Torques MotionFinished(Torques command) noexcept
Helper method to indicate that a motion should stop after processing the given command.
Definition: control_types.h:275
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franka::ControllerMode
ControllerMode
Available controller modes for a franka::Robot.
Definition: control_types.h:19
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Member franka::Robot::setFilters (double joint_position_filter_frequency, double joint_velocity_filter_frequency, double cartesian_position_filter_frequency, double cartesian_velocity_filter_frequency, double controller_filter_frequency)
-
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examples → include Relation

File in examplesIncludes file in include
cartesian_impedance_control.cppfranka / duration.h
cartesian_impedance_control.cppfranka / exception.h
cartesian_impedance_control.cppfranka / model.h
cartesian_impedance_control.cppfranka / robot.h
communication_test.cppfranka / duration.h
communication_test.cppfranka / exception.h
communication_test.cppfranka / robot.h
echo_robot_state.cppfranka / exception.h
echo_robot_state.cppfranka / robot.h
examples_common.cppfranka / exception.h
examples_common.cppfranka / robot.h
examples_common.hfranka / control_types.h
examples_common.hfranka / duration.h
examples_common.hfranka / robot.h
examples_common.hfranka / robot_state.h
force_control.cppfranka / duration.h
force_control.cppfranka / exception.h
force_control.cppfranka / model.h
force_control.cppfranka / robot.h
generate_cartesian_pose_motion.cppfranka / exception.h
generate_cartesian_pose_motion.cppfranka / robot.h
generate_cartesian_velocity_motion.cppfranka / exception.h
generate_cartesian_velocity_motion.cppfranka / robot.h
generate_consecutive_motions.cppfranka / exception.h
generate_consecutive_motions.cppfranka / robot.h
generate_elbow_motion.cppfranka / exception.h
generate_elbow_motion.cppfranka / robot.h
generate_joint_position_motion.cppfranka / exception.h
generate_joint_position_motion.cppfranka / robot.h
generate_joint_velocity_motion.cppfranka / exception.h
generate_joint_velocity_motion.cppfranka / robot.h
grasp_object.cppfranka / exception.h
grasp_object.cppfranka / gripper.h
joint_impedance_control.cppfranka / duration.h
joint_impedance_control.cppfranka / exception.h
joint_impedance_control.cppfranka / model.h
joint_impedance_control.cppfranka / rate_limiting.h
joint_impedance_control.cppfranka / robot.h
joint_point_to_point_motion.cppfranka / exception.h
joint_point_to_point_motion.cppfranka / robot.h
motion_with_control.cppfranka / exception.h
motion_with_control.cppfranka / robot.h
print_joint_poses.cppfranka / exception.h
print_joint_poses.cppfranka / model.h
vacuum_object.cppfranka / exception.h
vacuum_object.cppfranka / vacuum_gripper.h
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-Files

file  command_types.h [code]
 Contains types for the commands that can be sent from franka::Robot.
 
file  control_tools.h [code]
 Contains helper functions for writing control loops.
 
file  control_types.h [code]
 Contains helper types for returning motion generation and joint-level torque commands.
 
file  duration.h [code]
 Contains the franka::Duration type.
 
file  errors.h [code]
 Contains the franka::Errors type.
 
file  exception.h [code]
 Contains exception definitions.
 
file  gripper.h [code]
 Contains the franka::Gripper type.
 
file  gripper_state.h [code]
 Contains the franka::GripperState type.
 
file  log.h [code]
 Contains helper types for logging sent commands and received robot states.
 
file  lowpass_filter.h [code]
 Contains functions for filtering signals with a low-pass filter.
 
file  model.h [code]
 Contains model library types.
 
file  rate_limiting.h [code]
 Contains functions for limiting the rate of torques, Cartesian pose, Cartesian velocity, joint position and joint velocity.
 
file  robot.h [code]
 Contains the franka::Robot type.
 
file  robot_state.h [code]
 Contains the franka::RobotState types.
 
file  vacuum_gripper.h [code]
 Contains the franka::VacuumGripper type.
 
file  vacuum_gripper_state.h [code]
 Contains the franka::VacuumGripperState type.
 
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examples
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file  examples_common.h [code]
 Contains common types and functions for the examples.
 
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+ width: 90%; + line-height: 1.15em; +} + +.classindex dl.odd { + background-color: #F8F9FC; +} + +@media(min-width: 1120px) { + .classindex dl { + column-count:2 + } +} + +@media(min-width: 1320px) { + .classindex dl { + column-count:3 + } +} + + /* @group Link Styling */ a { @@ -127,19 +209,8 @@ a:hover { text-decoration: underline; } -a.qindex { - font-weight: bold; -} - -a.qindexHL { - font-weight: bold; - background-color: #9CAFD4; - color: #ffffff; - border: 1px double #869DCA; -} - .contents a.qindexHL:visited { - color: #ffffff; + color: #FFFFFF; } a.el { @@ -163,6 +234,25 @@ dl.el { margin-left: -1cm; } +ul { + overflow: hidden; /*Fixed: list item bullets overlap floating elements*/ +} + +#side-nav ul { + overflow: visible; /* reset ul rule for scroll bar in GENERATE_TREEVIEW window */ +} + +#main-nav ul { + overflow: visible; /* reset ul rule for the navigation bar drop down lists */ +} + +.fragment { + text-align: left; + direction: ltr; + overflow-x: auto; /*Fixed: fragment lines overlap floating elements*/ + overflow-y: hidden; +} + pre.fragment { border: 1px solid #C4CFE5; background-color: #FBFCFD; @@ -177,8 +267,8 @@ pre.fragment { } div.fragment { - padding: 0px; - margin: 4px 8px 4px 2px; + padding: 0 0 1px 0; /*Fixed: last line underline overlap border*/ + margin: 4px 8px 4px 2px; background-color: #FBFCFD; border: 1px solid #C4CFE5; } @@ -248,7 +338,7 @@ span.lineno a:hover { div.ah, span.ah { background-color: black; font-weight: bold; - color: #ffffff; + color: #FFFFFF; margin-bottom: 3px; margin-top: 3px; padding: 0.2em; @@ -324,7 +414,7 @@ img.formulaDsp { } -img.formulaInl { +img.formulaInl, img.inline { vertical-align: middle; } @@ -402,6 +492,13 @@ blockquote { padding: 0 12px 0 16px; } +blockquote.DocNodeRTL { + border-left: 0; + border-right: 2px solid #9CAFD4; + margin: 0 4px 0 24px; + padding: 0 16px 0 12px; +} + /* @end */ /* @@ -498,7 +595,7 @@ table.memberdecls { white-space: nowrap; } -.memItemRight { +.memItemRight, .memTemplItemRight { width: 100%; } @@ -666,17 +763,17 @@ dl.reflist dd { padding-left: 0px; } -.params .paramname, .retval .paramname { +.params .paramname, .retval .paramname, .tparams .paramname, .exception .paramname { font-weight: bold; vertical-align: top; } -.params .paramtype { +.params .paramtype, .tparams .paramtype { font-style: italic; vertical-align: top; } -.params .paramdir { +.params .paramdir, .tparams .paramdir { font-family: "courier new",courier,monospace; vertical-align: top; } @@ -1081,72 +1178,143 @@ div.headertitle padding: 5px 5px 5px 10px; } -dl -{ - padding: 0 0 0 10px; +.PageDocRTL-title div.headertitle { + text-align: right; + direction: rtl; } -/* dl.note, dl.warning, dl.attention, dl.pre, dl.post, dl.invariant, dl.deprecated, dl.todo, dl.test, dl.bug */ -dl.section -{ +dl { + padding: 0 0 0 0; +} + +/* dl.note, dl.warning, dl.attention, dl.pre, dl.post, dl.invariant, dl.deprecated, dl.todo, dl.test, dl.bug, dl.examples */ +dl.section { margin-left: 0px; padding-left: 0px; } -dl.note -{ - margin-left:-7px; - padding-left: 3px; - border-left:4px solid; 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+ border-right: 4px solid; + border-color: #FF0000; } -dl.todo -{ - margin-left:-7px; - padding-left: 3px; - border-left:4px solid; - border-color: #00C0E0; +dl.pre, dl.post, dl.invariant { + margin-left: -7px; + padding-left: 3px; + border-left: 4px solid; + border-color: #00D000; } -dl.test -{ - margin-left:-7px; - padding-left: 3px; - border-left:4px solid; - border-color: #3030E0; +dl.pre.DocNodeRTL, dl.post.DocNodeRTL, dl.invariant.DocNodeRTL { + margin-left: 0; + padding-left: 0; + border-left: 0; + margin-right: -7px; + padding-right: 3px; + border-right: 4px solid; + border-color: #00D000; } -dl.bug -{ - margin-left:-7px; - padding-left: 3px; - border-left:4px solid; - border-color: #C08050; +dl.deprecated { + margin-left: -7px; + padding-left: 3px; + border-left: 4px solid; + border-color: #505050; +} + +dl.deprecated.DocNodeRTL { + margin-left: 0; + padding-left: 0; + border-left: 0; + margin-right: -7px; + padding-right: 3px; + border-right: 4px solid; + border-color: #505050; +} + +dl.todo { + margin-left: -7px; + padding-left: 3px; + border-left: 4px solid; + border-color: #00C0E0; +} + +dl.todo.DocNodeRTL { + margin-left: 0; + padding-left: 0; + border-left: 0; + margin-right: -7px; + padding-right: 3px; + border-right: 4px solid; + border-color: #00C0E0; +} + +dl.test { + margin-left: -7px; + padding-left: 3px; + border-left: 4px solid; + border-color: #3030E0; +} + +dl.test.DocNodeRTL { + margin-left: 0; + padding-left: 0; + border-left: 0; + margin-right: -7px; + padding-right: 3px; + border-right: 4px solid; + border-color: #3030E0; +} + +dl.bug { + margin-left: -7px; + padding-left: 3px; + border-left: 4px solid; + border-color: #C08050; +} + +dl.bug.DocNodeRTL { + margin-left: 0; + padding-left: 0; + border-left: 0; + margin-right: -7px; + padding-right: 3px; + border-right: 4px solid; + border-color: #C08050; } dl.section dd { @@ -1245,10 +1413,12 @@ dl.citelist dt { font-weight:bold; margin-right:10px; padding:5px; + text-align:right; + width:52px; } dl.citelist dd { - margin:2px 0; + margin:2px 0 2px 72px; padding:5px 0; } @@ -1263,6 +1433,11 @@ div.toc { width: 200px; } +.PageDocRTL-title div.toc { + float: left !important; + text-align: right; +} + div.toc li { background: url("bdwn.png") no-repeat scroll 0 5px transparent; font: 10px/1.2 Verdana,DejaVu Sans,Geneva,sans-serif; @@ -1271,6 +1446,12 @@ div.toc li { padding-top: 2px; } +.PageDocRTL-title div.toc li { + background-position-x: right !important; + padding-left: 0 !important; + padding-right: 10px; +} + div.toc h3 { font: bold 12px/1.2 Arial,FreeSans,sans-serif; color: #4665A2; @@ -1300,6 +1481,32 @@ div.toc li.level4 { margin-left: 45px; } +span.emoji { + /* font family used at the site: https://unicode.org/emoji/charts/full-emoji-list.html + * font-family: "Noto Color Emoji", "Apple Color Emoji", "Segoe UI Emoji", Times, Symbola, Aegyptus, Code2000, Code2001, Code2002, Musica, serif, LastResort; + */ +} + +.PageDocRTL-title div.toc li.level1 { + margin-left: 0 !important; + margin-right: 0; +} + +.PageDocRTL-title div.toc li.level2 { + margin-left: 0 !important; + margin-right: 15px; +} + +.PageDocRTL-title div.toc li.level3 { + margin-left: 0 !important; + margin-right: 30px; +} + +.PageDocRTL-title div.toc li.level4 { + margin-left: 0 !important; + margin-right: 45px; +} + .inherit_header { font-weight: bold; color: gray; @@ -1413,7 +1620,7 @@ tr.heading h2 { } #powerTip.n:after, #powerTip.ne:after, #powerTip.nw:after { - border-top-color: #ffffff; + border-top-color: #FFFFFF; border-width: 10px; margin: 0px -10px; } @@ -1441,7 +1648,7 @@ tr.heading h2 { } #powerTip.s:after, #powerTip.se:after, #powerTip.sw:after { - border-bottom-color: #ffffff; + border-bottom-color: #FFFFFF; border-width: 10px; margin: 0px -10px; } @@ -1468,7 +1675,7 @@ tr.heading h2 { left: 100%; } #powerTip.e:after { - border-left-color: #ffffff; + border-left-color: #FFFFFF; border-width: 10px; top: 50%; margin-top: -10px; @@ -1484,7 +1691,7 @@ tr.heading h2 { right: 100%; } #powerTip.w:after { - border-right-color: #ffffff; + border-right-color: #FFFFFF; border-width: 10px; top: 50%; margin-top: -10px; @@ -1517,7 +1724,6 @@ tr.heading h2 { /* @group Markdown */ -/* table.markdownTable { border-collapse:collapse; margin-top: 4px; @@ -1529,15 +1735,10 @@ table.markdownTable td, table.markdownTable th { padding: 3px 7px 2px; } -table.markdownTableHead tr { -} - -table.markdownTableBodyLeft td, table.markdownTable th { - border: 1px solid #2D4068; - padding: 3px 7px 2px; +table.markdownTable tr { } -th.markdownTableHeadLeft th.markdownTableHeadRight th.markdownTableHeadCenter th.markdownTableHeadNone { +th.markdownTableHeadLeft, th.markdownTableHeadRight, th.markdownTableHeadCenter, th.markdownTableHeadNone { background-color: #374F7F; color: #FFFFFF; font-size: 110%; @@ -1545,52 +1746,48 @@ th.markdownTableHeadLeft th.markdownTableHeadRight th.markdownTableHeadCenter th padding-top: 5px; } -th.markdownTableHeadLeft { +th.markdownTableHeadLeft, td.markdownTableBodyLeft { text-align: left } -th.markdownTableHeadRight { +th.markdownTableHeadRight, td.markdownTableBodyRight { text-align: right } -th.markdownTableHeadCenter { +th.markdownTableHeadCenter, td.markdownTableBodyCenter { text-align: center } -*/ - -table.markdownTable { - border-collapse:collapse; 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libfranka -  0.8.0 -
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FCI C++ API
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-Classes | -Functions
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duration.h File Reference
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- -

Contains the franka::Duration type. -More...

-
#include <chrono>
-#include <cstdint>
-#include <ratio>
-
-Include dependency graph for duration.h:
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-This graph shows which files directly or indirectly include this file:
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Go to the source code of this file.

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-Classes

class  franka::Duration
 Represents a duration with millisecond resolution. More...
 
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-Functions

Duration franka::operator* (uint64_t lhs, const Duration &rhs) noexcept
 Performs multiplication. More...
 
-

Detailed Description

-

Contains the franka::Duration type.

-

Function Documentation

- -

◆ operator*()

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Duration franka::operator* (uint64_t lhs,
const Duration & rhs 
)
- 		-noexcept
-
- -

Performs multiplication.

-
Parameters
- - - -
[in]lhsLeft-hand side of the multiplication.
[in]rhsRight-hand side of the multiplication.
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Returns
Result of the multiplication.
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-Generated by   -doxygen - 1.8.13 -
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3c2e23ff..00000000 --- a/duration_8h_source.html +++ /dev/null @@ -1,108 +0,0 @@ - - - - - - - -libfranka: include/franka/duration.h Source File - - - - - - - - - - - -
-
-
duration.h
-
-
-Go to the documentation of this file.
1 // Copyright (c) 2017 Franka Emika GmbH
2 // Use of this source code is governed by the Apache-2.0 license, see LICENSE
3 #pragma once
4 
5 #include <chrono>
6 #include <cstdint>
7 #include <ratio>
8 
14 namespace franka {
15 
19 class Duration {
20  public:
24  Duration() noexcept;
25 
31  explicit Duration(uint64_t milliseconds) noexcept;
32 
38  Duration(std::chrono::duration<uint64_t, std::milli> duration) noexcept;
39 
43  Duration(const Duration&) = default;
44 
50  Duration& operator=(const Duration&) = default;
51 
57  operator std::chrono::duration<uint64_t, std::milli>() const noexcept;
58 
64  double toSec() const noexcept;
65 
71  uint64_t toMSec() const noexcept;
72 
85  Duration operator+(const Duration& rhs) const noexcept;
93  Duration& operator+=(const Duration& rhs) noexcept;
94 
102  Duration operator-(const Duration& rhs) const noexcept;
110  Duration& operator-=(const Duration& rhs) noexcept;
111 
119  Duration operator*(uint64_t rhs) const noexcept;
127  Duration& operator*=(uint64_t rhs) noexcept;
128 
136  uint64_t operator/(const Duration& rhs) const noexcept;
144  Duration operator/(uint64_t rhs) const noexcept;
152  Duration& operator/=(uint64_t rhs) noexcept;
153 
161  Duration operator%(const Duration& rhs) const noexcept;
169  Duration operator%(uint64_t rhs) const noexcept;
177  Duration& operator%=(const Duration& rhs) noexcept;
185  Duration& operator%=(uint64_t rhs) noexcept;
186 
203  bool operator==(const Duration& rhs) const noexcept;
211  bool operator!=(const Duration& rhs) const noexcept;
212 
220  bool operator<(const Duration& rhs) const noexcept;
228  bool operator<=(const Duration& rhs) const noexcept;
229 
237  bool operator>(const Duration& rhs) const noexcept;
245  bool operator>=(const Duration& rhs) const noexcept;
246 
251  private:
252  std::chrono::duration<uint64_t, std::milli> duration_;
253 };
254 
263 Duration operator*(uint64_t lhs, const Duration& rhs) noexcept;
264 
265 } // namespace franka
franka::Duration::operator==
bool operator==(const Duration &rhs) const noexcept
Compares two durations for equality.
-
franka::Duration::operator<=
bool operator<=(const Duration &rhs) const noexcept
Compares two durations.
-
franka::Duration::operator*=
Duration & operator*=(uint64_t rhs) noexcept
Performs multiplication.
-
franka::Duration::Duration
Duration() noexcept
Creates a new Duration instance with zero milliseconds.
-
franka::Duration::toSec
double toSec() const noexcept
Returns the stored duration in .
-
franka::Duration::operator=
Duration & operator=(const Duration &)=default
Assigns the contents of one Duration to another.
-
franka::Duration::operator<
bool operator<(const Duration &rhs) const noexcept
Compares two durations.
-
franka::Duration::operator+
Duration operator+(const Duration &rhs) const noexcept
Performs addition.
-
franka::Duration::operator>
bool operator>(const Duration &rhs) const noexcept
Compares two durations.
-
franka::Duration::operator-=
Duration & operator-=(const Duration &rhs) noexcept
Performs subtraction.
-
franka::Duration
Represents a duration with millisecond resolution.
Definition: duration.h:19
-
franka::Duration::operator!=
bool operator!=(const Duration &rhs) const noexcept
Compares two durations for inequality.
-
franka::Duration::operator%=
Duration & operator%=(const Duration &rhs) noexcept
Performs the modulo operation.
-
franka
Definition: command_types.h:13
-
franka::Duration::operator*
Duration operator*(uint64_t rhs) const noexcept
Performs multiplication.
-
franka::Duration::operator/
uint64_t operator/(const Duration &rhs) const noexcept
Performs division.
-
franka::Duration::operator/=
Duration & operator/=(uint64_t rhs) noexcept
Performs division.
-
franka::Duration::operator%
Duration operator%(const Duration &rhs) const noexcept
Performs the modulo operation.
-
franka::Duration::toMSec
uint64_t toMSec() const noexcept
Returns the stored duration in .
-
franka::Duration::operator>=
bool operator>=(const Duration &rhs) const noexcept
Compares two durations.
-
franka::Duration::operator-
Duration operator-(const Duration &rhs) const noexcept
Performs subtraction.
-
franka::Duration::operator+=
Duration & operator+=(const Duration &rhs) noexcept
Performs addition.
-
- -
-Generated by   -doxygen - 1.8.13 -
- - diff --git a/dynsections.js b/dynsections.js index 85e18369..3174bd7b 100644 --- a/dynsections.js +++ b/dynsections.js @@ -1,3 +1,27 @@ +/* + @licstart The following is the entire license notice for the JavaScript code in this file. + + The MIT License (MIT) + + Copyright (C) 1997-2020 by Dimitri van Heesch + + Permission is hereby granted, free of charge, to any person obtaining a copy of this software + and associated documentation files (the "Software"), to deal in the Software without restriction, + including without limitation the rights to use, copy, modify, merge, publish, distribute, + sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is + furnished to do so, subject to the following conditions: + + The above copyright notice and this permission notice shall be included in all copies or + substantial portions of the Software. + + THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING + BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND + NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, + DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + + @licend The above is the entire license notice for the JavaScript code in this file + */ function toggleVisibility(linkObj) { var base = $(linkObj).attr('id'); @@ -15,7 +39,7 @@ function toggleVisibility(linkObj) summary.hide(); $(linkObj).removeClass('closed').addClass('opened'); $(trigger).attr('src',src.substring(0,src.length-10)+'open.png'); - } + } return false; } @@ -94,4 +118,4 @@ function toggleInherit(id) $(img).attr('src',src.substring(0,src.length-10)+'open.png'); } } - +/* @license-end */ diff --git a/echo_robot_state_8cpp-example.html b/echo_robot_state_8cpp-example.html deleted file mode 100644 index 41503bd2..00000000 --- a/echo_robot_state_8cpp-example.html +++ /dev/null @@ -1,83 +0,0 @@ - - - - - - - -libfranka: echo_robot_state.cpp - - - - - - - - - - -
-
- - - - - - - -
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libfranka -  0.8.0 -
-
FCI C++ API
-
-
- - - - - - - -
- -
-
- - -
- -
- -
-
-
echo_robot_state.cpp
-
-
-

An example showing how to continuously read the robot state.

-
// Copyright (c) 2017 Franka Emika GmbH
// Use of this source code is governed by the Apache-2.0 license, see LICENSE
#include <iostream>
#include <franka/exception.h>
#include <franka/robot.h>
int main(int argc, char** argv) {
if (argc != 2) {
std::cerr << "Usage: " << argv[0] << " <robot-hostname>" << std::endl;
return -1;
}
try {
franka::Robot robot(argv[1]);
size_t count = 0;
robot.read([&count](const franka::RobotState& robot_state) {
// Printing to std::cout adds a delay. This is acceptable for a read loop such as this, but
// should not be done in a control loop.
std::cout << robot_state << std::endl;
return count++ < 100;
});
std::cout << "Done." << std::endl;
} catch (franka::Exception const& e) {
std::cout << e.what() << std::endl;
return -1;
}
return 0;
}
- -
-Generated by   -doxygen - 1.8.13 -
- - diff --git a/errors_8h.html b/errors_8h.html deleted file mode 100644 index 2c15e7e7..00000000 --- a/errors_8h.html +++ /dev/null @@ -1,168 +0,0 @@ - - - - - - - -libfranka: include/franka/errors.h File Reference - - - - - - - - - - -
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- - - - - - - -
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libfranka -  0.8.0 -
-
FCI C++ API
-
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- - - - - - - - -
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- - -
- -
- - -
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-Classes | -Functions
-
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errors.h File Reference
-
-
- -

Contains the franka::Errors type. -More...

-
#include <array>
-#include <ostream>
-
-Include dependency graph for errors.h:
-
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-This graph shows which files directly or indirectly include this file:
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Go to the source code of this file.

- - - - - -

-Classes

struct  franka::Errors
 Enumerates errors that can occur while controlling a franka::Robot. More...
 
- - - - -

-Functions

std::ostream & franka::operator<< (std::ostream &ostream, const Errors &errors)
 Streams the errors as JSON array. More...
 
-

Detailed Description

-

Contains the franka::Errors type.

-

Function Documentation

- -

◆ operator<<()

- -
-
- - - - - - - - - - - - - - - - - - -
std::ostream& franka::operator<< (std::ostream & ostream,
const Errors & errors 
)
-
- -

Streams the errors as JSON array.

-
Parameters
- - - -
[in]ostreamOstream instance
[in]errorsErrors struct instance to stream
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Returns
Ostream instance
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errors.h
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1 // Copyright (c) 2017 Franka Emika GmbH
2 // Use of this source code is governed by the Apache-2.0 license, see LICENSE
3 #pragma once
4 
5 #include <array>
6 #include <ostream>
7 
13 namespace franka {
14 
18 struct Errors {
19  private:
20  std::array<bool, 37> errors_{};
21 
22  public:
26  Errors();
27 
33  Errors(const Errors& other);
34 
42  Errors& operator=(Errors other);
43 
49  Errors(const std::array<bool, 37>& errors);
50 
56  explicit operator bool() const noexcept;
57 
65  explicit operator std::string() const;
66 
70  const bool& joint_position_limits_violation;
74  const bool& cartesian_position_limits_violation;
78  const bool& self_collision_avoidance_violation;
82  const bool& joint_velocity_violation;
86  const bool& cartesian_velocity_violation;
90  const bool& force_control_safety_violation;
95  const bool& joint_reflex;
100  const bool& cartesian_reflex;
104  const bool& max_goal_pose_deviation_violation;
108  const bool& max_path_pose_deviation_violation;
112  const bool& cartesian_velocity_profile_safety_violation;
117  const bool& joint_position_motion_generator_start_pose_invalid;
121  const bool& joint_motion_generator_position_limits_violation;
125  const bool& joint_motion_generator_velocity_limits_violation;
130  const bool& joint_motion_generator_velocity_discontinuity;
135  const bool& joint_motion_generator_acceleration_discontinuity;
140  const bool& cartesian_position_motion_generator_start_pose_invalid;
144  const bool& cartesian_motion_generator_elbow_limit_violation;
148  const bool& cartesian_motion_generator_velocity_limits_violation;
153  const bool& cartesian_motion_generator_velocity_discontinuity;
158  const bool& cartesian_motion_generator_acceleration_discontinuity;
162  const bool& cartesian_motion_generator_elbow_sign_inconsistent;
166  const bool& cartesian_motion_generator_start_elbow_invalid;
170  const bool& cartesian_motion_generator_joint_position_limits_violation;
174  const bool& cartesian_motion_generator_joint_velocity_limits_violation;
179  const bool& cartesian_motion_generator_joint_velocity_discontinuity;
184  const bool& cartesian_motion_generator_joint_acceleration_discontinuity;
188  const bool& cartesian_position_motion_generator_invalid_frame;
192  const bool& force_controller_desired_force_tolerance_violation;
196  const bool& controller_torque_discontinuity;
202  const bool& start_elbow_sign_inconsistent;
206  const bool& communication_constraints_violation;
210  const bool& power_limit_violation;
216  const bool& joint_p2p_insufficient_torque_for_planning;
220  const bool& tau_j_range_violation;
224  const bool& instability_detected;
229  const bool& joint_move_in_wrong_direction;
230 };
231 
240 std::ostream& operator<<(std::ostream& ostream, const Errors& errors);
241 
242 } // namespace franka
franka::Errors::cartesian_motion_generator_joint_velocity_discontinuity
const bool & cartesian_motion_generator_joint_velocity_discontinuity
True if the joint velocity in Cartesian motion generators is discontinuous after IK calculation...
Definition: errors.h:179
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franka::Errors::cartesian_motion_generator_elbow_limit_violation
const bool & cartesian_motion_generator_elbow_limit_violation
True if an external Cartesian motion generator would move into an elbow limit.
Definition: errors.h:144
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franka::Errors::cartesian_motion_generator_joint_velocity_limits_violation
const bool & cartesian_motion_generator_joint_velocity_limits_violation
True if the joint velocity limits would be exceeded after IK calculation.
Definition: errors.h:174
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franka::Errors::force_control_safety_violation
const bool & force_control_safety_violation
True if the robot exceeded safety threshold during force control.
Definition: errors.h:90
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franka::Errors::controller_torque_discontinuity
const bool & controller_torque_discontinuity
True if the torque set by the external controller is discontinuous.
Definition: errors.h:196
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franka::Errors::joint_motion_generator_velocity_discontinuity
const bool & joint_motion_generator_velocity_discontinuity
True if commanded velocity in joint motion generators is discontinuous (target values are too far apa...
Definition: errors.h:130
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franka::Errors::communication_constraints_violation
const bool & communication_constraints_violation
True if minimum network communication quality could not be held during a motion.
Definition: errors.h:206
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franka::Errors::cartesian_position_motion_generator_start_pose_invalid
const bool & cartesian_position_motion_generator_start_pose_invalid
True if an external Cartesian position motion generator was started with a pose too far from the curr...
Definition: errors.h:140
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franka::Errors::joint_reflex
const bool & joint_reflex
True if a collision was detected, i.e. the robot exceeded a torque threshold in a joint motion...
Definition: errors.h:95
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franka::operator<<
std::ostream & operator<<(std::ostream &ostream, const Errors &errors)
Streams the errors as JSON array.
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franka::Errors::self_collision_avoidance_violation
const bool & self_collision_avoidance_violation
True if the robot would have collided with itself.
Definition: errors.h:78
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franka::Errors::cartesian_motion_generator_start_elbow_invalid
const bool & cartesian_motion_generator_start_elbow_invalid
True if the first elbow value in Cartesian motion generators is too far from initial one...
Definition: errors.h:166
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franka::Errors::cartesian_velocity_violation
const bool & cartesian_velocity_violation
True if the robot exceeded Cartesian velocity limits.
Definition: errors.h:86
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franka::Errors::Errors
Errors()
Creates an empty Errors instance.
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franka::Errors::cartesian_motion_generator_velocity_limits_violation
const bool & cartesian_motion_generator_velocity_limits_violation
True if an external Cartesian motion generator would move with too high velocity. ...
Definition: errors.h:148
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franka::Errors
Enumerates errors that can occur while controlling a franka::Robot.
Definition: errors.h:18
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franka::Errors::joint_position_motion_generator_start_pose_invalid
const bool & joint_position_motion_generator_start_pose_invalid
True if an external joint position motion generator was started with a pose too far from the current ...
Definition: errors.h:117
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franka::Errors::operator=
Errors & operator=(Errors other)
Assigns this Errors instance from another Errors value.
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franka::Errors::joint_motion_generator_position_limits_violation
const bool & joint_motion_generator_position_limits_violation
True if an external joint motion generator would move into a joint limit.
Definition: errors.h:121
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franka::Errors::cartesian_motion_generator_joint_position_limits_violation
const bool & cartesian_motion_generator_joint_position_limits_violation
True if the joint position limits would be exceeded after IK calculation.
Definition: errors.h:170
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franka::Errors::cartesian_motion_generator_velocity_discontinuity
const bool & cartesian_motion_generator_velocity_discontinuity
True if commanded velocity in Cartesian motion generators is discontinuous (target values are too far...
Definition: errors.h:153
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franka::Errors::cartesian_motion_generator_joint_acceleration_discontinuity
const bool & cartesian_motion_generator_joint_acceleration_discontinuity
True if the joint acceleration in Cartesian motion generators is discontinuous after IK calculation...
Definition: errors.h:184
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franka::Errors::joint_move_in_wrong_direction
const bool & joint_move_in_wrong_direction
True if the robot is in joint position limits violation error and the user guides the robot further t...
Definition: errors.h:229
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franka::Errors::max_path_pose_deviation_violation
const bool & max_path_pose_deviation_violation
True if internal motion generator deviated from the path.
Definition: errors.h:108
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franka::Errors::cartesian_position_limits_violation
const bool & cartesian_position_limits_violation
True if the robot moved past any of the virtual walls.
Definition: errors.h:74
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franka::Errors::cartesian_position_motion_generator_invalid_frame
const bool & cartesian_position_motion_generator_invalid_frame
True if the Cartesian pose is not a valid transformation matrix.
Definition: errors.h:188
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franka::Errors::cartesian_motion_generator_acceleration_discontinuity
const bool & cartesian_motion_generator_acceleration_discontinuity
True if commanded acceleration in Cartesian motion generators is discontinuous (target values are too...
Definition: errors.h:158
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franka::Errors::cartesian_velocity_profile_safety_violation
const bool & cartesian_velocity_profile_safety_violation
True if Cartesian velocity profile for internal motions was exceeded.
Definition: errors.h:112
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franka::Errors::joint_p2p_insufficient_torque_for_planning
const bool & joint_p2p_insufficient_torque_for_planning
True if the robot is overloaded for the required motion.
Definition: errors.h:216
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franka::Errors::max_goal_pose_deviation_violation
const bool & max_goal_pose_deviation_violation
True if internal motion generator did not reach the goal pose.
Definition: errors.h:104
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franka::Errors::joint_motion_generator_acceleration_discontinuity
const bool & joint_motion_generator_acceleration_discontinuity
True if commanded acceleration in joint motion generators is discontinuous (target values are too far...
Definition: errors.h:135
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franka::Errors::joint_position_limits_violation
const bool & joint_position_limits_violation
True if the robot moved past the joint limits.
Definition: errors.h:70
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franka::Errors::force_controller_desired_force_tolerance_violation
const bool & force_controller_desired_force_tolerance_violation
True if desired force exceeds the safety thresholds.
Definition: errors.h:192
-
franka
Definition: command_types.h:13
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franka::Errors::power_limit_violation
const bool & power_limit_violation
True if commanded values would result in exceeding the power limit.
Definition: errors.h:210
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franka::Errors::cartesian_reflex
const bool & cartesian_reflex
True if a collision was detected, i.e. the robot exceeded a torque threshold in a Cartesian motion...
Definition: errors.h:100
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franka::Errors::joint_motion_generator_velocity_limits_violation
const bool & joint_motion_generator_velocity_limits_violation
True if an external joint motion generator exceeded velocity limits.
Definition: errors.h:125
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franka::Errors::instability_detected
const bool & instability_detected
True if an instability is detected.
Definition: errors.h:224
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franka::Errors::joint_velocity_violation
const bool & joint_velocity_violation
True if the robot exceeded joint velocity limits.
Definition: errors.h:82
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franka::Errors::cartesian_motion_generator_elbow_sign_inconsistent
const bool & cartesian_motion_generator_elbow_sign_inconsistent
True if commanded elbow values in Cartesian motion generators are inconsistent.
Definition: errors.h:162
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franka::Errors::start_elbow_sign_inconsistent
const bool & start_elbow_sign_inconsistent
True if the start elbow sign was inconsistent.
Definition: errors.h:202
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franka::Errors::tau_j_range_violation
const bool & tau_j_range_violation
True if the measured torque signal is out of the safe range.
Definition: errors.h:220
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examples_common.h File Reference
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Contains common types and functions for the examples. -More...

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#include <array>
-#include <Eigen/Core>
-#include <franka/control_types.h>
-#include <franka/duration.h>
-#include <franka/robot.h>
-#include <franka/robot_state.h>
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-Include dependency graph for examples_common.h:
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-Classes

class  MotionGenerator
 An example showing how to generate a joint pose motion to a goal position. More...
 
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-Functions

void setDefaultBehavior (franka::Robot &robot)
 Sets a default collision behavior, joint impedance, Cartesian impedance, and filter frequency. More...
 
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Detailed Description

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Contains common types and functions for the examples.

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Function Documentation

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◆ setDefaultBehavior()

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void setDefaultBehavior (franka::Robot & robot)
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Sets a default collision behavior, joint impedance, Cartesian impedance, and filter frequency.

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Parameters
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[in]robotRobot instance to set behavior on.
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Examples:
cartesian_impedance_control.cpp, communication_test.cpp, force_control.cpp, generate_cartesian_pose_motion.cpp, generate_cartesian_velocity_motion.cpp, generate_consecutive_motions.cpp, generate_elbow_motion.cpp, generate_joint_position_motion.cpp, generate_joint_velocity_motion.cpp, joint_impedance_control.cpp, joint_point_to_point_motion.cpp, and motion_with_control.cpp.
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-
examples_common.h
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-Go to the documentation of this file.
1 // Copyright (c) 2017 Franka Emika GmbH
2 // Use of this source code is governed by the Apache-2.0 license, see LICENSE
3 #pragma once
4 
5 #include <array>
6 
7 #include <Eigen/Core>
8 
9 #include <franka/control_types.h>
10 #include <franka/duration.h>
11 #include <franka/robot.h>
12 #include <franka/robot_state.h>
13 
24 void setDefaultBehavior(franka::Robot& robot);
25 
31 class MotionGenerator {
32  public:
39  MotionGenerator(double speed_factor, const std::array<double, 7> q_goal);
40 
49  franka::JointPositions operator()(const franka::RobotState& robot_state, franka::Duration period);
50 
51  private:
52  using Vector7d = Eigen::Matrix<double, 7, 1, Eigen::ColMajor>;
53  using Vector7i = Eigen::Matrix<int, 7, 1, Eigen::ColMajor>;
54 
55  bool calculateDesiredValues(double t, Vector7d* delta_q_d) const;
56  void calculateSynchronizedValues();
57 
58  static constexpr double kDeltaQMotionFinished = 1e-6;
59  const Vector7d q_goal_;
60 
61  Vector7d q_start_;
62  Vector7d delta_q_;
63 
64  Vector7d dq_max_sync_;
65  Vector7d t_1_sync_;
66  Vector7d t_2_sync_;
67  Vector7d t_f_sync_;
68  Vector7d q_1_;
69 
70  double time_ = 0.0;
71 
72  Vector7d dq_max_ = (Vector7d() << 2.0, 2.0, 2.0, 2.0, 2.5, 2.5, 2.5).finished();
73  Vector7d ddq_max_start_ = (Vector7d() << 5, 5, 5, 5, 5, 5, 5).finished();
74  Vector7d ddq_max_goal_ = (Vector7d() << 5, 5, 5, 5, 5, 5, 5).finished();
75 };
MotionGenerator
An example showing how to generate a joint pose motion to a goal position.
Definition: examples_common.h:31
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robot.h
Contains the franka::Robot type.
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MotionGenerator::operator()
franka::JointPositions operator()(const franka::RobotState &robot_state, franka::Duration period)
Sends joint position calculations.
Definition: examples_common.cpp:114
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control_types.h
Contains helper types for returning motion generation and joint-level torque commands.
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franka::Duration
Represents a duration with millisecond resolution.
Definition: duration.h:19
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robot_state.h
Contains the franka::RobotState types.
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duration.h
Contains the franka::Duration type.
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MotionGenerator::MotionGenerator
MotionGenerator(double speed_factor, const std::array< double, 7 > q_goal)
Creates a new MotionGenerator instance for a target q.
Definition: examples_common.cpp:22
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franka::JointPositions
Stores values for joint position motion generation.
Definition: control_types.h:72
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setDefaultBehavior
void setDefaultBehavior(franka::Robot &robot)
Sets a default collision behavior, joint impedance, Cartesian impedance, and filter frequency...
Definition: examples_common.cpp:12
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franka::RobotState
Describes the robot state.
Definition: robot_state.h:35
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franka::Robot
Maintains a network connection to the robot, provides the current robot state, gives access to the mo...
Definition: robot.h:46
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FCI C++ API
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exception.h File Reference
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Contains exception definitions. -More...

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#include <stdexcept>
-#include <string>
-#include <franka/log.h>
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struct  franka::Exception
 Base class for all exceptions used by libfranka. More...
 
struct  franka::ModelException
 ModelException is thrown if an error occurs when loading the model library. More...
 
struct  franka::NetworkException
 NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occurs. More...
 
struct  franka::ProtocolException
 ProtocolException is thrown if the robot returns an incorrect message. More...
 
struct  franka::IncompatibleVersionException
 IncompatibleVersionException is thrown if the robot does not support this version of libfranka. More...
 
struct  franka::ControlException
 ControlException is thrown if an error occurs during motion generation or torque control. More...
 
struct  franka::CommandException
 CommandException is thrown if an error occurs during command execution. More...
 
struct  franka::RealtimeException
 RealtimeException is thrown if realtime priority cannot be set. More...
 
struct  franka::InvalidOperationException
 InvalidOperationException is thrown if an operation cannot be performed. More...
 
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Detailed Description

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Contains exception definitions.

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1 // Copyright (c) 2017 Franka Emika GmbH
2 // Use of this source code is governed by the Apache-2.0 license, see LICENSE
3 #pragma once
4 
5 #include <stdexcept>
6 #include <string>
7 
8 #include <franka/log.h>
9 
15 namespace franka {
16 
20 struct Exception : public std::runtime_error {
21  using std::runtime_error::runtime_error;
22 };
23 
27 struct ModelException : public Exception {
28  using Exception::Exception;
29 };
30 
35 struct NetworkException : public Exception {
36  using Exception::Exception;
37 };
38 
42 struct ProtocolException : public Exception {
43  using Exception::Exception;
44 };
45 
49 struct IncompatibleVersionException : public Exception {
55  IncompatibleVersionException(uint16_t server_version, uint16_t library_version) noexcept;
56 
60  const uint16_t server_version;
64  const uint16_t library_version;
65 };
66 
73 struct ControlException : public Exception {
80  explicit ControlException(const std::string& what, std::vector<franka::Record> log = {}) noexcept;
81 
85  const std::vector<franka::Record> log;
86 };
87 
91 struct CommandException : public Exception {
92  using Exception::Exception;
93 };
94 
98 struct RealtimeException : public Exception {
99  using Exception::Exception;
100 };
101 
105 struct InvalidOperationException : public Exception {
106  using Exception::Exception;
107 };
108 
109 } // namespace franka
franka::IncompatibleVersionException
IncompatibleVersionException is thrown if the robot does not support this version of libfranka...
Definition: exception.h:49
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franka::InvalidOperationException
InvalidOperationException is thrown if an operation cannot be performed.
Definition: exception.h:105
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franka::RealtimeException
RealtimeException is thrown if realtime priority cannot be set.
Definition: exception.h:98
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franka::ProtocolException
ProtocolException is thrown if the robot returns an incorrect message.
Definition: exception.h:42
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franka::ModelException
ModelException is thrown if an error occurs when loading the model library.
Definition: exception.h:27
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franka::NetworkException
NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occu...
Definition: exception.h:35
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franka
Definition: command_types.h:13
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franka::Exception
Base class for all exceptions used by libfranka.
Definition: exception.h:20
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franka::ControlException
ControlException is thrown if an error occurs during motion generation or torque control.
Definition: exception.h:73
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franka::IncompatibleVersionException::library_version
const uint16_t library_version
libfranka protocol version.
Definition: exception.h:64
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franka::IncompatibleVersionException::server_version
const uint16_t server_version
Control&#39;s protocol version.
Definition: exception.h:60
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log.h
Contains helper types for logging sent commands and received robot states.
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franka::ControlException::log
const std::vector< franka::Record > log
Vector of states and commands logged just before the exception occured.
Definition: exception.h:85
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franka::CommandException
CommandException is thrown if an error occurs during command execution.
Definition: exception.h:91
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[detail level 123]
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 ▼ examples
 examples_common.hContains common types and functions for the examples
 ▼ include
 ▼ franka
 command_types.hContains types for the commands that can be sent from franka::Robot
 control_tools.hContains helper functions for writing control loops
 control_types.hContains helper types for returning motion generation and joint-level torque commands
 duration.hContains the franka::Duration type
 errors.hContains the franka::Errors type
 exception.hContains exception definitions
 gripper.hContains the franka::Gripper type
 gripper_state.hContains the franka::GripperState type
 log.hContains helper types for logging sent commands and received robot states
 lowpass_filter.hContains functions for filtering signals with a low-pass filter
 model.hContains model library types
 rate_limiting.hContains functions for limiting the rate of torques, Cartesian pose, Cartesian velocity, joint position and joint velocity
 robot.hContains the franka::Robot type
 robot_state.hContains the franka::RobotState types
 vacuum_gripper.hContains the franka::VacuumGripper type
 vacuum_gripper_state.hContains the franka::VacuumGripperState type
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- - diff --git a/force_control_8cpp-example.html b/force_control_8cpp-example.html deleted file mode 100644 index b334bdaa..00000000 --- a/force_control_8cpp-example.html +++ /dev/null @@ -1,83 +0,0 @@ - - - - - - - -libfranka: force_control.cpp - - - - - - - - - - -
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force_control.cpp
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A simple PI force controller that renders in the Z axis the gravitational force corresponding to a target mass of 1 kg.

Warning
: make sure that no endeffector is mounted and that the robot's last joint is in contact with a horizontal rigid surface before starting.
-
// Copyright (c) 2017 Franka Emika GmbH
// Use of this source code is governed by the Apache-2.0 license, see LICENSE
#include <array>
#include <iostream>
#include <Eigen/Core>
#include <franka/duration.h>
#include <franka/exception.h>
#include <franka/model.h>
#include <franka/robot.h>
#include "examples_common.h"
int main(int argc, char** argv) {
// Check whether the required arguments were passed
if (argc != 2) {
std::cerr << "Usage: " << argv[0] << " <robot-hostname>" << std::endl;
return -1;
}
// parameters
double desired_mass{0.0};
constexpr double target_mass{1.0}; // NOLINT(readability-identifier-naming)
constexpr double k_p{1.0}; // NOLINT(readability-identifier-naming)
constexpr double k_i{2.0}; // NOLINT(readability-identifier-naming)
constexpr double filter_gain{0.001}; // NOLINT(readability-identifier-naming)
try {
// connect to robot
franka::Robot robot(argv[1]);
setDefaultBehavior(robot);
// load the kinematics and dynamics model
franka::Model model = robot.loadModel();
// set collision behavior
robot.setCollisionBehavior({{100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0}},
{{100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0}},
{{100.0, 100.0, 100.0, 100.0, 100.0, 100.0}},
{{100.0, 100.0, 100.0, 100.0, 100.0, 100.0}});
franka::RobotState initial_state = robot.readOnce();
Eigen::VectorXd initial_tau_ext(7), tau_error_integral(7);
// Bias torque sensor
std::array<double, 7> gravity_array = model.gravity(initial_state);
Eigen::Map<Eigen::Matrix<double, 7, 1>> initial_tau_measured(initial_state.tau_J.data());
Eigen::Map<Eigen::Matrix<double, 7, 1>> initial_gravity(gravity_array.data());
initial_tau_ext = initial_tau_measured - initial_gravity;
// init integrator
tau_error_integral.setZero();
// define callback for the torque control loop
Eigen::Vector3d initial_position;
double time = 0.0;
auto get_position = [](const franka::RobotState& robot_state) {
return Eigen::Vector3d(robot_state.O_T_EE[12], robot_state.O_T_EE[13],
robot_state.O_T_EE[14]);
};
auto force_control_callback = [&](const franka::RobotState& robot_state,
franka::Duration period) -> franka::Torques {
time += period.toSec();
if (time == 0.0) {
initial_position = get_position(robot_state);
}
if (time > 0 && (get_position(robot_state) - initial_position).norm() > 0.01) {
throw std::runtime_error("Aborting; too far away from starting pose!");
}
// get state variables
std::array<double, 42> jacobian_array =
model.zeroJacobian(franka::Frame::kEndEffector, robot_state);
Eigen::Map<const Eigen::Matrix<double, 6, 7>> jacobian(jacobian_array.data());
Eigen::Map<const Eigen::Matrix<double, 7, 1>> tau_measured(robot_state.tau_J.data());
Eigen::Map<const Eigen::Matrix<double, 7, 1>> gravity(gravity_array.data());
Eigen::VectorXd tau_d(7), desired_force_torque(6), tau_cmd(7), tau_ext(7);
desired_force_torque.setZero();
desired_force_torque(2) = desired_mass * -9.81;
tau_ext << tau_measured - gravity - initial_tau_ext;
tau_d << jacobian.transpose() * desired_force_torque;
tau_error_integral += period.toSec() * (tau_d - tau_ext);
// FF + PI control
tau_cmd << tau_d + k_p * (tau_d - tau_ext) + k_i * tau_error_integral;
// Smoothly update the mass to reach the desired target value
desired_mass = filter_gain * target_mass + (1 - filter_gain) * desired_mass;
std::array<double, 7> tau_d_array{};
Eigen::VectorXd::Map(&tau_d_array[0], 7) = tau_cmd;
return tau_d_array;
};
std::cout << "WARNING: Make sure sure that no endeffector is mounted and that the robot's last "
"joint is "
"in contact with a horizontal rigid surface before starting. Keep in mind that "
"collision thresholds are set to high values."
<< std::endl
<< "Press Enter to continue..." << std::endl;
std::cin.ignore();
// start real-time control loop
robot.control(force_control_callback);
} catch (const std::exception& ex) {
// print exception
std::cout << ex.what() << std::endl;
}
return 0;
}
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- - diff --git a/generate_cartesian_pose_motion_8cpp-example.html b/generate_cartesian_pose_motion_8cpp-example.html deleted file mode 100644 index 60901e7b..00000000 --- a/generate_cartesian_pose_motion_8cpp-example.html +++ /dev/null @@ -1,83 +0,0 @@ - - - - - - - -libfranka: generate_cartesian_pose_motion.cpp - - - - - - - - - - -
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generate_cartesian_pose_motion.cpp
-
-
-

An example showing how to generate a Cartesian motion.

Warning
Before executing this example, make sure there is enough space in front of the robot.
-
// Copyright (c) 2017 Franka Emika GmbH
// Use of this source code is governed by the Apache-2.0 license, see LICENSE
#include <cmath>
#include <iostream>
#include <franka/exception.h>
#include <franka/robot.h>
#include "examples_common.h"
int main(int argc, char** argv) {
if (argc != 2) {
std::cerr << "Usage: " << argv[0] << " <robot-hostname>" << std::endl;
return -1;
}
try {
franka::Robot robot(argv[1]);
setDefaultBehavior(robot);
// First move the robot to a suitable joint configuration
std::array<double, 7> q_goal = {{0, -M_PI_4, 0, -3 * M_PI_4, 0, M_PI_2, M_PI_4}};
MotionGenerator motion_generator(0.5, q_goal);
std::cout << "WARNING: This example will move the robot! "
<< "Please make sure to have the user stop button at hand!" << std::endl
<< "Press Enter to continue..." << std::endl;
std::cin.ignore();
robot.control(motion_generator);
std::cout << "Finished moving to initial joint configuration." << std::endl;
// Set additional parameters always before the control loop, NEVER in the control loop!
// Set collision behavior.
robot.setCollisionBehavior(
{{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}}, {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}},
{{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}}, {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}},
{{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}}, {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}},
{{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}}, {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}});
std::array<double, 16> initial_pose;
double time = 0.0;
robot.control([&time, &initial_pose](const franka::RobotState& robot_state,
franka::Duration period) -> franka::CartesianPose {
time += period.toSec();
if (time == 0.0) {
initial_pose = robot_state.O_T_EE_c;
}
constexpr double kRadius = 0.3;
double angle = M_PI / 4 * (1 - std::cos(M_PI / 5.0 * time));
double delta_x = kRadius * std::sin(angle);
double delta_z = kRadius * (std::cos(angle) - 1);
std::array<double, 16> new_pose = initial_pose;
new_pose[12] += delta_x;
new_pose[14] += delta_z;
if (time >= 10.0) {
std::cout << std::endl << "Finished motion, shutting down example" << std::endl;
return franka::MotionFinished(new_pose);
}
return new_pose;
});
} catch (const franka::Exception& e) {
std::cout << e.what() << std::endl;
return -1;
}
return 0;
}
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generate_cartesian_velocity_motion.cpp
-
-
-

An example showing how to generate a Cartesian velocity motion.

Warning
Before executing this example, make sure there is enough space in front of the robot.
-
// Copyright (c) 2017 Franka Emika GmbH
// Use of this source code is governed by the Apache-2.0 license, see LICENSE
#include <cmath>
#include <iostream>
#include <franka/exception.h>
#include <franka/robot.h>
#include "examples_common.h"
int main(int argc, char** argv) {
if (argc != 2) {
std::cerr << "Usage: " << argv[0] << " <robot-hostname>" << std::endl;
return -1;
}
try {
franka::Robot robot(argv[1]);
setDefaultBehavior(robot);
// First move the robot to a suitable joint configuration
std::array<double, 7> q_goal = {{0, -M_PI_4, 0, -3 * M_PI_4, 0, M_PI_2, M_PI_4}};
MotionGenerator motion_generator(0.5, q_goal);
std::cout << "WARNING: This example will move the robot! "
<< "Please make sure to have the user stop button at hand!" << std::endl
<< "Press Enter to continue..." << std::endl;
std::cin.ignore();
robot.control(motion_generator);
std::cout << "Finished moving to initial joint configuration." << std::endl;
// Set additional parameters always before the control loop, NEVER in the control loop!
// Set the joint impedance.
robot.setJointImpedance({{3000, 3000, 3000, 2500, 2500, 2000, 2000}});
// Set the collision behavior.
std::array<double, 7> lower_torque_thresholds_nominal{
{25.0, 25.0, 22.0, 20.0, 19.0, 17.0, 14.}};
std::array<double, 7> upper_torque_thresholds_nominal{
{35.0, 35.0, 32.0, 30.0, 29.0, 27.0, 24.0}};
std::array<double, 7> lower_torque_thresholds_acceleration{
{25.0, 25.0, 22.0, 20.0, 19.0, 17.0, 14.0}};
std::array<double, 7> upper_torque_thresholds_acceleration{
{35.0, 35.0, 32.0, 30.0, 29.0, 27.0, 24.0}};
std::array<double, 6> lower_force_thresholds_nominal{{30.0, 30.0, 30.0, 25.0, 25.0, 25.0}};
std::array<double, 6> upper_force_thresholds_nominal{{40.0, 40.0, 40.0, 35.0, 35.0, 35.0}};
std::array<double, 6> lower_force_thresholds_acceleration{{30.0, 30.0, 30.0, 25.0, 25.0, 25.0}};
std::array<double, 6> upper_force_thresholds_acceleration{{40.0, 40.0, 40.0, 35.0, 35.0, 35.0}};
robot.setCollisionBehavior(
lower_torque_thresholds_acceleration, upper_torque_thresholds_acceleration,
lower_torque_thresholds_nominal, upper_torque_thresholds_nominal,
lower_force_thresholds_acceleration, upper_force_thresholds_acceleration,
lower_force_thresholds_nominal, upper_force_thresholds_nominal);
double time_max = 4.0;
double v_max = 0.1;
double angle = M_PI / 4.0;
double time = 0.0;
robot.control([=, &time](const franka::RobotState&,
franka::Duration period) -> franka::CartesianVelocities {
time += period.toSec();
double cycle = std::floor(pow(-1.0, (time - std::fmod(time, time_max)) / time_max));
double v = cycle * v_max / 2.0 * (1.0 - std::cos(2.0 * M_PI / time_max * time));
double v_x = std::cos(angle) * v;
double v_z = -std::sin(angle) * v;
franka::CartesianVelocities output = {{v_x, 0.0, v_z, 0.0, 0.0, 0.0}};
if (time >= 2 * time_max) {
std::cout << std::endl << "Finished motion, shutting down example" << std::endl;
return franka::MotionFinished(output);
}
return output;
});
} catch (const franka::Exception& e) {
std::cout << e.what() << std::endl;
return -1;
}
return 0;
}
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-Generated by   -doxygen - 1.8.13 -
- - diff --git a/generate_consecutive_motions_8cpp-example.html b/generate_consecutive_motions_8cpp-example.html deleted file mode 100644 index 0a981581..00000000 --- a/generate_consecutive_motions_8cpp-example.html +++ /dev/null @@ -1,83 +0,0 @@ - - - - - - - -libfranka: generate_consecutive_motions.cpp - - - - - - - - - - -
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generate_consecutive_motions.cpp
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-

An example showing how to execute consecutive motions with error recovery.

Warning
Before executing this example, make sure there is enough space in front and to the side of the robot.
-
// Copyright (c) 2017 Franka Emika GmbH
// Use of this source code is governed by the Apache-2.0 license, see LICENSE
#include <cmath>
#include <iostream>
#include <franka/exception.h>
#include <franka/robot.h>
#include "examples_common.h"
int main(int argc, char** argv) {
if (argc != 2) {
std::cerr << "Usage: " << argv[0] << " <robot-hostname>" << std::endl;
return -1;
}
try {
franka::Robot robot(argv[1]);
setDefaultBehavior(robot);
// First move the robot to a suitable joint configuration
std::array<double, 7> q_goal = {{0, -M_PI_4, 0, -3 * M_PI_4, 0, M_PI_2, M_PI_4}};
MotionGenerator motion_generator(0.5, q_goal);
std::cout << "WARNING: This example will move the robot! "
<< "Please make sure to have the user stop button at hand!" << std::endl
<< "Press Enter to continue..." << std::endl;
std::cin.ignore();
robot.control(motion_generator);
std::cout << "Finished moving to initial joint configuration." << std::endl;
// Set additional parameters always before the control loop, NEVER in the control loop!
// Set collision behavior.
robot.setCollisionBehavior(
{{10.0, 10.0, 9.0, 9.0, 8.0, 7.0, 6.0}}, {{10.0, 10.0, 9.0, 9.0, 8.0, 7.0, 6.0}},
{{10.0, 10.0, 9.0, 9.0, 8.0, 7.0, 6.0}}, {{10.0, 10.0, 9.0, 9.0, 8.0, 7.0, 6.0}},
{{10.0, 10.0, 10.0, 12.5, 12.5, 12.5}}, {{10.0, 10.0, 10.0, 12.5, 12.5, 12.5}},
{{10.0, 10.0, 10.0, 12.5, 12.5, 12.5}}, {{10.0, 10.0, 10.0, 12.5, 12.5, 12.5}});
for (size_t i = 0; i < 5; i++) {
std::cout << "Executing motion." << std::endl;
try {
double time_max = 4.0;
double omega_max = 0.2;
double time = 0.0;
robot.control([=, &time](const franka::RobotState&,
franka::Duration period) -> franka::JointVelocities {
time += period.toSec();
double cycle = std::floor(std::pow(-1.0, (time - std::fmod(time, time_max)) / time_max));
double omega = cycle * omega_max / 2.0 * (1.0 - std::cos(2.0 * M_PI / time_max * time));
franka::JointVelocities velocities = {{0.0, 0.0, omega, 0.0, 0.0, 0.0, 0.0}};
if (time >= 2 * time_max) {
std::cout << std::endl << "Finished motion." << std::endl;
return franka::MotionFinished(velocities);
}
return velocities;
});
} catch (const franka::ControlException& e) {
std::cout << e.what() << std::endl;
std::cout << "Running error recovery..." << std::endl;
robot.automaticErrorRecovery();
}
}
} catch (const franka::Exception& e) {
std::cout << e.what() << std::endl;
return -1;
}
std::cout << "Finished." << std::endl;
return 0;
}
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-Generated by   -doxygen - 1.8.13 -
- - diff --git a/generate_elbow_motion_8cpp-example.html b/generate_elbow_motion_8cpp-example.html deleted file mode 100644 index 9d4df678..00000000 --- a/generate_elbow_motion_8cpp-example.html +++ /dev/null @@ -1,83 +0,0 @@ - - - - - - - -libfranka: generate_elbow_motion.cpp - - - - - - - - - - -
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generate_elbow_motion.cpp
-
-
-

An example showing how to move the robot's elbow.

Warning
Before executing this example, make sure that the elbow has enough space to move.
-
// Copyright (c) 2017 Franka Emika GmbH
// Use of this source code is governed by the Apache-2.0 license, see LICENSE
#include <cmath>
#include <iostream>
#include <franka/exception.h>
#include <franka/robot.h>
#include "examples_common.h"
int main(int argc, char** argv) {
if (argc != 2) {
std::cerr << "Usage: " << argv[0] << " <robot-hostname>" << std::endl;
return -1;
}
try {
franka::Robot robot(argv[1]);
setDefaultBehavior(robot);
// First move the robot to a suitable joint configuration
std::array<double, 7> q_goal = {{0, -M_PI_4, 0, -3 * M_PI_4, 0, M_PI_2, M_PI_4}};
MotionGenerator motion_generator(0.5, q_goal);
std::cout << "WARNING: This example will move the robot! "
<< "Please make sure to have the user stop button at hand!" << std::endl
<< "Press Enter to continue..." << std::endl;
std::cin.ignore();
robot.control(motion_generator);
std::cout << "Finished moving to initial joint configuration." << std::endl;
// Set additional parameters always before the control loop, NEVER in the control loop!
// Set collision behavior.
robot.setCollisionBehavior(
{{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}}, {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}},
{{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}}, {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}},
{{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}}, {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}},
{{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}}, {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}});
std::array<double, 16> initial_pose;
std::array<double, 2> initial_elbow;
double time = 0.0;
robot.control(
[&time, &initial_pose, &initial_elbow](const franka::RobotState& robot_state,
franka::Duration period) -> franka::CartesianPose {
time += period.toSec();
if (time == 0.0) {
initial_pose = robot_state.O_T_EE_c;
initial_elbow = robot_state.elbow_c;
}
double angle = M_PI / 10.0 * (1.0 - std::cos(M_PI / 5.0 * time));
auto elbow = initial_elbow;
elbow[0] += angle;
if (time >= 10.0) {
std::cout << std::endl << "Finished motion, shutting down example" << std::endl;
return franka::MotionFinished({initial_pose, elbow});
}
return {initial_pose, elbow};
});
} catch (const franka::Exception& e) {
std::cout << e.what() << std::endl;
return -1;
}
return 0;
}
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- - diff --git a/generate_joint_position_motion_8cpp-example.html b/generate_joint_position_motion_8cpp-example.html deleted file mode 100644 index 18479a9a..00000000 --- a/generate_joint_position_motion_8cpp-example.html +++ /dev/null @@ -1,83 +0,0 @@ - - - - - - - -libfranka: generate_joint_position_motion.cpp - - - - - - - - - - -
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generate_joint_position_motion.cpp
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An example showing how to generate a joint position motion.

Warning
Before executing this example, make sure there is enough space in front of the robot.
-
// Copyright (c) 2017 Franka Emika GmbH
// Use of this source code is governed by the Apache-2.0 license, see LICENSE
#include <cmath>
#include <iostream>
#include <franka/exception.h>
#include <franka/robot.h>
#include "examples_common.h"
int main(int argc, char** argv) {
if (argc != 2) {
std::cerr << "Usage: " << argv[0] << " <robot-hostname>" << std::endl;
return -1;
}
try {
franka::Robot robot(argv[1]);
setDefaultBehavior(robot);
// First move the robot to a suitable joint configuration
std::array<double, 7> q_goal = {{0, -M_PI_4, 0, -3 * M_PI_4, 0, M_PI_2, M_PI_4}};
MotionGenerator motion_generator(0.5, q_goal);
std::cout << "WARNING: This example will move the robot! "
<< "Please make sure to have the user stop button at hand!" << std::endl
<< "Press Enter to continue..." << std::endl;
std::cin.ignore();
robot.control(motion_generator);
std::cout << "Finished moving to initial joint configuration." << std::endl;
// Set additional parameters always before the control loop, NEVER in the control loop!
// Set collision behavior.
robot.setCollisionBehavior(
{{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}}, {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}},
{{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}}, {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}},
{{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}}, {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}},
{{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}}, {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}});
std::array<double, 7> initial_position;
double time = 0.0;
robot.control([&initial_position, &time](const franka::RobotState& robot_state,
franka::Duration period) -> franka::JointPositions {
time += period.toSec();
if (time == 0.0) {
initial_position = robot_state.q_d;
}
double delta_angle = M_PI / 8.0 * (1 - std::cos(M_PI / 2.5 * time));
franka::JointPositions output = {{initial_position[0], initial_position[1],
initial_position[2], initial_position[3] + delta_angle,
initial_position[4] + delta_angle, initial_position[5],
initial_position[6] + delta_angle}};
if (time >= 5.0) {
std::cout << std::endl << "Finished motion, shutting down example" << std::endl;
return franka::MotionFinished(output);
}
return output;
});
} catch (const franka::Exception& e) {
std::cout << e.what() << std::endl;
return -1;
}
return 0;
}
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-Generated by   -doxygen - 1.8.13 -
- - diff --git a/generate_joint_velocity_motion_8cpp-example.html b/generate_joint_velocity_motion_8cpp-example.html deleted file mode 100644 index ad262206..00000000 --- a/generate_joint_velocity_motion_8cpp-example.html +++ /dev/null @@ -1,83 +0,0 @@ - - - - - - - -libfranka: generate_joint_velocity_motion.cpp - - - - - - - - - - -
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generate_joint_velocity_motion.cpp
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An example showing how to generate a joint velocity motion.

Warning
Before executing this example, make sure there is enough space in front of the robot.
-
// Copyright (c) 2017 Franka Emika GmbH
// Use of this source code is governed by the Apache-2.0 license, see LICENSE
#include <cmath>
#include <iostream>
#include <franka/exception.h>
#include <franka/robot.h>
#include "examples_common.h"
int main(int argc, char** argv) {
if (argc != 2) {
std::cerr << "Usage: " << argv[0] << " <robot-hostname>" << std::endl;
return -1;
}
try {
franka::Robot robot(argv[1]);
setDefaultBehavior(robot);
// First move the robot to a suitable joint configuration
std::array<double, 7> q_goal = {{0, -M_PI_4, 0, -3 * M_PI_4, 0, M_PI_2, M_PI_4}};
MotionGenerator motion_generator(0.5, q_goal);
std::cout << "WARNING: This example will move the robot! "
<< "Please make sure to have the user stop button at hand!" << std::endl
<< "Press Enter to continue..." << std::endl;
std::cin.ignore();
robot.control(motion_generator);
std::cout << "Finished moving to initial joint configuration." << std::endl;
// Set additional parameters always before the control loop, NEVER in the control loop!
// Set collision behavior.
robot.setCollisionBehavior(
{{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}}, {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}},
{{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}}, {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}},
{{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}}, {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}},
{{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}}, {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}});
double time_max = 1.0;
double omega_max = 1.0;
double time = 0.0;
robot.control(
[=, &time](const franka::RobotState&, franka::Duration period) -> franka::JointVelocities {
time += period.toSec();
double cycle = std::floor(std::pow(-1.0, (time - std::fmod(time, time_max)) / time_max));
double omega = cycle * omega_max / 2.0 * (1.0 - std::cos(2.0 * M_PI / time_max * time));
franka::JointVelocities velocities = {{0.0, 0.0, 0.0, omega, omega, omega, omega}};
if (time >= 2 * time_max) {
std::cout << std::endl << "Finished motion, shutting down example" << std::endl;
return franka::MotionFinished(velocities);
}
return velocities;
});
} catch (const franka::Exception& e) {
std::cout << e.what() << std::endl;
return -1;
}
return 0;
}
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- - diff --git a/globals.html b/globals.html deleted file mode 100644 index 599140b2..00000000 --- a/globals.html +++ /dev/null @@ -1,83 +0,0 @@ - - - - - - - -libfranka: File Members - - - - - - - - - - -
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libfranka -  0.8.0 -
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Here is a list of all documented file members with links to the documentation:
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- - diff --git a/graph_legend.html b/graph_legend.html index 38e583b1..97959a38 100644 --- a/graph_legend.html +++ b/graph_legend.html @@ -1,9 +1,9 @@ - + - + libfranka: Graph Legend @@ -17,7 +17,8 @@ extensions: ["tex2jax.js"], jax: ["input/TeX","output/SVG"], }); - + + @@ -26,10 +27,10 @@ - + @@ -38,18 +39,21 @@
libfranka -  0.8.0 +  0.14.0
FCI C++ API
- + +/* @license-end */ @@ -72,11 +76,42 @@

This page explains how to interpret the graphs that are generated by doxygen.

-

Consider the following example:

/*! Invisible class because of truncation */
class Invisible { };
/*! Truncated class, inheritance relation is hidden */
class Truncated : public Invisible { };
/* Class not documented with doxygen comments */
class Undocumented { };
/*! Class that is inherited using public inheritance */
class PublicBase : public Truncated { };
/*! A template class */
template<class T> class Templ { };
/*! Class that is inherited using protected inheritance */
class ProtectedBase { };
/*! Class that is inherited using private inheritance */
class PrivateBase { };
/*! Class that is used by the Inherited class */
class Used { };
/*! Super class that inherits a number of other classes */
class Inherited : public PublicBase,
protected ProtectedBase,
private PrivateBase,
public Undocumented,
public Templ<int>
{
private:
Used *m_usedClass;
};

This will result in the following graph:

-
- -
-

The boxes in the above graph have the following meaning:

+

Consider the following example:

/*! Invisible class because of truncation */
+
class Invisible { };
+
+
/*! Truncated class, inheritance relation is hidden */
+
class Truncated : public Invisible { };
+
+
/* Class not documented with doxygen comments */
+
class Undocumented { };
+
+
/*! Class that is inherited using public inheritance */
+
class PublicBase : public Truncated { };
+
+
/*! A template class */
+
template<class T> class Templ { };
+
+
/*! Class that is inherited using protected inheritance */
+
class ProtectedBase { };
+
+
/*! Class that is inherited using private inheritance */
+
class PrivateBase { };
+
+
/*! Class that is used by the Inherited class */
+
class Used { };
+
+
/*! Super class that inherits a number of other classes */
+
class Inherited : public PublicBase,
+
protected ProtectedBase,
+
private PrivateBase,
+
public Undocumented,
+
public Templ<int>
+
{
+
private:
+
Used *m_usedClass;
+
};
+

This will result in the following graph:

+

The boxes in the above graph have the following meaning:

  • A filled gray box represents the struct or class for which the graph is generated.
    • @@ -103,9 +138,7 @@
-Generated by   -doxygen - 1.8.13 +Generated by doxygen 1.9.1
diff --git a/graph_legend.md5 b/graph_legend.md5 index a06ed050..8fcdccd1 100644 --- a/graph_legend.md5 +++ b/graph_legend.md5 @@ -1 +1 @@ -387ff8eb65306fa251338d3c9bd7bfff \ No newline at end of file +f51bf6e9a10430aafef59831b08dcbfe \ No newline at end of file diff --git a/graph_legend.png b/graph_legend.png index 93e2541d73de9e052b80ade28e9f2742fd791833..7e2cbcfb2d143e382be6ed65635a3d859e53bc36 100644 GIT binary patch literal 20615 zcmbTe1z449w>CPFmQHCTM5Vh!Bt=3}q&ua%LApUYq`SKtX(>tR?v(EH%=LYH@Bf^= z|NlDYtmP#WSo59F`#$3tN2?gyjQ>Y9e?; z)aq4~lqPv;#Vl&?N;Q8M71U0D!L@m*tiFHSh)64fTWN;Uk2;9`2UGHIi`S>DezH|+ zYp=4QA#0VRRF~}ym!od|Fc!@BNECjU@Av4UMjhb53-Db5pHvYt^oK~MFaPURI8i=k zsE>Mm^2=C!la+TJ3#t2Wz<(Si{u)2jCiE|2+<2wF1UDa_9jSP=ik*VTK0dRDD~{jq zXYg>4i98!pcyPtvJC=)0{=2b41z~R$^IkGDN9{8w*Cxm8u_{sL*ql0RNW24=d_#&y zxV|)5sMv^}DVD)G^{-X2W4`(yU!lc*|Ne|DGB7L*wM+!MYDp>^TidQQ0k;Np-vX@v zynzgHnWE5;kdF1!qWkn4xqE)Tx$FAYvrM^IMR)gi zZiB~NU6s%?Q&E|@`|gnu^mLC)!T@yA=OQ8^Bs{ioTU%QV&Zk*=M3t(jVA&-l^gaCA 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grasp_object.cpp
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An example showing how to control FRANKA's gripper.

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// Copyright (c) 2017 Franka Emika GmbH
// Use of this source code is governed by the Apache-2.0 license, see LICENSE
#include <iostream>
#include <sstream>
#include <string>
#include <thread>
#include <franka/exception.h>
#include <franka/gripper.h>
int main(int argc, char** argv) {
if (argc != 4) {
std::cerr << "Usage: ./grasp_object <gripper-hostname> <homing> <object-width>" << std::endl;
return -1;
}
try {
franka::Gripper gripper(argv[1]);
double grasping_width = std::stod(argv[3]);
std::stringstream ss(argv[2]);
bool homing;
if (!(ss >> homing)) {
std::cerr << "<homing> can be 0 or 1." << std::endl;
return -1;
}
if (homing) {
// Do a homing in order to estimate the maximum grasping width with the current fingers.
gripper.homing();
}
// Check for the maximum grasping width.
franka::GripperState gripper_state = gripper.readOnce();
if (gripper_state.max_width < grasping_width) {
std::cout << "Object is too large for the current fingers on the gripper." << std::endl;
return -1;
}
// Grasp the object.
if (!gripper.grasp(grasping_width, 0.1, 60)) {
std::cout << "Failed to grasp object." << std::endl;
return -1;
}
// Wait 3s and check afterwards, if the object is still grasped.
std::this_thread::sleep_for(std::chrono::duration<double, std::milli>(3000));
gripper_state = gripper.readOnce();
if (!gripper_state.is_grasped) {
std::cout << "Object lost." << std::endl;
return -1;
}
std::cout << "Grasped object, will release it now." << std::endl;
gripper.stop();
} catch (franka::Exception const& e) {
std::cout << e.what() << std::endl;
return -1;
}
return 0;
}
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- - diff --git a/gripper_8h.html b/gripper_8h.html deleted file mode 100644 index dbfb01fa..00000000 --- a/gripper_8h.html +++ /dev/null @@ -1,115 +0,0 @@ - - - - - - - -libfranka: include/franka/gripper.h File Reference - - - - - - - - - - -
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gripper.h File Reference
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Contains the franka::Gripper type. -More...

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#include <cstdint>
-#include <memory>
-#include <string>
-#include <franka/gripper_state.h>
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-Include dependency graph for gripper.h:
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Go to the source code of this file.

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-Classes

class  franka::Gripper
 Maintains a network connection to the gripper, provides the current gripper state, and allows the execution of commands. More...
 
-

Detailed Description

-

Contains the franka::Gripper type.

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gripper.h
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1 // Copyright (c) 2017 Franka Emika GmbH
2 // Use of this source code is governed by the Apache-2.0 license, see LICENSE
3 #pragma once
4 
5 #include <cstdint>
6 #include <memory>
7 #include <string>
8 
9 #include <franka/gripper_state.h>
10 
16 namespace franka {
17 
18 class Network;
19 
27 class Gripper {
28  public:
32  using ServerVersion = uint16_t;
33 
42  explicit Gripper(const std::string& franka_address);
43 
49  Gripper(Gripper&& gripper) noexcept;
50 
58  Gripper& operator=(Gripper&& gripper) noexcept;
59 
63  ~Gripper() noexcept;
64 
78  bool homing() const;
79 
99  bool grasp(double width,
100  double speed,
101  double force,
102  double epsilon_inner = 0.005,
103  double epsilon_outer = 0.005) const;
104 
116  bool move(double width, double speed) const;
117 
126  bool stop() const;
127 
136  GripperState readOnce() const;
137 
143  ServerVersion serverVersion() const noexcept;
144 
146  Gripper(const Gripper&) = delete;
147  Gripper& operator=(const Gripper&) = delete;
149 
150  private:
151  std::unique_ptr<Network> network_;
152 
153  uint16_t ri_version_;
154 };
155 
156 } // namespace franka
franka::Gripper::grasp
bool grasp(double width, double speed, double force, double epsilon_inner=0.005, double epsilon_outer=0.005) const
Grasps an object.
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franka::Gripper::serverVersion
ServerVersion serverVersion() const noexcept
Returns the software version reported by the connected server.
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franka::Gripper::move
bool move(double width, double speed) const
Moves the gripper fingers to a specified width.
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franka::Gripper
Maintains a network connection to the gripper, provides the current gripper state, and allows the execution of commands.
Definition: gripper.h:27
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franka::Gripper::readOnce
GripperState readOnce() const
Waits for a gripper state update and returns it.
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gripper_state.h
Contains the franka::GripperState type.
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franka
Definition: command_types.h:13
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franka::Gripper::ServerVersion
uint16_t ServerVersion
Version of the gripper server.
Definition: gripper.h:32
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franka::Gripper::~Gripper
~Gripper() noexcept
Closes the connection.
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franka::Gripper::stop
bool stop() const
Stops a currently running gripper move or grasp.
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franka::GripperState
Describes the gripper state.
Definition: gripper_state.h:20
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franka::Gripper::Gripper
Gripper(const std::string &franka_address)
Establishes a connection with a gripper connected to a robot.
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franka::Gripper::operator=
Gripper & operator=(Gripper &&gripper) noexcept
Move-assigns this Gripper from another Gripper instance.
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franka::Gripper::homing
bool homing() const
Performs homing of the gripper.
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gripper_state.h File Reference
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Contains the franka::GripperState type. -More...

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#include <cstdint>
-#include <ostream>
-#include <franka/duration.h>
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-Classes

struct  franka::GripperState
 Describes the gripper state. More...
 
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-Functions

std::ostream & franka::operator<< (std::ostream &ostream, const franka::GripperState &gripper_state)
 Streams the gripper state as JSON object: {"field_name_1": value, "field_name_2": value, ...}. More...
 
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Detailed Description

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Contains the franka::GripperState type.

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Function Documentation

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◆ operator<<()

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std::ostream& franka::operator<< (std::ostream & ostream,
const franka::GripperState & gripper_state 
)
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Streams the gripper state as JSON object: {"field_name_1": value, "field_name_2": value, ...}.

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Parameters
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[in]ostreamOstream instance
[in]gripper_stateGripperState struct instance to stream
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Ostream instance
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i{%218e@(Tx@c#fEX9isW diff --git a/gripper__state_8h_source.html b/gripper__state_8h_source.html deleted file mode 100644 index 28253d1e..00000000 --- a/gripper__state_8h_source.html +++ /dev/null @@ -1,96 +0,0 @@ - - - - - - - -libfranka: include/franka/gripper_state.h Source File - - - - - - - - - - -
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gripper_state.h
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1 // Copyright (c) 2017 Franka Emika GmbH
2 // Use of this source code is governed by the Apache-2.0 license, see LICENSE
3 #pragma once
4 
5 #include <cstdint>
6 #include <ostream>
7 
8 #include <franka/duration.h>
9 
15 namespace franka {
16 
20 struct GripperState {
24  double width{};
25 
33  double max_width{};
34 
38  bool is_grasped{};
39 
43  uint16_t temperature{};
44 
48  Duration time{};
49 };
50 
59 std::ostream& operator<<(std::ostream& ostream, const franka::GripperState& gripper_state);
60 
61 } // namespace franka
franka::GripperState::max_width
double max_width
Maximum gripper opening width.
Definition: gripper_state.h:33
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franka::operator<<
std::ostream & operator<<(std::ostream &ostream, const Errors &errors)
Streams the errors as JSON array.
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franka::Duration
Represents a duration with millisecond resolution.
Definition: duration.h:19
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franka::GripperState::temperature
uint16_t temperature
Current gripper temperature.
Definition: gripper_state.h:43
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franka::GripperState::time
Duration time
Strictly monotonically increasing timestamp since robot start.
Definition: gripper_state.h:48
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franka::GripperState::is_grasped
bool is_grasped
Indicates whether an object is currently grasped.
Definition: gripper_state.h:38
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franka
Definition: command_types.h:13
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duration.h
Contains the franka::Duration type.
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franka::GripperState::width
double width
Current gripper opening width.
Definition: gripper_state.h:24
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franka::GripperState
Describes the gripper state.
Definition: gripper_state.h:20
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Class Hierarchy
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Go to the graphical class hierarchy

-This inheritance list is sorted roughly, but not completely, alphabetically:
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[detail level 123]
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 Cfranka::DurationRepresents a duration with millisecond resolution
 Cfranka::ErrorsEnumerates errors that can occur while controlling a franka::Robot
 ▼Cfranka::FinishableHelper type for control and motion generation loops
 Cfranka::CartesianPoseStores values for Cartesian pose motion generation
 Cfranka::CartesianVelocitiesStores values for Cartesian velocity motion generation
 Cfranka::JointPositionsStores values for joint position motion generation
 Cfranka::JointVelocitiesStores values for joint velocity motion generation
 Cfranka::TorquesStores joint-level torque commands without gravity and friction
 Cfranka::GripperMaintains a network connection to the gripper, provides the current gripper state, and allows the execution of commands
 Cfranka::GripperStateDescribes the gripper state
 Cfranka::ModelCalculates poses of joints and dynamic properties of the robot
 CMotionGeneratorAn example showing how to generate a joint pose motion to a goal position
 Cfranka::RecordOne row of the log contains a robot command of timestamp n and a corresponding robot state of timestamp n+1
 Cfranka::RobotMaintains a network connection to the robot, provides the current robot state, gives access to the model library and allows to control the robot
 Cfranka::RobotCommandCommand sent to the robot
 Cfranka::RobotStateDescribes the robot state
 ▼Cruntime_error
 ▼Cfranka::ExceptionBase class for all exceptions used by libfranka
 Cfranka::CommandExceptionCommandException is thrown if an error occurs during command execution
 Cfranka::ControlExceptionControlException is thrown if an error occurs during motion generation or torque control
 Cfranka::IncompatibleVersionExceptionIncompatibleVersionException is thrown if the robot does not support this version of libfranka
 Cfranka::InvalidOperationExceptionInvalidOperationException is thrown if an operation cannot be performed
 Cfranka::ModelExceptionModelException is thrown if an error occurs when loading the model library
 Cfranka::NetworkExceptionNetworkException is thrown if a connection to the robot cannot be established, or when a timeout occurs
 Cfranka::ProtocolExceptionProtocolException is thrown if the robot returns an incorrect message
 Cfranka::RealtimeExceptionRealtimeException is thrown if realtime priority cannot be set
 Cfranka::VacuumGripperMaintains a network connection to the vacuum gripper, provides the current vacuum gripper state, and allows the execution of commands
 Cfranka::VacuumGripperStateDescribes the vacuum gripper state
 Cfranka::VirtualWallCuboidParameters of a cuboid used as virtual wall
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- - diff --git a/index.html b/index.html index 8b469d6e..5269853a 100644 --- a/index.html +++ b/index.html @@ -1,11 +1,11 @@ - + - + -libfranka: libfranka: C++ library for Franka Emika research robots +libfranka: Main Page @@ -17,7 +17,8 @@ extensions: ["tex2jax.js"], jax: ["input/TeX","output/SVG"], }); - + + @@ -26,10 +27,10 @@ - + @@ -38,18 +39,21 @@
libfranka -  0.8.0 +  0.14.0
FCI C++ API
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libfranka: C++ library for Franka Emika research robots
+
libfranka Documentation
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With this library, you can control research versions of Franka Emika robots. See the Franka Control Interface (FCI) documentation for more information about what libfranka can do and how to set it up.

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License

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libfranka is licensed under the Apache 2.0 license.

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joint_impedance_control.cpp
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An example showing a joint impedance type control that executes a Cartesian motion in the shape of a circle. The example illustrates how to use the internal inverse kinematics to map a Cartesian trajectory to joint space. The joint space target is tracked by an impedance control that additionally compensates coriolis terms using the libfranka model library. This example also serves to compare commanded vs. measured torques. The results are printed from a separate thread to avoid blocking print functions in the real-time loop.

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// Copyright (c) 2017 Franka Emika GmbH
// Use of this source code is governed by the Apache-2.0 license, see LICENSE
#include <array>
#include <atomic>
#include <cmath>
#include <functional>
#include <iostream>
#include <iterator>
#include <mutex>
#include <thread>
#include <franka/duration.h>
#include <franka/exception.h>
#include <franka/model.h>
#include <franka/rate_limiting.h>
#include <franka/robot.h>
#include "examples_common.h"
namespace {
template <class T, size_t N>
std::ostream& operator<<(std::ostream& ostream, const std::array<T, N>& array) {
ostream << "[";
std::copy(array.cbegin(), array.cend() - 1, std::ostream_iterator<T>(ostream, ","));
std::copy(array.cend() - 1, array.cend(), std::ostream_iterator<T>(ostream));
ostream << "]";
return ostream;
}
} // anonymous namespace
int main(int argc, char** argv) {
// Check whether the required arguments were passed.
if (argc != 2) {
std::cerr << "Usage: " << argv[0] << " <robot-hostname>" << std::endl;
return -1;
}
// Set and initialize trajectory parameters.
const double radius = 0.05;
const double vel_max = 0.25;
const double acceleration_time = 2.0;
const double run_time = 20.0;
// Set print rate for comparing commanded vs. measured torques.
const double print_rate = 10.0;
double vel_current = 0.0;
double angle = 0.0;
double time = 0.0;
// Initialize data fields for the print thread.
struct {
std::mutex mutex;
bool has_data;
std::array<double, 7> tau_d_last;
franka::RobotState robot_state;
std::array<double, 7> gravity;
} print_data{};
std::atomic_bool running{true};
// Start print thread.
std::thread print_thread([print_rate, &print_data, &running]() {
while (running) {
// Sleep to achieve the desired print rate.
std::this_thread::sleep_for(
std::chrono::milliseconds(static_cast<int>((1.0 / print_rate * 1000.0))));
// Try to lock data to avoid read write collisions.
if (print_data.mutex.try_lock()) {
if (print_data.has_data) {
std::array<double, 7> tau_error{};
double error_rms(0.0);
std::array<double, 7> tau_d_actual{};
for (size_t i = 0; i < 7; ++i) {
tau_d_actual[i] = print_data.tau_d_last[i] + print_data.gravity[i];
tau_error[i] = tau_d_actual[i] - print_data.robot_state.tau_J[i];
error_rms += std::pow(tau_error[i], 2.0) / tau_error.size();
}
error_rms = std::sqrt(error_rms);
// Print data to console
std::cout << "tau_error [Nm]: " << tau_error << std::endl
<< "tau_commanded [Nm]: " << tau_d_actual << std::endl
<< "tau_measured [Nm]: " << print_data.robot_state.tau_J << std::endl
<< "root mean square of tau_error [Nm]: " << error_rms << std::endl
<< "-----------------------" << std::endl;
print_data.has_data = false;
}
print_data.mutex.unlock();
}
}
});
try {
// Connect to robot.
franka::Robot robot(argv[1]);
setDefaultBehavior(robot);
// First move the robot to a suitable joint configuration
std::array<double, 7> q_goal = {{0, -M_PI_4, 0, -3 * M_PI_4, 0, M_PI_2, M_PI_4}};
MotionGenerator motion_generator(0.5, q_goal);
std::cout << "WARNING: This example will move the robot! "
<< "Please make sure to have the user stop button at hand!" << std::endl
<< "Press Enter to continue..." << std::endl;
std::cin.ignore();
robot.control(motion_generator);
std::cout << "Finished moving to initial joint configuration." << std::endl;
// Set additional parameters always before the control loop, NEVER in the control loop!
// Set collision behavior.
robot.setCollisionBehavior(
{{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}}, {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}},
{{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}}, {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}},
{{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}}, {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}},
{{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}}, {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}});
// Load the kinematics and dynamics model.
franka::Model model = robot.loadModel();
std::array<double, 16> initial_pose;
// Define callback function to send Cartesian pose goals to get inverse kinematics solved.
auto cartesian_pose_callback = [=, &time, &vel_current, &running, &angle, &initial_pose](
const franka::RobotState& robot_state,
franka::Duration period) -> franka::CartesianPose {
// Update time.
time += period.toSec();
if (time == 0.0) {
// Read the initial pose to start the motion from in the first time step.
initial_pose = robot_state.O_T_EE_c;
}
// Compute Cartesian velocity.
if (vel_current < vel_max && time < run_time) {
vel_current += period.toSec() * std::fabs(vel_max / acceleration_time);
}
if (vel_current > 0.0 && time > run_time) {
vel_current -= period.toSec() * std::fabs(vel_max / acceleration_time);
}
vel_current = std::fmax(vel_current, 0.0);
vel_current = std::fmin(vel_current, vel_max);
// Compute new angle for our circular trajectory.
angle += period.toSec() * vel_current / std::fabs(radius);
if (angle > 2 * M_PI) {
angle -= 2 * M_PI;
}
// Compute relative y and z positions of desired pose.
double delta_y = radius * (1 - std::cos(angle));
double delta_z = radius * std::sin(angle);
franka::CartesianPose pose_desired = initial_pose;
pose_desired.O_T_EE[13] += delta_y;
pose_desired.O_T_EE[14] += delta_z;
// Send desired pose.
if (time >= run_time + acceleration_time) {
running = false;
return franka::MotionFinished(pose_desired);
}
return pose_desired;
};
// Set gains for the joint impedance control.
// Stiffness
const std::array<double, 7> k_gains = {{600.0, 600.0, 600.0, 600.0, 250.0, 150.0, 50.0}};
// Damping
const std::array<double, 7> d_gains = {{50.0, 50.0, 50.0, 50.0, 30.0, 25.0, 15.0}};
// Define callback for the joint torque control loop.
std::function<franka::Torques(const franka::RobotState&, franka::Duration)>
impedance_control_callback =
[&print_data, &model, k_gains, d_gains](
const franka::RobotState& state, franka::Duration /*period*/) -> franka::Torques {
// Read current coriolis terms from model.
std::array<double, 7> coriolis = model.coriolis(state);
// Compute torque command from joint impedance control law.
// Note: The answer to our Cartesian pose inverse kinematics is always in state.q_d with one
// time step delay.
std::array<double, 7> tau_d_calculated;
for (size_t i = 0; i < 7; i++) {
tau_d_calculated[i] =
k_gains[i] * (state.q_d[i] - state.q[i]) - d_gains[i] * state.dq[i] + coriolis[i];
}
// The following line is only necessary for printing the rate limited torque. As we activated
// rate limiting for the control loop (activated by default), the torque would anyway be
// adjusted!
std::array<double, 7> tau_d_rate_limited =
franka::limitRate(franka::kMaxTorqueRate, tau_d_calculated, state.tau_J_d);
// Update data to print.
if (print_data.mutex.try_lock()) {
print_data.has_data = true;
print_data.robot_state = state;
print_data.tau_d_last = tau_d_rate_limited;
print_data.gravity = model.gravity(state);
print_data.mutex.unlock();
}
// Send torque command.
return tau_d_rate_limited;
};
// Start real-time control loop.
robot.control(impedance_control_callback, cartesian_pose_callback);
} catch (const franka::Exception& ex) {
running = false;
std::cerr << ex.what() << std::endl;
}
if (print_thread.joinable()) {
print_thread.join();
}
return 0;
}
- -
-Generated by   -doxygen - 1.8.13 -
- - diff --git a/joint_point_to_point_motion_8cpp-example.html b/joint_point_to_point_motion_8cpp-example.html deleted file mode 100644 index 44083bda..00000000 --- a/joint_point_to_point_motion_8cpp-example.html +++ /dev/null @@ -1,83 +0,0 @@ - - - - - - - -libfranka: joint_point_to_point_motion.cpp - - - - - - - - - - -
-
- - - - - - - -
-
libfranka -  0.8.0 -
-
FCI C++ API
-
-
- - - - - - - -
- -
-
- - -
- -
- -
-
-
joint_point_to_point_motion.cpp
-
-
-

An example that moves the robot to a target position by commanding joint positions.

Warning
Before executing this example, make sure there is enough space in front of the robot.
-
// Copyright (c) 2017 Franka Emika GmbH
// Use of this source code is governed by the Apache-2.0 license, see LICENSE
#include <cmath>
#include <iostream>
#include <franka/exception.h>
#include <franka/robot.h>
#include "examples_common.h"
int main(int argc, char** argv) {
if (argc != 10) {
std::cerr << "Usage: " << argv[0] << " <robot-hostname> "
<< "<joint0> <joint1> <joint2> <joint3> <joint4> <joint5> <joint6> "
<< "<speed-factor>" << std::endl
<< "joint0 to joint6 are joint angles in [rad]." << std::endl
<< "speed-factor must be between zero and one." << std::endl;
return -1;
}
try {
franka::Robot robot(argv[1]);
setDefaultBehavior(robot);
std::array<double, 7> q_goal;
for (size_t i = 0; i < 7; i++) {
q_goal[i] = std::stod(argv[i + 2]);
}
double speed_factor = std::stod(argv[9]);
// Set additional parameters always before the control loop, NEVER in the control loop!
// Set collision behavior.
robot.setCollisionBehavior(
{{20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0}}, {{20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0}},
{{10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0}}, {{10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0}},
{{20.0, 20.0, 20.0, 20.0, 20.0, 20.0}}, {{20.0, 20.0, 20.0, 20.0, 20.0, 20.0}},
{{10.0, 10.0, 10.0, 10.0, 10.0, 10.0}}, {{10.0, 10.0, 10.0, 10.0, 10.0, 10.0}});
MotionGenerator motion_generator(speed_factor, q_goal);
std::cout << "WARNING: This example will move the robot! "
<< "Please make sure to have the user stop button at hand!" << std::endl
<< "Press Enter to continue..." << std::endl;
std::cin.ignore();
robot.control(motion_generator);
std::cout << "Motion finished" << std::endl;
} catch (const franka::Exception& e) {
std::cout << e.what() << std::endl;
return -1;
}
return 0;
}
- -
-Generated by   -doxygen - 1.8.13 -
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-Classes | -Functions
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log.h File Reference
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Contains helper types for logging sent commands and received robot states. -More...

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#include <vector>
-#include <franka/control_types.h>
-#include <franka/robot_state.h>
-
-Include dependency graph for log.h:
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-This graph shows which files directly or indirectly include this file:
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Go to the source code of this file.

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-Classes

struct  franka::RobotCommand
 Command sent to the robot. More...
 
struct  franka::Record
 One row of the log contains a robot command of timestamp n and a corresponding robot state of timestamp n+1. More...
 
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-Functions

std::string franka::logToCSV (const std::vector< Record > &log)
 Writes the log to a string in CSV format. More...
 
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Detailed Description

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Contains helper types for logging sent commands and received robot states.

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Function Documentation

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◆ logToCSV()

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std::string franka::logToCSV (const std::vector< Record > & log)
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Writes the log to a string in CSV format.

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If the string is not empty, the first row contains the header with names of columns. The following lines contain rows of values separated by commas.

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If the log is empty, the function returns an empty string.

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Parameters
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[in]logLog provided by the ControlException.
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Returns
a string in CSV format, or empty string.
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Examples:
motion_with_control.cpp.
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log.h
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1 // Copyright (c) 2017 Franka Emika GmbH
2 // Use of this source code is governed by the Apache-2.0 license, see LICENSE
3 #pragma once
4 
5 #include <vector>
6 
7 #include <franka/control_types.h>
8 #include <franka/robot_state.h>
9 
15 namespace franka {
16 
20 struct RobotCommand {
24  JointPositions joint_positions{0, 0, 0, 0, 0, 0, 0};
28  JointVelocities joint_velocities{0, 0, 0, 0, 0, 0, 0};
32  CartesianPose cartesian_pose{1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1};
36  CartesianVelocities cartesian_velocities{0, 0, 0, 0, 0, 0};
40  Torques torques{0, 0, 0, 0, 0, 0, 0};
41 };
42 
48 struct Record {
52  RobotState state;
56  RobotCommand command;
57 };
58 
69 std::string logToCSV(const std::vector<Record>& log);
70 } // namespace franka
franka::JointVelocities
Stores values for joint velocity motion generation.
Definition: control_types.h:99
-
franka::RobotCommand::cartesian_velocities
CartesianVelocities cartesian_velocities
sent to the robot.
Definition: log.h:36
-
franka::CartesianVelocities
Stores values for Cartesian velocity motion generation.
Definition: control_types.h:201
-
franka::RobotCommand::joint_positions
JointPositions joint_positions
sent to the robot.
Definition: log.h:24
-
control_types.h
Contains helper types for returning motion generation and joint-level torque commands.
-
franka::Torques
Stores joint-level torque commands without gravity and friction.
Definition: control_types.h:45
-
franka::logToCSV
std::string logToCSV(const std::vector< Record > &log)
Writes the log to a string in CSV format.
-
franka::RobotCommand::torques
Torques torques
sent to the robot.
Definition: log.h:40
-
franka::Record::state
RobotState state
Robot state of timestamp n+1.
Definition: log.h:52
-
franka::Record::command
RobotCommand command
Robot command of timestamp n, after rate limiting (if activated).
Definition: log.h:56
-
franka::CartesianPose
Stores values for Cartesian pose motion generation.
Definition: control_types.h:127
-
franka
Definition: command_types.h:13
-
robot_state.h
Contains the franka::RobotState types.
-
franka::RobotCommand
Command sent to the robot.
Definition: log.h:20
-
franka::JointPositions
Stores values for joint position motion generation.
Definition: control_types.h:72
-
franka::RobotState
Describes the robot state.
Definition: robot_state.h:35
-
franka::Record
One row of the log contains a robot command of timestamp n and a corresponding robot state of timesta...
Definition: log.h:48
-
franka::RobotCommand::joint_velocities
JointVelocities joint_velocities
sent to the robot.
Definition: log.h:28
-
franka::RobotCommand::cartesian_pose
CartesianPose cartesian_pose
sent to the robot.
Definition: log.h:32
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lowpass_filter.h File Reference
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Contains functions for filtering signals with a low-pass filter. -More...

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#include <array>
-#include <cmath>
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-Functions

double franka::lowpassFilter (double sample_time, double y, double y_last, double cutoff_frequency)
 Applies a first-order low-pass filter. More...
 
std::array< double, 16 > franka::cartesianLowpassFilter (double sample_time, std::array< double, 16 > y, std::array< double, 16 > y_last, double cutoff_frequency)
 Applies a first-order low-pass filter to the translation and spherical linear interpolation to the rotation of a transformation matrix which represents a Cartesian Motion. More...
 
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-Variables

-constexpr double franka::kMaxCutoffFrequency = 1000.0
 Maximum cutoff frequency.
 
-constexpr double franka::kDefaultCutoffFrequency = 100.0
 Default cutoff frequency.
 
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Detailed Description

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Contains functions for filtering signals with a low-pass filter.

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Function Documentation

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◆ cartesianLowpassFilter()

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std::array<double, 16> franka::cartesianLowpassFilter (double sample_time,
std::array< double, 16 > y,
std::array< double, 16 > y_last,
double cutoff_frequency 
)
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Applies a first-order low-pass filter to the translation and spherical linear interpolation to the rotation of a transformation matrix which represents a Cartesian Motion.

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Parameters
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[in]sample_timeSample time constant
[in]yCurrent Cartesian transformation matrix to be filtered
[in]y_lastCartesian transformation matrix from the previous time step
[in]cutoff_frequencyCutoff frequency of the low-pass filter
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Exceptions
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std::invalid_argumentif elements of y is infinite or NaN.
std::invalid_argumentif elements of y_last is infinite or NaN.
std::invalid_argumentif cutoff_frequency is zero, negative, infinite or NaN.
std::invalid_argumentif sample_time is negative, infinite or NaN.
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Returns
Filtered Cartesian transformation matrix.
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◆ lowpassFilter()

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double franka::lowpassFilter (double sample_time,
double y,
double y_last,
double cutoff_frequency 
)
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Applies a first-order low-pass filter.

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Parameters
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[in]sample_timeSample time constant
[in]yCurrent value of the signal to be filtered
[in]y_lastValue of the signal to be filtered in the previous time step
[in]cutoff_frequencyCutoff frequency of the low-pass filter
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Exceptions
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std::invalid_argumentif y is infinite or NaN.
std::invalid_argumentif y_last is infinite or NaN.
std::invalid_argumentif cutoff_frequency is zero, negative, infinite or NaN.
std::invalid_argumentif sample_time is negative, infinite or NaN.
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Returns
Filtered value.
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libfranka -  0.8.0 -
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FCI C++ API
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lowpass_filter.h
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-Go to the documentation of this file.
1 // Copyright (c) 2018 Franka Emika GmbH
2 // Use of this source code is governed by the Apache-2.0 license, see LICENSE
3 #pragma once
4 
5 #include <array>
6 #include <cmath>
7 
13 namespace franka {
17 constexpr double kMaxCutoffFrequency = 1000.0;
21 constexpr double kDefaultCutoffFrequency = 100.0;
37 double lowpassFilter(double sample_time, double y, double y_last, double cutoff_frequency);
38 
56 std::array<double, 16> cartesianLowpassFilter(double sample_time,
57  std::array<double, 16> y,
58  std::array<double, 16> y_last,
59  double cutoff_frequency);
60 } // namespace franka
franka::kMaxCutoffFrequency
constexpr double kMaxCutoffFrequency
Maximum cutoff frequency.
Definition: lowpass_filter.h:17
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franka::kDefaultCutoffFrequency
constexpr double kDefaultCutoffFrequency
Default cutoff frequency.
Definition: lowpass_filter.h:21
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franka
Definition: command_types.h:13
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franka::lowpassFilter
double lowpassFilter(double sample_time, double y, double y_last, double cutoff_frequency)
Applies a first-order low-pass filter.
-
franka::cartesianLowpassFilter
std::array< double, 16 > cartesianLowpassFilter(double sample_time, std::array< double, 16 > y, std::array< double, 16 > y_last, double cutoff_frequency)
Applies a first-order low-pass filter to the translation and spherical linear interpolation to the ro...
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-Generated by   -doxygen - 1.8.13 -
- - diff --git a/menu.js b/menu.js index 97db4c23..2fe2214f 100644 --- a/menu.js +++ b/menu.js @@ -1,3 +1,27 @@ +/* + @licstart The following is the entire license notice for the JavaScript code in this file. + + The MIT License (MIT) + + Copyright (C) 1997-2020 by Dimitri van Heesch + + Permission is hereby granted, free of charge, to any person obtaining a copy of this software + and associated documentation files (the "Software"), to deal in the Software without restriction, + including without limitation the rights to use, copy, modify, merge, publish, distribute, + sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is + furnished to do so, subject to the following conditions: + + The above copyright notice and this permission notice shall be included in all copies or + substantial portions of the Software. + + THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING + BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND + NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, + DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + + @licend The above is the entire license notice for the JavaScript code in this file + */ function initMenu(relPath,searchEnabled,serverSide,searchPage,search) { function makeTree(data,relPath) { var result=''; @@ -17,10 +41,11 @@ function initMenu(relPath,searchEnabled,serverSide,searchPage,search) { $('#main-nav').children(':first').addClass('sm sm-dox').attr('id','main-menu'); if (searchEnabled) { if (serverSide) { - $('#main-menu').append('
    • '); + $('#main-menu').append('
    • '); } else { - $('#main-menu').append('
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    -
    - - - - - - - -
    -
    libfranka -  0.8.0 -
    -
    FCI C++ API
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    -Classes | -Enumerations | -Functions
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    model.h File Reference
    -
    -
    - -

    Contains model library types. -More...

    -
    #include <array>
    -#include <memory>
    -#include <franka/robot.h>
    -#include <franka/robot_state.h>
    -
    -Include dependency graph for model.h:
    -
    -
    - - - - - - - - - -
    -
    -

    Go to the source code of this file.

    - - - - - -

    -Classes

    class  franka::Model
     Calculates poses of joints and dynamic properties of the robot. More...
     
    - - - - -

    -Enumerations

    enum  franka::Frame {
    -  kJoint1, -kJoint2, -kJoint3, -kJoint4, -
    -  kJoint5, -kJoint6, -kJoint7, -kFlange, -
    -  kEndEffector, -kStiffness -
    - }
     Enumerates the seven joints, the flange, and the end effector of a robot.
     
    - - - - -

    -Functions

    Frame franka::operator++ (Frame &frame, int) noexcept
     Post-increments the given Frame by one. More...
     
    -

    Detailed Description

    -

    Contains model library types.

    -

    Function Documentation

    - -

    ◆ operator++()

    - -
    -
    - - - - - -
    - - - - - - - - - - - - - - - - - - -
    Frame franka::operator++ (Frame & frame,
    int  
    )
    -     		-noexcept
    -
    - -

    Post-increments the given Frame by one.

    -

    For example, Frame::kJoint2++ results in Frame::kJoint3.

    -
    Parameters
    - - -
    [in]frameFrame to increment.
    -
    -
    -
    Returns
    Original Frame.
    - -
    -
    -
    - -
    -Generated by   -doxygen - 1.8.13 -
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z($b1-Zf;)Q+8A&Z#$tBWth_%=oKUee?#ocpy+qtQ!DWb`&1J7$m^y@$wJh)(Fg`$pqNbmHRTP*pqAyc%4o)3dTP-P}sMdwQJQ-7`Z& zkHKfr^8S6TJ$v@__4T!njU|gQg$T`^;t&_t!$mR}pqAS44ud6N!#X)Xe+}!NnwvX% zrrh`Li30Z+?F7-&Yin!iX=&HY%~SubtQ3CukP4UeV%=j9{YGfppnwn}a5=VGi2$Gj`#k==O)kV2i5&rq7;Ee9SUl4T|*{Kpe>{(dIh0{3;qntu) zZ0s5AxpqS$iF|vBpO#MzZ;bbs4*Y&!AYJ}XW@dOx;@?hpN&NT|SL`n`%zd|{sspdSeY=sIk|HM(_&WFdtbb6@VN3eaFL6DQyk_Qw z?neq!#{ - - - - - - -libfranka: include/franka/model.h Source File - - - - - - - - - - -

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    model.h
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    -Go to the documentation of this file.
    1 // Copyright (c) 2017 Franka Emika GmbH
    2 // Use of this source code is governed by the Apache-2.0 license, see LICENSE
    3 #pragma once
    4 
    5 #include <array>
    6 #include <memory>
    7 
    8 #include <franka/robot.h>
    9 #include <franka/robot_state.h>
    10 
    16 namespace franka {
    17 
    21 enum class Frame {
    22  kJoint1,
    23  kJoint2,
    24  kJoint3,
    25  kJoint4,
    26  kJoint5,
    27  kJoint6,
    28  kJoint7,
    29  kFlange,
    30  kEndEffector,
    31  kStiffness
    32 };
    33 
    43 Frame operator++(Frame& frame, int /* dummy */) noexcept;
    44 
    45 class ModelLibrary;
    46 class Network;
    47 
    51 class Model {
    52  public:
    64  explicit Model(franka::Network& network);
    65 
    71  Model(Model&& model) noexcept;
    72 
    80  Model& operator=(Model&& model) noexcept;
    81 
    85  ~Model() noexcept;
    86 
    97  std::array<double, 16> pose(Frame frame, const franka::RobotState& robot_state) const;
    98 
    111  std::array<double, 16> pose(
    112  Frame frame,
    113  const std::array<double, 7>& q,
    114  const std::array<double, 16>& F_T_EE, // NOLINT(readability-identifier-naming)
    115  const std::array<double, 16>& EE_T_K) // NOLINT(readability-identifier-naming)
    116  const;
    117 
    128  std::array<double, 42> bodyJacobian(Frame frame, const franka::RobotState& robot_state) const;
    129 
    142  std::array<double, 42> bodyJacobian(
    143  Frame frame,
    144  const std::array<double, 7>& q,
    145  const std::array<double, 16>& F_T_EE, // NOLINT(readability-identifier-naming)
    146  const std::array<double, 16>& EE_T_K) // NOLINT(readability-identifier-naming)
    147  const;
    148 
    159  std::array<double, 42> zeroJacobian(Frame frame, const franka::RobotState& robot_state) const;
    160 
    173  std::array<double, 42> zeroJacobian(
    174  Frame frame,
    175  const std::array<double, 7>& q,
    176  const std::array<double, 16>& F_T_EE, // NOLINT(readability-identifier-naming)
    177  const std::array<double, 16>& EE_T_K) // NOLINT(readability-identifier-naming)
    178  const;
    179 
    187  std::array<double, 49> mass(const franka::RobotState& robot_state) const noexcept;
    188 
    202  std::array<double, 49> mass(
    203  const std::array<double, 7>& q,
    204  const std::array<double, 9>& I_total, // NOLINT(readability-identifier-naming)
    205  double m_total,
    206  const std::array<double, 3>& F_x_Ctotal) // NOLINT(readability-identifier-naming)
    207  const noexcept;
    208 
    217  std::array<double, 7> coriolis(const franka::RobotState& robot_state) const noexcept;
    218 
    234  std::array<double, 7> coriolis(
    235  const std::array<double, 7>& q,
    236  const std::array<double, 7>& dq,
    237  const std::array<double, 9>& I_total, // NOLINT(readability-identifier-naming)
    238  double m_total,
    239  const std::array<double, 3>& F_x_Ctotal) // NOLINT(readability-identifier-naming)
    240  const noexcept;
    241 
    255  std::array<double, 7> gravity(
    256  const std::array<double, 7>& q,
    257  double m_total,
    258  const std::array<double, 3>& F_x_Ctotal, // NOLINT(readability-identifier-naming)
    259  const std::array<double, 3>& gravity_earth = {{0., 0., -9.81}}) const noexcept;
    260 
    270  std::array<double, 7> gravity(const franka::RobotState& robot_state,
    271  const std::array<double, 3>& gravity_earth = {
    272  {0., 0., -9.81}}) const noexcept;
    273 
    275  Model(const Model&) = delete;
    276  Model& operator=(const Model&) = delete;
    278 
    279  private:
    280  std::unique_ptr<ModelLibrary> library_;
    281 };
    282 
    283 } // namespace franka
    franka::Frame
    Frame
    Enumerates the seven joints, the flange, and the end effector of a robot.
    Definition: model.h:21
    -
    franka::operator++
    Frame operator++(Frame &frame, int) noexcept
    Post-increments the given Frame by one.
    -
    robot.h
    Contains the franka::Robot type.
    -
    franka
    Definition: command_types.h:13
    -
    robot_state.h
    Contains the franka::RobotState types.
    -
    franka::Model
    Calculates poses of joints and dynamic properties of the robot.
    Definition: model.h:51
    -
    franka::RobotState
    Describes the robot state.
    Definition: robot_state.h:35
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    -Generated by   -doxygen - 1.8.13 -
    - - diff --git a/motion_with_control_8cpp-example.html b/motion_with_control_8cpp-example.html deleted file mode 100644 index f7f50629..00000000 --- a/motion_with_control_8cpp-example.html +++ /dev/null @@ -1,84 +0,0 @@ - - - - - - - -libfranka: motion_with_control.cpp - - - - - - - - - - -
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    FCI C++ API
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    motion_with_control.cpp
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    -

    An example showing how to use a joint velocity motion generator and torque control.Additionally, this example shows how to capture and write logs in case an exception is thrown during a motion.

    -
    Warning
    Before executing this example, make sure there is enough space in front of the robot.
    -
    // Copyright (c) 2017 Franka Emika GmbH
    // Use of this source code is governed by the Apache-2.0 license, see LICENSE
    #include <cmath>
    #include <fstream>
    #include <iomanip>
    #include <iostream>
    #include <vector>
    #include <Poco/DateTimeFormatter.h>
    #include <Poco/File.h>
    #include <Poco/Path.h>
    #include <franka/exception.h>
    #include <franka/robot.h>
    #include "examples_common.h"
    namespace {
    class Controller {
    public:
    Controller(size_t dq_filter_size,
    const std::array<double, 7>& K_P, // NOLINT(readability-identifier-naming)
    const std::array<double, 7>& K_D) // NOLINT(readability-identifier-naming)
    : dq_current_filter_position_(0), dq_filter_size_(dq_filter_size), K_P_(K_P), K_D_(K_D) {
    std::fill(dq_d_.begin(), dq_d_.end(), 0);
    dq_buffer_ = std::make_unique<double[]>(dq_filter_size_ * 7);
    std::fill(&dq_buffer_.get()[0], &dq_buffer_.get()[dq_filter_size_ * 7], 0);
    }
    inline franka::Torques step(const franka::RobotState& state) {
    updateDQFilter(state);
    std::array<double, 7> tau_J_d; // NOLINT(readability-identifier-naming)
    for (size_t i = 0; i < 7; i++) {
    tau_J_d[i] = K_P_[i] * (state.q_d[i] - state.q[i]) + K_D_[i] * (dq_d_[i] - getDQFiltered(i));
    }
    return tau_J_d;
    }
    void updateDQFilter(const franka::RobotState& state) {
    for (size_t i = 0; i < 7; i++) {
    dq_buffer_.get()[dq_current_filter_position_ * 7 + i] = state.dq[i];
    }
    dq_current_filter_position_ = (dq_current_filter_position_ + 1) % dq_filter_size_;
    }
    double getDQFiltered(size_t index) const {
    double value = 0;
    for (size_t i = index; i < 7 * dq_filter_size_; i += 7) {
    value += dq_buffer_.get()[i];
    }
    return value / dq_filter_size_;
    }
    private:
    size_t dq_current_filter_position_;
    size_t dq_filter_size_;
    const std::array<double, 7> K_P_; // NOLINT(readability-identifier-naming)
    const std::array<double, 7> K_D_; // NOLINT(readability-identifier-naming)
    std::array<double, 7> dq_d_;
    std::unique_ptr<double[]> dq_buffer_;
    };
    std::vector<double> generateTrajectory(double a_max) {
    // Generating a motion with smooth velocity and acceleration.
    // Squared sine is used for the acceleration/deceleration phase.
    std::vector<double> trajectory;
    constexpr double kTimeStep = 0.001; // [s]
    constexpr double kAccelerationTime = 1; // time spend accelerating and decelerating [s]
    constexpr double kConstantVelocityTime = 1; // time spend with constant speed [s]
    // obtained during the speed up
    // and slow down [rad/s^2]
    double a = 0; // [rad/s^2]
    double v = 0; // [rad/s]
    double t = 0; // [s]
    while (t < (2 * kAccelerationTime + kConstantVelocityTime)) {
    if (t <= kAccelerationTime) {
    a = pow(sin(t * M_PI / kAccelerationTime), 2) * a_max;
    } else if (t <= (kAccelerationTime + kConstantVelocityTime)) {
    a = 0;
    } else {
    const double deceleration_time =
    (kAccelerationTime + kConstantVelocityTime) - t; // time spent in the deceleration phase
    a = -pow(sin(deceleration_time * M_PI / kAccelerationTime), 2) * a_max;
    }
    v += a * kTimeStep;
    t += kTimeStep;
    trajectory.push_back(v);
    }
    return trajectory;
    }
    } // anonymous namespace
    void writeLogToFile(const std::vector<franka::Record>& log);
    int main(int argc, char** argv) {
    if (argc != 2) {
    std::cerr << "Usage: " << argv[0] << " <robot-hostname>" << std::endl;
    return -1;
    }
    // Parameters
    const size_t joint_number{3};
    const size_t filter_size{5};
    // NOLINTNEXTLINE(readability-identifier-naming)
    const std::array<double, 7> K_P{{200.0, 200.0, 200.0, 200.0, 200.0, 200.0, 200.0}};
    // NOLINTNEXTLINE(readability-identifier-naming)
    const std::array<double, 7> K_D{{10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0}};
    const double max_acceleration{1.0};
    Controller controller(filter_size, K_P, K_D);
    try {
    franka::Robot robot(argv[1]);
    setDefaultBehavior(robot);
    // First move the robot to a suitable joint configuration
    std::array<double, 7> q_goal = {{0, -M_PI_4, 0, -3 * M_PI_4, 0, M_PI_2, M_PI_4}};
    MotionGenerator motion_generator(0.5, q_goal);
    std::cout << "WARNING: This example will move the robot! "
    << "Please make sure to have the user stop button at hand!" << std::endl
    << "Press Enter to continue..." << std::endl;
    std::cin.ignore();
    robot.control(motion_generator);
    std::cout << "Finished moving to initial joint configuration." << std::endl;
    // Set additional parameters always before the control loop, NEVER in the control loop!
    // Set collision behavior.
    robot.setCollisionBehavior(
    {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}}, {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}},
    {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}}, {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}},
    {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}}, {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}},
    {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}}, {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}});
    size_t index = 0;
    std::vector<double> trajectory = generateTrajectory(max_acceleration);
    robot.control(
    [&](const franka::RobotState& robot_state, franka::Duration) -> franka::Torques {
    return controller.step(robot_state);
    },
    [&](const franka::RobotState&, franka::Duration period) -> franka::JointVelocities {
    index += period.toMSec();
    if (index >= trajectory.size()) {
    index = trajectory.size() - 1;
    }
    franka::JointVelocities velocities{{0, 0, 0, 0, 0, 0, 0}};
    velocities.dq[joint_number] = trajectory[index];
    if (index >= trajectory.size() - 1) {
    return franka::MotionFinished(velocities);
    }
    return velocities;
    });
    } catch (const franka::ControlException& e) {
    std::cout << e.what() << std::endl;
    writeLogToFile(e.log);
    return -1;
    } catch (const franka::Exception& e) {
    std::cout << e.what() << std::endl;
    return -1;
    }
    return 0;
    }
    void writeLogToFile(const std::vector<franka::Record>& log) {
    if (log.empty()) {
    return;
    }
    try {
    Poco::Path temp_dir_path(Poco::Path::temp());
    temp_dir_path.pushDirectory("libfranka-logs");
    Poco::File temp_dir(temp_dir_path);
    temp_dir.createDirectories();
    std::string now_string =
    Poco::DateTimeFormatter::format(Poco::Timestamp{}, "%Y-%m-%d-%h-%m-%S-%i");
    std::string filename = std::string{"log-" + now_string + ".csv"};
    Poco::File log_file(Poco::Path(temp_dir_path, filename));
    if (!log_file.createFile()) {
    std::cout << "Failed to write log file." << std::endl;
    return;
    }
    std::ofstream log_stream(log_file.path().c_str());
    log_stream << franka::logToCSV(log);
    std::cout << "Log file written to: " << log_file.path() << std::endl;
    } catch (...) {
    std::cout << "Failed to write log file." << std::endl;
    }
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    An example showing how to use the model library that prints the transformation matrix of each joint with respect to the base frame.

    -
    // Copyright (c) 2017 Franka Emika GmbH
    // Use of this source code is governed by the Apache-2.0 license, see LICENSE
    #include <iostream>
    #include <iterator>
    #include <franka/exception.h>
    #include <franka/model.h>
    template <class T, size_t N>
    std::ostream& operator<<(std::ostream& ostream, const std::array<T, N>& array) {
    ostream << "[";
    std::copy(array.cbegin(), array.cend() - 1, std::ostream_iterator<T>(ostream, ","));
    std::copy(array.cend() - 1, array.cend(), std::ostream_iterator<T>(ostream));
    ostream << "]";
    return ostream;
    }
    int main(int argc, char** argv) {
    if (argc != 2) {
    std::cerr << "Usage: " << argv[0] << " <robot-hostname>" << std::endl;
    return -1;
    }
    try {
    franka::Robot robot(argv[1]);
    franka::RobotState state = robot.readOnce();
    franka::Model model(robot.loadModel());
    for (franka::Frame frame = franka::Frame::kJoint1; frame <= franka::Frame::kEndEffector;
    frame++) {
    std::cout << model.pose(frame, state) << std::endl;
    }
    } catch (franka::Exception const& e) {
    std::cout << e.what() << std::endl;
    return -1;
    }
    return 0;
    }
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    rate_limiting.h File Reference
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    Contains functions for limiting the rate of torques, Cartesian pose, Cartesian velocity, joint position and joint velocity. -More...

    -
    #include <array>
    -#include <limits>
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    Go to the source code of this file.

    - - - - - - - - - - - - - - - - - - - - - - - -

    -Functions

    std::array< double, 7 > franka::limitRate (const std::array< double, 7 > &max_derivatives, const std::array< double, 7 > &commanded_values, const std::array< double, 7 > &last_commanded_values)
     Limits the rate of an input vector of per-joint commands considering the maximum allowed time derivatives. More...
     
    double franka::limitRate (double max_velocity, double max_acceleration, double max_jerk, double commanded_velocity, double last_commanded_velocity, double last_commanded_acceleration)
     Limits the rate of a desired joint velocity considering the limits provided. More...
     
    double franka::limitRate (double max_velocity, double max_acceleration, double max_jerk, double commanded_position, double last_commanded_position, double last_commanded_velocity, double last_commanded_acceleration)
     Limits the rate of a desired joint position considering the limits provided. More...
     
    std::array< double, 7 > franka::limitRate (const std::array< double, 7 > &max_velocity, const std::array< double, 7 > &max_acceleration, const std::array< double, 7 > &max_jerk, const std::array< double, 7 > &commanded_velocities, const std::array< double, 7 > &last_commanded_velocities, const std::array< double, 7 > &last_commanded_accelerations)
     Limits the rate of a desired joint velocity considering the limits provided. More...
     
    std::array< double, 7 > franka::limitRate (const std::array< double, 7 > &max_velocity, const std::array< double, 7 > &max_acceleration, const std::array< double, 7 > &max_jerk, const std::array< double, 7 > &commanded_positions, const std::array< double, 7 > &last_commanded_positions, const std::array< double, 7 > &last_commanded_velocities, const std::array< double, 7 > &last_commanded_accelerations)
     Limits the rate of a desired joint position considering the limits provided. More...
     
    std::array< double, 6 > franka::limitRate (double max_translational_velocity, double max_translational_acceleration, double max_translational_jerk, double max_rotational_velocity, double max_rotational_acceleration, double max_rotational_jerk, const std::array< double, 6 > &O_dP_EE_c, const std::array< double, 6 > &last_O_dP_EE_c, const std::array< double, 6 > &last_O_ddP_EE_c)
     Limits the rate of a desired Cartesian velocity considering the limits provided. More...
     
    std::array< double, 16 > franka::limitRate (double max_translational_velocity, double max_translational_acceleration, double max_translational_jerk, double max_rotational_velocity, double max_rotational_acceleration, double max_rotational_jerk, const std::array< double, 16 > &O_T_EE_c, const std::array< double, 16 > &last_O_T_EE_c, const std::array< double, 6 > &last_O_dP_EE_c, const std::array< double, 6 > &last_O_ddP_EE_c)
     Limits the rate of a desired Cartesian pose considering the limits provided. More...
     
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    -Variables

    -constexpr double franka::kDeltaT = 1e-3
     Sample time constant.
     
    -constexpr double franka::kLimitEps = 1e-3
     Epsilon value for checking limits.
     
    -constexpr double franka::kNormEps = std::numeric_limits<double>::epsilon()
     Epsilon value for limiting Cartesian accelerations/jerks or not.
     
    constexpr double franka::kTolNumberPacketsLost = 3.0
     Number of packets losts considered for the definition of velocity limits. More...
     
    -constexpr double franka::kFactorCartesianRotationPoseInterface = 0.99
     Factor for the definition of rotational limits using the Cartesian Pose interface.
     
    constexpr std::array< double, 7 > franka::kMaxTorqueRate
     Maximum torque rate. More...
     
    constexpr std::array< double, 7 > franka::kMaxJointJerk
     Maximum joint jerk. More...
     
    constexpr std::array< double, 7 > franka::kMaxJointAcceleration
     Maximum joint acceleration. More...
     
    constexpr std::array< double, 7 > franka::kMaxJointVelocity
     Maximum joint velocity. More...
     
    -constexpr double franka::kMaxTranslationalJerk = 6500.0 - kLimitEps
     Maximum translational jerk.
     
    -constexpr double franka::kMaxTranslationalAcceleration = 13.0000 - kLimitEps
     Maximum translational acceleration.
     
    constexpr double franka::kMaxTranslationalVelocity
     Maximum translational velocity. More...
     
    -constexpr double franka::kMaxRotationalJerk = 12500.0 - kLimitEps
     Maximum rotational jerk.
     
    -constexpr double franka::kMaxRotationalAcceleration = 25.0000 - kLimitEps
     Maximum rotational acceleration.
     
    constexpr double franka::kMaxRotationalVelocity
     Maximum rotational velocity. More...
     
    -constexpr double franka::kMaxElbowJerk = 5000 - kLimitEps
     Maximum elbow jerk.
     
    -constexpr double franka::kMaxElbowAcceleration = 10.0000 - kLimitEps
     Maximum elbow acceleration.
     
    constexpr double franka::kMaxElbowVelocity
     Maximum elbow velocity. More...
     
    -

    Detailed Description

    -

    Contains functions for limiting the rate of torques, Cartesian pose, Cartesian velocity, joint position and joint velocity.

    -

    Function Documentation

    - -

    ◆ limitRate() [1/7]

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    std::array<double, 7> franka::limitRate (const std::array< double, 7 > & max_derivatives,
    const std::array< double, 7 > & commanded_values,
    const std::array< double, 7 > & last_commanded_values 
    )
    -
    - -

    Limits the rate of an input vector of per-joint commands considering the maximum allowed time derivatives.

    -
    Note
    FCI filters must be deactivated to work properly.
    -
    Parameters
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    [in]max_derivativesPer-joint maximum allowed time derivative.
    [in]commanded_valuesCommanded values of the current time step.
    [in]last_commanded_valuesCommanded values of the previous time step.
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    Exceptions
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    std::invalid_argumentif commanded_values are infinite or NaN.
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    Returns
    Rate-limited vector of desired values.
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    Examples:
    joint_impedance_control.cpp.
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    ◆ limitRate() [2/7]

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    double franka::limitRate (double max_velocity,
    double max_acceleration,
    double max_jerk,
    double commanded_velocity,
    double last_commanded_velocity,
    double last_commanded_acceleration 
    )
    -
    - -

    Limits the rate of a desired joint velocity considering the limits provided.

    -
    Note
    FCI filters must be deactivated to work properly.
    -
    Parameters
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    [in]max_velocityMaximum allowed velocity.
    [in]max_accelerationMaximum allowed acceleration.
    [in]max_jerkMaximum allowed jerk.
    [in]commanded_velocityCommanded joint velocity of the current time step.
    [in]last_commanded_velocityCommanded joint velocitiy of the previous time step.
    [in]last_commanded_accelerationCommanded joint acceleration of the previous time step.
    -
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    Exceptions
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    std::invalid_argumentif commanded_velocity is infinite or NaN.
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    Rate-limited desired joint velocity.
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    ◆ limitRate() [3/7]

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    double franka::limitRate (double max_velocity,
    double max_acceleration,
    double max_jerk,
    double commanded_position,
    double last_commanded_position,
    double last_commanded_velocity,
    double last_commanded_acceleration 
    )
    -
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    Limits the rate of a desired joint position considering the limits provided.

    -
    Note
    FCI filters must be deactivated to work properly.
    -
    Parameters
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    [in]max_velocityMaximum allowed velocity.
    [in]max_accelerationMaximum allowed acceleration.
    [in]max_jerkMaximum allowed jerk.
    [in]commanded_positionCommanded joint position of the current time step.
    [in]last_commanded_positionCommanded joint position of the previous time step.
    [in]last_commanded_velocityCommanded joint velocity of the previous time step.
    [in]last_commanded_accelerationCommanded joint acceleration of the previous time step.
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    std::invalid_argumentif commanded_position is infinite or NaN.
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    Rate-limited desired joint position.
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    ◆ limitRate() [4/7]

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    std::array<double, 7> franka::limitRate (const std::array< double, 7 > & max_velocity,
    const std::array< double, 7 > & max_acceleration,
    const std::array< double, 7 > & max_jerk,
    const std::array< double, 7 > & commanded_velocities,
    const std::array< double, 7 > & last_commanded_velocities,
    const std::array< double, 7 > & last_commanded_accelerations 
    )
    -
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    Limits the rate of a desired joint velocity considering the limits provided.

    -
    Note
    FCI filters must be deactivated to work properly.
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    [in]max_velocityPer-joint maximum allowed velocity.
    [in]max_accelerationPer-joint maximum allowed acceleration.
    [in]max_jerkPer-joint maximum allowed jerk.
    [in]commanded_velocitiesCommanded joint velocity of the current time step.
    [in]last_commanded_velocitiesCommanded joint velocities of the previous time step.
    [in]last_commanded_accelerationsCommanded joint accelerations of the previous time step.
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    std::invalid_argumentif commanded_velocities are infinite or NaN.
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    Rate-limited vector of desired joint velocities.
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    ◆ limitRate() [5/7]

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    std::array<double, 7> franka::limitRate (const std::array< double, 7 > & max_velocity,
    const std::array< double, 7 > & max_acceleration,
    const std::array< double, 7 > & max_jerk,
    const std::array< double, 7 > & commanded_positions,
    const std::array< double, 7 > & last_commanded_positions,
    const std::array< double, 7 > & last_commanded_velocities,
    const std::array< double, 7 > & last_commanded_accelerations 
    )
    -
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    Limits the rate of a desired joint position considering the limits provided.

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    [in]max_velocityPer-joint maximum allowed velocity.
    [in]max_accelerationPer-joint maximum allowed velocity.
    [in]max_jerkPer-joint maximum allowed velocity.
    [in]commanded_positionsPer-joint maximum allowed acceleration.
    [in]last_commanded_positionsCommanded joint positions of the current time step.
    [in]last_commanded_velocitiesCommanded joint positions of the previous time step.
    [in]last_commanded_accelerationsCommanded joint velocities of the previous time step.
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    std::invalid_argumentif commanded_positions are infinite or NaN.
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    Rate-limited vector of desired joint positions.
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    ◆ limitRate() [6/7]

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    std::array<double, 6> franka::limitRate (double max_translational_velocity,
    double max_translational_acceleration,
    double max_translational_jerk,
    double max_rotational_velocity,
    double max_rotational_acceleration,
    double max_rotational_jerk,
    const std::array< double, 6 > & O_dP_EE_c,
    const std::array< double, 6 > & last_O_dP_EE_c,
    const std::array< double, 6 > & last_O_ddP_EE_c 
    )
    -
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    Limits the rate of a desired Cartesian velocity considering the limits provided.

    -
    Note
    FCI filters must be deactivated to work properly.
    -
    Parameters
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    [in]max_translational_velocityMaximum translational velocity.
    [in]max_translational_accelerationMaximum translational acceleration.
    [in]max_translational_jerkMaximum translational jerk.
    [in]max_rotational_velocityMaximum rotational velocity.
    [in]max_rotational_accelerationMaximum rotational acceleration.
    [in]max_rotational_jerkMaximum rotational jerk.
    [in]O_dP_EE_cCommanded end effector twist of the current time step.
    [in]last_O_dP_EE_cCommanded end effector twist of the previous time step.
    [in]last_O_ddP_EE_cCommanded end effector acceleration of the previous time step.
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    std::invalid_argumentif an element of O_dP_EE_c is infinite or NaN.
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    Rate-limited desired end effector twist.
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    ◆ limitRate() [7/7]

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    std::array<double, 16> franka::limitRate (double max_translational_velocity,
    double max_translational_acceleration,
    double max_translational_jerk,
    double max_rotational_velocity,
    double max_rotational_acceleration,
    double max_rotational_jerk,
    const std::array< double, 16 > & O_T_EE_c,
    const std::array< double, 16 > & last_O_T_EE_c,
    const std::array< double, 6 > & last_O_dP_EE_c,
    const std::array< double, 6 > & last_O_ddP_EE_c 
    )
    -
    - -

    Limits the rate of a desired Cartesian pose considering the limits provided.

    -
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    -
    Parameters
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    [in]max_translational_velocityMaximum translational velocity.
    [in]max_translational_accelerationMaximum translational acceleration.
    [in]max_translational_jerkMaximum translational jerk.
    [in]max_rotational_velocityMaximum rotational velocity.
    [in]max_rotational_accelerationMaximum rotational acceleration.
    [in]max_rotational_jerkMaximum rotational jerk.
    [in]O_T_EE_cCommanded pose of the current time step.
    [in]last_O_T_EE_cCommanded pose of the previous time step.
    [in]last_O_dP_EE_cCommanded end effector twist of the previous time step.
    [in]last_O_ddP_EE_cCommanded end effector acceleration of the previous time step.
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    Rate-limited desired pose.
    - -
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    Variable Documentation

    - -

    ◆ kMaxElbowVelocity

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    constexpr double franka::kMaxElbowVelocity
    -
    -Initial value:
    =
    2.1750 - kLimitEps - kTolNumberPacketsLost * kDeltaT * kMaxElbowAcceleration
    franka::kTolNumberPacketsLost
    constexpr double kTolNumberPacketsLost
    Number of packets losts considered for the definition of velocity limits.
    Definition: rate_limiting.h:31
    -
    franka::kLimitEps
    constexpr double kLimitEps
    Epsilon value for checking limits.
    Definition: rate_limiting.h:22
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    franka::kMaxElbowAcceleration
    constexpr double kMaxElbowAcceleration
    Maximum elbow acceleration.
    Definition: rate_limiting.h:98
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    franka::kDeltaT
    constexpr double kDeltaT
    Sample time constant.
    Definition: rate_limiting.h:18
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    Maximum elbow velocity.

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    ◆ kMaxJointAcceleration

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    constexpr std::array<double, 7> franka::kMaxJointAcceleration
    -
    -Initial value:
    {
    {15.0000 - kLimitEps, 7.500 - kLimitEps, 10.0000 - kLimitEps, 12.5000 - kLimitEps,
    15.0000 - kLimitEps, 20.0000 - kLimitEps, 20.0000 - kLimitEps}}
    franka::kLimitEps
    constexpr double kLimitEps
    Epsilon value for checking limits.
    Definition: rate_limiting.h:22
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    Maximum joint acceleration.

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    ◆ kMaxJointJerk

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    constexpr std::array<double, 7> franka::kMaxJointJerk
    -
    -Initial value:
    {
    {7500.0 - kLimitEps, 3750.0 - kLimitEps, 5000.0 - kLimitEps, 6250.0 - kLimitEps,
    7500.0 - kLimitEps, 10000.0 - kLimitEps, 10000.0 - kLimitEps}}
    franka::kLimitEps
    constexpr double kLimitEps
    Epsilon value for checking limits.
    Definition: rate_limiting.h:22
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    Maximum joint jerk.

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    ◆ kMaxJointVelocity

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    constexpr std::array<double, 7> franka::kMaxJointVelocity
    -
    -Initial value:
    {
    {2.1750 - kLimitEps - kTolNumberPacketsLost * kDeltaT * kMaxJointAcceleration[0],
    2.1750 - kLimitEps - kTolNumberPacketsLost* kDeltaT* kMaxJointAcceleration[1],
    2.1750 - kLimitEps - kTolNumberPacketsLost* kDeltaT* kMaxJointAcceleration[2],
    2.1750 - kLimitEps - kTolNumberPacketsLost* kDeltaT* kMaxJointAcceleration[3],
    2.6100 - kLimitEps - kTolNumberPacketsLost* kDeltaT* kMaxJointAcceleration[4],
    2.6100 - kLimitEps - kTolNumberPacketsLost* kDeltaT* kMaxJointAcceleration[5],
    2.6100 - kLimitEps - kTolNumberPacketsLost* kDeltaT* kMaxJointAcceleration[6]}}
    franka::kTolNumberPacketsLost
    constexpr double kTolNumberPacketsLost
    Number of packets losts considered for the definition of velocity limits.
    Definition: rate_limiting.h:31
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    franka::kLimitEps
    constexpr double kLimitEps
    Epsilon value for checking limits.
    Definition: rate_limiting.h:22
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    franka::kDeltaT
    constexpr double kDeltaT
    Sample time constant.
    Definition: rate_limiting.h:18
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    franka::kMaxJointAcceleration
    constexpr std::array< double, 7 > kMaxJointAcceleration
    Maximum joint acceleration.
    Definition: rate_limiting.h:51
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    Maximum joint velocity.

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    ◆ kMaxRotationalVelocity

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    constexpr double franka::kMaxRotationalVelocity
    -
    -Initial value:
    =
    2.5000 - kLimitEps - kTolNumberPacketsLost * kDeltaT * kMaxRotationalAcceleration
    franka::kMaxRotationalAcceleration
    constexpr double kMaxRotationalAcceleration
    Maximum rotational acceleration.
    Definition: rate_limiting.h:85
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    franka::kTolNumberPacketsLost
    constexpr double kTolNumberPacketsLost
    Number of packets losts considered for the definition of velocity limits.
    Definition: rate_limiting.h:31
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    franka::kLimitEps
    constexpr double kLimitEps
    Epsilon value for checking limits.
    Definition: rate_limiting.h:22
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    franka::kDeltaT
    constexpr double kDeltaT
    Sample time constant.
    Definition: rate_limiting.h:18
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    Maximum rotational velocity.

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    ◆ kMaxTorqueRate

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    constexpr std::array<double, 7> franka::kMaxTorqueRate
    -
    -Initial value:
    {
    {1000 - kLimitEps, 1000 - kLimitEps, 1000 - kLimitEps, 1000 - kLimitEps, 1000 - kLimitEps,
    1000 - kLimitEps, 1000 - kLimitEps}}
    franka::kLimitEps
    constexpr double kLimitEps
    Epsilon value for checking limits.
    Definition: rate_limiting.h:22
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    Maximum torque rate.

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    Examples:
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    ◆ kMaxTranslationalVelocity

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    constexpr double franka::kMaxTranslationalVelocity
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    franka::kTolNumberPacketsLost
    constexpr double kTolNumberPacketsLost
    Number of packets losts considered for the definition of velocity limits.
    Definition: rate_limiting.h:31
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    franka::kLimitEps
    constexpr double kLimitEps
    Epsilon value for checking limits.
    Definition: rate_limiting.h:22
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    franka::kDeltaT
    constexpr double kDeltaT
    Sample time constant.
    Definition: rate_limiting.h:18
    -
    franka::kMaxTranslationalAcceleration
    constexpr double kMaxTranslationalAcceleration
    Maximum translational acceleration.
    Definition: rate_limiting.h:72
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    Maximum translational velocity.

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    ◆ kTolNumberPacketsLost

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    constexpr double franka::kTolNumberPacketsLost = 3.0
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    Number of packets losts considered for the definition of velocity limits.

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    When a packet is lost, FCI assumes a constant acceleration model

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    1 // Copyright (c) 2017 Franka Emika GmbH
    2 // Use of this source code is governed by the Apache-2.0 license, see LICENSE
    3 #pragma once
    4 
    5 #include <array>
    6 #include <limits>
    7 
    14 namespace franka {
    18 constexpr double kDeltaT = 1e-3;
    22 constexpr double kLimitEps = 1e-3;
    26 constexpr double kNormEps = std::numeric_limits<double>::epsilon();
    31 constexpr double kTolNumberPacketsLost = 3.0;
    35 constexpr double kFactorCartesianRotationPoseInterface = 0.99;
    39 constexpr std::array<double, 7> kMaxTorqueRate{
    40  {1000 - kLimitEps, 1000 - kLimitEps, 1000 - kLimitEps, 1000 - kLimitEps, 1000 - kLimitEps,
    41  1000 - kLimitEps, 1000 - kLimitEps}};
    45 constexpr std::array<double, 7> kMaxJointJerk{
    46  {7500.0 - kLimitEps, 3750.0 - kLimitEps, 5000.0 - kLimitEps, 6250.0 - kLimitEps,
    47  7500.0 - kLimitEps, 10000.0 - kLimitEps, 10000.0 - kLimitEps}};
    51 constexpr std::array<double, 7> kMaxJointAcceleration{
    52  {15.0000 - kLimitEps, 7.500 - kLimitEps, 10.0000 - kLimitEps, 12.5000 - kLimitEps,
    53  15.0000 - kLimitEps, 20.0000 - kLimitEps, 20.0000 - kLimitEps}};
    57 constexpr std::array<double, 7> kMaxJointVelocity{
    58  {2.1750 - kLimitEps - kTolNumberPacketsLost * kDeltaT * kMaxJointAcceleration[0],
    59  2.1750 - kLimitEps - kTolNumberPacketsLost* kDeltaT* kMaxJointAcceleration[1],
    60  2.1750 - kLimitEps - kTolNumberPacketsLost* kDeltaT* kMaxJointAcceleration[2],
    61  2.1750 - kLimitEps - kTolNumberPacketsLost* kDeltaT* kMaxJointAcceleration[3],
    62  2.6100 - kLimitEps - kTolNumberPacketsLost* kDeltaT* kMaxJointAcceleration[4],
    63  2.6100 - kLimitEps - kTolNumberPacketsLost* kDeltaT* kMaxJointAcceleration[5],
    64  2.6100 - kLimitEps - kTolNumberPacketsLost* kDeltaT* kMaxJointAcceleration[6]}};
    68 constexpr double kMaxTranslationalJerk = 6500.0 - kLimitEps;
    72 constexpr double kMaxTranslationalAcceleration = 13.0000 - kLimitEps;
    76 constexpr double kMaxTranslationalVelocity =
    77  2.0000 - kLimitEps - kTolNumberPacketsLost * kDeltaT * kMaxTranslationalAcceleration;
    81 constexpr double kMaxRotationalJerk = 12500.0 - kLimitEps;
    85 constexpr double kMaxRotationalAcceleration = 25.0000 - kLimitEps;
    89 constexpr double kMaxRotationalVelocity =
    90  2.5000 - kLimitEps - kTolNumberPacketsLost * kDeltaT * kMaxRotationalAcceleration;
    94 constexpr double kMaxElbowJerk = 5000 - kLimitEps;
    98 constexpr double kMaxElbowAcceleration = 10.0000 - kLimitEps;
    102 constexpr double kMaxElbowVelocity =
    103  2.1750 - kLimitEps - kTolNumberPacketsLost * kDeltaT * kMaxElbowAcceleration;
    104 
    120 std::array<double, 7> limitRate(const std::array<double, 7>& max_derivatives,
    121  const std::array<double, 7>& commanded_values,
    122  const std::array<double, 7>& last_commanded_values);
    123 
    141 double limitRate(double max_velocity,
    142  double max_acceleration,
    143  double max_jerk,
    144  double commanded_velocity,
    145  double last_commanded_velocity,
    146  double last_commanded_acceleration);
    147 
    166 double limitRate(double max_velocity,
    167  double max_acceleration,
    168  double max_jerk,
    169  double commanded_position,
    170  double last_commanded_position,
    171  double last_commanded_velocity,
    172  double last_commanded_acceleration);
    173 
    191 std::array<double, 7> limitRate(const std::array<double, 7>& max_velocity,
    192  const std::array<double, 7>& max_acceleration,
    193  const std::array<double, 7>& max_jerk,
    194  const std::array<double, 7>& commanded_velocities,
    195  const std::array<double, 7>& last_commanded_velocities,
    196  const std::array<double, 7>& last_commanded_accelerations);
    197 
    216 std::array<double, 7> limitRate(const std::array<double, 7>& max_velocity,
    217  const std::array<double, 7>& max_acceleration,
    218  const std::array<double, 7>& max_jerk,
    219  const std::array<double, 7>& commanded_positions,
    220  const std::array<double, 7>& last_commanded_positions,
    221  const std::array<double, 7>& last_commanded_velocities,
    222  const std::array<double, 7>& last_commanded_accelerations);
    223 
    244 std::array<double, 6> limitRate(
    245  double max_translational_velocity,
    246  double max_translational_acceleration,
    247  double max_translational_jerk,
    248  double max_rotational_velocity,
    249  double max_rotational_acceleration,
    250  double max_rotational_jerk,
    251  const std::array<double, 6>& O_dP_EE_c, // NOLINT(readability-identifier-naming)
    252  const std::array<double, 6>& last_O_dP_EE_c, // NOLINT(readability-identifier-naming)
    253  const std::array<double, 6>& last_O_ddP_EE_c); // NOLINT(readability-identifier-naming)
    254 
    276 std::array<double, 16> limitRate(
    277  double max_translational_velocity,
    278  double max_translational_acceleration,
    279  double max_translational_jerk,
    280  double max_rotational_velocity,
    281  double max_rotational_acceleration,
    282  double max_rotational_jerk,
    283  const std::array<double, 16>& O_T_EE_c, // NOLINT(readability-identifier-naming)
    284  const std::array<double, 16>& last_O_T_EE_c, // NOLINT(readability-identifier-naming)
    285  const std::array<double, 6>& last_O_dP_EE_c, // NOLINT(readability-identifier-naming)
    286  const std::array<double, 6>& last_O_ddP_EE_c); // NOLINT(readability-identifier-naming)
    287 
    288 } // namespace franka
    franka::kMaxRotationalAcceleration
    constexpr double kMaxRotationalAcceleration
    Maximum rotational acceleration.
    Definition: rate_limiting.h:85
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    franka::kTolNumberPacketsLost
    constexpr double kTolNumberPacketsLost
    Number of packets losts considered for the definition of velocity limits.
    Definition: rate_limiting.h:31
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    franka::kMaxJointJerk
    constexpr std::array< double, 7 > kMaxJointJerk
    Maximum joint jerk.
    Definition: rate_limiting.h:45
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    franka::limitRate
    std::array< double, 7 > limitRate(const std::array< double, 7 > &max_derivatives, const std::array< double, 7 > &commanded_values, const std::array< double, 7 > &last_commanded_values)
    Limits the rate of an input vector of per-joint commands considering the maximum allowed time derivat...
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    franka::kMaxRotationalVelocity
    constexpr double kMaxRotationalVelocity
    Maximum rotational velocity.
    Definition: rate_limiting.h:89
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    franka::kMaxTorqueRate
    constexpr std::array< double, 7 > kMaxTorqueRate
    Maximum torque rate.
    Definition: rate_limiting.h:39
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    franka::kMaxRotationalJerk
    constexpr double kMaxRotationalJerk
    Maximum rotational jerk.
    Definition: rate_limiting.h:81
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    franka::kNormEps
    constexpr double kNormEps
    Epsilon value for limiting Cartesian accelerations/jerks or not.
    Definition: rate_limiting.h:26
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    franka::kLimitEps
    constexpr double kLimitEps
    Epsilon value for checking limits.
    Definition: rate_limiting.h:22
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    franka::kFactorCartesianRotationPoseInterface
    constexpr double kFactorCartesianRotationPoseInterface
    Factor for the definition of rotational limits using the Cartesian Pose interface.
    Definition: rate_limiting.h:35
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    franka::kMaxElbowAcceleration
    constexpr double kMaxElbowAcceleration
    Maximum elbow acceleration.
    Definition: rate_limiting.h:98
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    franka::kMaxTranslationalVelocity
    constexpr double kMaxTranslationalVelocity
    Maximum translational velocity.
    Definition: rate_limiting.h:76
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    franka::kDeltaT
    constexpr double kDeltaT
    Sample time constant.
    Definition: rate_limiting.h:18
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    Definition: command_types.h:13
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    franka::kMaxElbowVelocity
    constexpr double kMaxElbowVelocity
    Maximum elbow velocity.
    Definition: rate_limiting.h:102
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    franka::kMaxTranslationalAcceleration
    constexpr double kMaxTranslationalAcceleration
    Maximum translational acceleration.
    Definition: rate_limiting.h:72
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    franka::kMaxElbowJerk
    constexpr double kMaxElbowJerk
    Maximum elbow jerk.
    Definition: rate_limiting.h:94
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    franka::kMaxJointAcceleration
    constexpr std::array< double, 7 > kMaxJointAcceleration
    Maximum joint acceleration.
    Definition: rate_limiting.h:51
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    franka::kMaxJointVelocity
    constexpr std::array< double, 7 > kMaxJointVelocity
    Maximum joint velocity.
    Definition: rate_limiting.h:57
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    franka::kMaxTranslationalJerk
    constexpr double kMaxTranslationalJerk
    Maximum translational jerk.
    Definition: rate_limiting.h:68
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    class  franka::Robot
     Maintains a network connection to the robot, provides the current robot state, gives access to the model library and allows to control the robot. More...
     
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--git a/robot_8h_source.html b/robot_8h_source.html deleted file mode 100644 index 29ed76ce..00000000 --- a/robot_8h_source.html +++ /dev/null @@ -1,124 +0,0 @@ - - - - - - - -libfranka: include/franka/robot.h Source File - - - - - - - - - - - -
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    robot.h
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    -Go to the documentation of this file.
    1 // Copyright (c) 2017 Franka Emika GmbH
    2 // Use of this source code is governed by the Apache-2.0 license, see LICENSE
    3 #pragma once
    4 
    5 #include <functional>
    6 #include <memory>
    7 #include <mutex>
    8 #include <string>
    9 
    10 #include <franka/command_types.h>
    11 #include <franka/control_types.h>
    12 #include <franka/duration.h>
    13 #include <franka/lowpass_filter.h>
    14 #include <franka/robot_state.h>
    15 
    21 namespace franka {
    22 
    23 class Model;
    24 
    46 class Robot {
    47  public:
    51  using ServerVersion = uint16_t;
    52 
    65  explicit Robot(const std::string& franka_address,
    66  RealtimeConfig realtime_config = RealtimeConfig::kEnforce,
    67  size_t log_size = 50);
    68 
    74  Robot(Robot&& other) noexcept;
    75 
    83  Robot& operator=(Robot&& other) noexcept;
    84 
    88  ~Robot() noexcept;
    89 
    151  void control(std::function<Torques(const RobotState&, franka::Duration)> control_callback,
    152  bool limit_rate = true,
    153  double cutoff_frequency = kDefaultCutoffFrequency);
    154 
    179  void control(
    180  std::function<Torques(const RobotState&, franka::Duration)> control_callback,
    181  std::function<JointPositions(const RobotState&, franka::Duration)> motion_generator_callback,
    182  bool limit_rate = true,
    183  double cutoff_frequency = kDefaultCutoffFrequency);
    184 
    209  void control(
    210  std::function<Torques(const RobotState&, franka::Duration)> control_callback,
    211  std::function<JointVelocities(const RobotState&, franka::Duration)> motion_generator_callback,
    212  bool limit_rate = true,
    213  double cutoff_frequency = kDefaultCutoffFrequency);
    214 
    239  void control(
    240  std::function<Torques(const RobotState&, franka::Duration)> control_callback,
    241  std::function<CartesianPose(const RobotState&, franka::Duration)> motion_generator_callback,
    242  bool limit_rate = true,
    243  double cutoff_frequency = kDefaultCutoffFrequency);
    244 
    269  void control(std::function<Torques(const RobotState&, franka::Duration)> control_callback,
    270  std::function<CartesianVelocities(const RobotState&, franka::Duration)>
    271  motion_generator_callback,
    272  bool limit_rate = true,
    273  double cutoff_frequency = kDefaultCutoffFrequency);
    274 
    297  void control(
    298  std::function<JointPositions(const RobotState&, franka::Duration)> motion_generator_callback,
    299  ControllerMode controller_mode = ControllerMode::kJointImpedance,
    300  bool limit_rate = true,
    301  double cutoff_frequency = kDefaultCutoffFrequency);
    302 
    325  void control(
    326  std::function<JointVelocities(const RobotState&, franka::Duration)> motion_generator_callback,
    327  ControllerMode controller_mode = ControllerMode::kJointImpedance,
    328  bool limit_rate = true,
    329  double cutoff_frequency = kDefaultCutoffFrequency);
    330 
    353  void control(
    354  std::function<CartesianPose(const RobotState&, franka::Duration)> motion_generator_callback,
    355  ControllerMode controller_mode = ControllerMode::kJointImpedance,
    356  bool limit_rate = true,
    357  double cutoff_frequency = kDefaultCutoffFrequency);
    358 
    381  void control(std::function<CartesianVelocities(const RobotState&, franka::Duration)>
    382  motion_generator_callback,
    383  ControllerMode controller_mode = ControllerMode::kJointImpedance,
    384  bool limit_rate = true,
    385  double cutoff_frequency = kDefaultCutoffFrequency);
    386 
    411  void read(std::function<bool(const RobotState&)> read_callback);
    412 
    425  RobotState readOnce();
    426 
    445  VirtualWallCuboid getVirtualWall(int32_t id);
    446 
    483  void setCollisionBehavior(const std::array<double, 7>& lower_torque_thresholds_acceleration,
    484  const std::array<double, 7>& upper_torque_thresholds_acceleration,
    485  const std::array<double, 7>& lower_torque_thresholds_nominal,
    486  const std::array<double, 7>& upper_torque_thresholds_nominal,
    487  const std::array<double, 6>& lower_force_thresholds_acceleration,
    488  const std::array<double, 6>& upper_force_thresholds_acceleration,
    489  const std::array<double, 6>& lower_force_thresholds_nominal,
    490  const std::array<double, 6>& upper_force_thresholds_nominal);
    491 
    518  void setCollisionBehavior(const std::array<double, 7>& lower_torque_thresholds,
    519  const std::array<double, 7>& upper_torque_thresholds,
    520  const std::array<double, 6>& lower_force_thresholds,
    521  const std::array<double, 6>& upper_force_thresholds);
    522 
    533  void setJointImpedance(
    534  const std::array<double, 7>& K_theta); // NOLINT(readability-identifier-naming)
    535 
    547  void setCartesianImpedance(
    548  const std::array<double, 6>& K_x); // NOLINT(readability-identifier-naming)
    549 
    564  void setGuidingMode(const std::array<bool, 6>& guiding_mode, bool elbow);
    565 
    578  void setK(const std::array<double, 16>& EE_T_K); // NOLINT(readability-identifier-naming)
    579 
    595  void setEE(const std::array<double, 16>& NE_T_EE); // NOLINT(readability-identifier-naming)
    596 
    613  void setLoad(double load_mass,
    614  const std::array<double, 3>& F_x_Cload, // NOLINT(readability-identifier-naming)
    615  const std::array<double, 9>& load_inertia);
    616 
    639  [[deprecated("Use franka::lowpassFilter instead")]] void setFilters(
    640  double joint_position_filter_frequency,
    641  double joint_velocity_filter_frequency,
    642  double cartesian_position_filter_frequency,
    643  double cartesian_velocity_filter_frequency,
    644  double controller_filter_frequency);
    653  void automaticErrorRecovery();
    654 
    664  void stop();
    665 
    678  Model loadModel();
    679 
    685  ServerVersion serverVersion() const noexcept;
    686 
    688  Robot(const Robot&) = delete;
    689  Robot& operator=(const Robot&) = delete;
    691 
    692  class Impl;
    693 
    694  private:
    695  std::unique_ptr<Impl> impl_;
    696  std::mutex control_mutex_;
    697 };
    698 
    699 } // namespace franka
    franka::Robot::readOnce
    RobotState readOnce()
    Waits for a robot state update and returns it.
    -
    franka::JointVelocities
    Stores values for joint velocity motion generation.
    Definition: control_types.h:99
    -
    franka::Robot::setGuidingMode
    void setGuidingMode(const std::array< bool, 6 > &guiding_mode, bool elbow)
    Locks or unlocks guiding mode movement in (x, y, z, roll, pitch, yaw).
    -
    franka::CartesianVelocities
    Stores values for Cartesian velocity motion generation.
    Definition: control_types.h:201
    -
    command_types.h
    Contains types for the commands that can be sent from franka::Robot.
    -
    franka::Robot::serverVersion
    ServerVersion serverVersion() const noexcept
    Returns the software version reported by the connected server.
    -
    franka::Robot::Robot
    Robot(const std::string &franka_address, RealtimeConfig realtime_config=RealtimeConfig::kEnforce, size_t log_size=50)
    Establishes a connection with the robot.
    -
    franka::Robot::ServerVersion
    uint16_t ServerVersion
    Version of the robot server.
    Definition: robot.h:51
    -
    franka::Robot::setJointImpedance
    void setJointImpedance(const std::array< double, 7 > &K_theta)
    Sets the impedance for each joint in the internal controller.
    -
    franka::RealtimeConfig
    RealtimeConfig
    Used to decide whether to enforce realtime mode for a control loop thread.
    Definition: control_types.h:26
    -
    franka::Robot::control
    void control(std::function< Torques(const RobotState &, franka::Duration)> control_callback, bool limit_rate=true, double cutoff_frequency=kDefaultCutoffFrequency)
    Starts a control loop for sending joint-level torque commands.
    -
    lowpass_filter.h
    Contains functions for filtering signals with a low-pass filter.
    -
    franka::Robot::loadModel
    Model loadModel()
    Loads the model library from the robot.
    -
    control_types.h
    Contains helper types for returning motion generation and joint-level torque commands.
    -
    franka::Robot::setCartesianImpedance
    void setCartesianImpedance(const std::array< double, 6 > &K_x)
    Sets the Cartesian impedance for (x, y, z, roll, pitch, yaw) in the internal controller.
    -
    franka::Duration
    Represents a duration with millisecond resolution.
    Definition: duration.h:19
    -
    franka::Torques
    Stores joint-level torque commands without gravity and friction.
    Definition: control_types.h:45
    -
    franka::Robot::setEE
    void setEE(const std::array< double, 16 > &NE_T_EE)
    Sets the transformation from nominal end effector to end effector frame.
    -
    franka::Robot::setK
    void setK(const std::array< double, 16 > &EE_T_K)
    Sets the transformation from end effector frame to stiffness frame.
    -
    franka::Robot::getVirtualWall
    VirtualWallCuboid getVirtualWall(int32_t id)
    Returns the parameters of a virtual wall.
    -
    franka::VirtualWallCuboid
    Parameters of a cuboid used as virtual wall.
    Definition: command_types.h:20
    -
    franka::Robot::setLoad
    void setLoad(double load_mass, const std::array< double, 3 > &F_x_Cload, const std::array< double, 9 > &load_inertia)
    Sets dynamic parameters of a payload.
    -
    franka::Robot::setCollisionBehavior
    void setCollisionBehavior(const std::array< double, 7 > &lower_torque_thresholds_acceleration, const std::array< double, 7 > &upper_torque_thresholds_acceleration, const std::array< double, 7 > &lower_torque_thresholds_nominal, const std::array< double, 7 > &upper_torque_thresholds_nominal, const std::array< double, 6 > &lower_force_thresholds_acceleration, const std::array< double, 6 > &upper_force_thresholds_acceleration, const std::array< double, 6 > &lower_force_thresholds_nominal, const std::array< double, 6 > &upper_force_thresholds_nominal)
    Changes the collision behavior.
    -
    franka::Robot::stop
    void stop()
    Stops all currently running motions.
    -
    franka::Robot::read
    void read(std::function< bool(const RobotState &)> read_callback)
    Starts a loop for reading the current robot state.
    -
    franka::CartesianPose
    Stores values for Cartesian pose motion generation.
    Definition: control_types.h:127
    -
    franka
    Definition: command_types.h:13
    -
    robot_state.h
    Contains the franka::RobotState types.
    -
    duration.h
    Contains the franka::Duration type.
    -
    franka::Model
    Calculates poses of joints and dynamic properties of the robot.
    Definition: model.h:51
    -
    franka::JointPositions
    Stores values for joint position motion generation.
    Definition: control_types.h:72
    -
    franka::RobotState
    Describes the robot state.
    Definition: robot_state.h:35
    -
    franka::Robot
    Maintains a network connection to the robot, provides the current robot state, gives access to the mo...
    Definition: robot.h:46
    -
    franka::Robot::~Robot
    ~Robot() noexcept
    Closes the connection.
    -
    franka::Robot::automaticErrorRecovery
    void automaticErrorRecovery()
    Runs automatic error recovery on the robot.
    -
    franka::Robot::setFilters
    void setFilters(double joint_position_filter_frequency, double joint_velocity_filter_frequency, double cartesian_position_filter_frequency, double cartesian_velocity_filter_frequency, double controller_filter_frequency)
    Sets the cut off frequency for the given motion generator or controller.
    -
    franka::Robot::operator=
    Robot & operator=(Robot &&other) noexcept
    Move-assigns this Robot from another Robot instance.
    -
    franka::ControllerMode
    ControllerMode
    Available controller modes for a franka::Robot.
    Definition: control_types.h:19
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    robot_state.h File Reference
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    #include <array>
    -#include <ostream>
    -#include <franka/duration.h>
    -#include <franka/errors.h>
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    -Include dependency graph for robot_state.h:
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    -This graph shows which files directly or indirectly include this file:
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    -Classes

    struct  franka::RobotState
     Describes the robot state. More...
     
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    -Enumerations

    enum  franka::RobotMode {
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    - }
     Describes the robot's current mode.
     
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    -Functions

    std::ostream & franka::operator<< (std::ostream &ostream, const franka::RobotState &robot_state)
     Streams the robot state as JSON object: {"field_name_1": [0,0,0,0,0,0,0], "field_name_2": [0,0,0,0,0,0], ...}. More...
     
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    Detailed Description

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    Contains the franka::RobotState types.

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    Function Documentation

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    ◆ operator<<()

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    std::ostream& franka::operator<< (std::ostream & ostream,
    const franka::RobotState & robot_state 
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    Streams the robot state as JSON object: {"field_name_1": [0,0,0,0,0,0,0], "field_name_2": [0,0,0,0,0,0], ...}.

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    [in]ostreamOstream instance
    [in]robot_stateRobotState instance to stream
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    Ostream instance
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    -
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    -
    libfranka -  0.8.0 -
    -
    FCI C++ API
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    - - - - - - - - -
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    -
    robot_state.h
    -
    -
    -Go to the documentation of this file.
    1 // Copyright (c) 2017 Franka Emika GmbH
    2 // Use of this source code is governed by the Apache-2.0 license, see LICENSE
    3 #pragma once
    4 
    5 #include <array>
    6 #include <ostream>
    7 
    8 #include <franka/duration.h>
    9 #include <franka/errors.h>
    10 
    16 namespace franka {
    17 
    22 enum class RobotMode {
    23  kOther,
    24  kIdle,
    25  kMove,
    26  kGuiding,
    27  kReflex,
    28  kUserStopped,
    29  kAutomaticErrorRecovery
    30 };
    31 
    35 struct RobotState {
    41  std::array<double, 16> O_T_EE{}; // NOLINT(readability-identifier-naming)
    42 
    48  std::array<double, 16> O_T_EE_d{}; // NOLINT(readability-identifier-naming)
    49 
    59  std::array<double, 16> F_T_EE{}; // NOLINT(readability-identifier-naming)
    60 
    70  std::array<double, 16> F_T_NE{}; // NOLINT(readability-identifier-naming)
    71 
    82  std::array<double, 16> NE_T_EE{}; // NOLINT(readability-identifier-naming)
    83 
    91  std::array<double, 16> EE_T_K{}; // NOLINT(readability-identifier-naming)
    92 
    97  double m_ee{};
    98 
    103  std::array<double, 9> I_ee{}; // NOLINT(readability-identifier-naming)
    104 
    109  std::array<double, 3> F_x_Cee{}; // NOLINT(readability-identifier-naming)
    110 
    115  double m_load{};
    116 
    121  std::array<double, 9> I_load{}; // NOLINT(readability-identifier-naming)
    122 
    127  std::array<double, 3> F_x_Cload{}; // NOLINT(readability-identifier-naming)
    128 
    133  double m_total{};
    134 
    140  std::array<double, 9> I_total{}; // NOLINT(readability-identifier-naming)
    141 
    147  std::array<double, 3> F_x_Ctotal{}; // NOLINT(readability-identifier-naming)
    148 
    156  std::array<double, 2> elbow{};
    157 
    165  std::array<double, 2> elbow_d{};
    166 
    174  std::array<double, 2> elbow_c{};
    175 
    183  std::array<double, 2> delbow_c{};
    184 
    192  std::array<double, 2> ddelbow_c{};
    193 
    198  std::array<double, 7> tau_J{}; // NOLINT(readability-identifier-naming)
    199 
    204  std::array<double, 7> tau_J_d{}; // NOLINT(readability-identifier-naming)
    205 
    210  std::array<double, 7> dtau_J{}; // NOLINT(readability-identifier-naming)
    211 
    216  std::array<double, 7> q{};
    217 
    222  std::array<double, 7> q_d{};
    223 
    228  std::array<double, 7> dq{};
    229 
    234  std::array<double, 7> dq_d{};
    235 
    240  std::array<double, 7> ddq_d{};
    241 
    248  std::array<double, 7> joint_contact{};
    249 
    256  std::array<double, 6> cartesian_contact{};
    257 
    265  std::array<double, 7> joint_collision{};
    266 
    274  std::array<double, 6> cartesian_collision{};
    275 
    280  std::array<double, 7> tau_ext_hat_filtered{};
    281 
    288  std::array<double, 6> O_F_ext_hat_K{}; // NOLINT(readability-identifier-naming)
    289 
    296  std::array<double, 6> K_F_ext_hat_K{}; // NOLINT(readability-identifier-naming)
    297 
    303  std::array<double, 6> O_dP_EE_d{}; // NOLINT(readability-identifier-naming)
    304 
    310  std::array<double, 16> O_T_EE_c{}; // NOLINT(readability-identifier-naming)
    311 
    317  std::array<double, 6> O_dP_EE_c{}; // NOLINT(readability-identifier-naming)
    318 
    325  std::array<double, 6> O_ddP_EE_c{}; // NOLINT(readability-identifier-naming)
    326 
    331  std::array<double, 7> theta{};
    332 
    337  std::array<double, 7> dtheta{};
    338 
    342  Errors current_errors{};
    343 
    347  Errors last_motion_errors{};
    348 
    356  double control_command_success_rate{};
    357 
    361  RobotMode robot_mode = RobotMode::kUserStopped;
    362 
    369  Duration time{};
    370 };
    371 
    381 std::ostream& operator<<(std::ostream& ostream, const franka::RobotState& robot_state);
    382 
    383 } // namespace franka
    errors.h
    Contains the franka::Errors type.
    -
    franka::operator<<
    std::ostream & operator<<(std::ostream &ostream, const Errors &errors)
    Streams the errors as JSON array.
    -
    franka::Errors
    Enumerates errors that can occur while controlling a franka::Robot.
    Definition: errors.h:18
    -
    franka::Duration
    Represents a duration with millisecond resolution.
    Definition: duration.h:19
    -
    franka
    Definition: command_types.h:13
    -
    duration.h
    Contains the franka::Duration type.
    -
    franka::RobotState
    Describes the robot state.
    Definition: robot_state.h:35
    -
    franka::RobotMode
    RobotMode
    Describes the robot&#39;s current mode.
    Definition: robot_state.h:22
    -
    - -
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IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, + DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + + @licend The above is the entire license notice for the JavaScript code in this file + */ function convertToId(search) { var result = ''; @@ -56,9 +80,10 @@ function getYPos(item) storing this instance. 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    libfranka -  0.8.0 -
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    FCI C++ API
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    franka::CommandException Struct Reference
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    -
    - -

    CommandException is thrown if an error occurs during command execution. - More...

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    #include <exception.h>

    -
    -Inheritance diagram for franka::CommandException:
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    Detailed Description

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    CommandException is thrown if an error occurs during command execution.

    -
    The documentation for this struct was generated from the following file: -
    - -
    -Generated by   -doxygen - 1.8.13 -
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    This is the complete list of members for franka::ControlException, including all inherited members.

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    ControlException(const std::string &what, std::vector< franka::Record > log={}) noexceptfranka::ControlExceptionexplicit
    logfranka::ControlException
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    -Public Member Functions | -Public Attributes | -List of all members
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    franka::ControlException Struct Reference
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    ControlException is thrown if an error occurs during motion generation or torque control. - More...

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    #include <exception.h>

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    -Inheritance diagram for franka::ControlException:
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    -Public Member Functions

     ControlException (const std::string &what, std::vector< franka::Record > log={}) noexcept
     Creates the exception with an explanatory string and a Log object. More...
     
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    -Public Attributes

    -const std::vector< franka::Record > log
     Vector of states and commands logged just before the exception occured.
     
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    Detailed Description

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    ControlException is thrown if an error occurs during motion generation or torque control.

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    The exception holds a vector with the last received robot states. The number of recorded states can be configured in the Robot constructor.

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    Examples:
    generate_consecutive_motions.cpp, and motion_with_control.cpp.
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    Constructor & Destructor Documentation

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    ◆ ControlException()

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    Creates the exception with an explanatory string and a Log object.

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    [in]whatExplanatory string.
    [in]logVector of last received states and commands.
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    This is the complete list of members for franka::Errors, including all inherited members.

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    cartesian_motion_generator_acceleration_discontinuityfranka::Errors
    cartesian_motion_generator_elbow_limit_violationfranka::Errors
    cartesian_motion_generator_elbow_sign_inconsistentfranka::Errors
    cartesian_motion_generator_joint_acceleration_discontinuityfranka::Errors
    cartesian_motion_generator_joint_position_limits_violationfranka::Errors
    cartesian_motion_generator_joint_velocity_discontinuityfranka::Errors
    cartesian_motion_generator_joint_velocity_limits_violationfranka::Errors
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    cartesian_motion_generator_velocity_discontinuityfranka::Errors
    cartesian_motion_generator_velocity_limits_violationfranka::Errors
    cartesian_position_limits_violationfranka::Errors
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    Errors()franka::Errors
    Errors(const Errors &other)franka::Errors
    Errors(const std::array< bool, 37 > &errors)franka::Errors
    force_control_safety_violationfranka::Errors
    force_controller_desired_force_tolerance_violationfranka::Errors
    instability_detectedfranka::Errors
    joint_motion_generator_acceleration_discontinuityfranka::Errors
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    joint_motion_generator_velocity_discontinuityfranka::Errors
    joint_motion_generator_velocity_limits_violationfranka::Errors
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    joint_position_limits_violationfranka::Errors
    joint_position_motion_generator_start_pose_invalidfranka::Errors
    joint_reflexfranka::Errors
    joint_velocity_violationfranka::Errors
    max_goal_pose_deviation_violationfranka::Errors
    max_path_pose_deviation_violationfranka::Errors
    operator bool() const noexceptfranka::Errorsexplicit
    operator std::string() constfranka::Errorsexplicit
    operator=(Errors other)franka::Errors
    power_limit_violationfranka::Errors
    self_collision_avoidance_violationfranka::Errors
    start_elbow_sign_inconsistentfranka::Errors
    tau_j_range_violationfranka::Errors
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    franka::Errors Struct Reference
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    Enumerates errors that can occur while controlling a franka::Robot. - More...

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    #include <errors.h>

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    - Errors ()
     Creates an empty Errors instance.
     
     Errors (const Errors &other)
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    Errors & operator= (Errors other)
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     Errors (const std::array< bool, 37 > &errors)
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     operator bool () const noexcept
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     operator std::string () const
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    -Public Attributes

    -const bool & joint_position_limits_violation
     True if the robot moved past the joint limits.
     
    -const bool & cartesian_position_limits_violation
     True if the robot moved past any of the virtual walls.
     
    -const bool & self_collision_avoidance_violation
     True if the robot would have collided with itself.
     
    -const bool & joint_velocity_violation
     True if the robot exceeded joint velocity limits.
     
    -const bool & cartesian_velocity_violation
     True if the robot exceeded Cartesian velocity limits.
     
    -const bool & force_control_safety_violation
     True if the robot exceeded safety threshold during force control.
     
    -const bool & joint_reflex
     True if a collision was detected, i.e. the robot exceeded a torque threshold in a joint motion.
     
    -const bool & cartesian_reflex
     True if a collision was detected, i.e. the robot exceeded a torque threshold in a Cartesian motion.
     
    -const bool & max_goal_pose_deviation_violation
     True if internal motion generator did not reach the goal pose.
     
    -const bool & max_path_pose_deviation_violation
     True if internal motion generator deviated from the path.
     
    -const bool & cartesian_velocity_profile_safety_violation
     True if Cartesian velocity profile for internal motions was exceeded.
     
    -const bool & joint_position_motion_generator_start_pose_invalid
     True if an external joint position motion generator was started with a pose too far from the current pose.
     
    -const bool & joint_motion_generator_position_limits_violation
     True if an external joint motion generator would move into a joint limit.
     
    -const bool & joint_motion_generator_velocity_limits_violation
     True if an external joint motion generator exceeded velocity limits.
     
    -const bool & joint_motion_generator_velocity_discontinuity
     True if commanded velocity in joint motion generators is discontinuous (target values are too far apart).
     
    -const bool & joint_motion_generator_acceleration_discontinuity
     True if commanded acceleration in joint motion generators is discontinuous (target values are too far apart).
     
    -const bool & cartesian_position_motion_generator_start_pose_invalid
     True if an external Cartesian position motion generator was started with a pose too far from the current pose.
     
    -const bool & cartesian_motion_generator_elbow_limit_violation
     True if an external Cartesian motion generator would move into an elbow limit.
     
    -const bool & cartesian_motion_generator_velocity_limits_violation
     True if an external Cartesian motion generator would move with too high velocity.
     
    -const bool & cartesian_motion_generator_velocity_discontinuity
     True if commanded velocity in Cartesian motion generators is discontinuous (target values are too far apart).
     
    -const bool & cartesian_motion_generator_acceleration_discontinuity
     True if commanded acceleration in Cartesian motion generators is discontinuous (target values are too far apart).
     
    -const bool & cartesian_motion_generator_elbow_sign_inconsistent
     True if commanded elbow values in Cartesian motion generators are inconsistent.
     
    -const bool & cartesian_motion_generator_start_elbow_invalid
     True if the first elbow value in Cartesian motion generators is too far from initial one.
     
    -const bool & cartesian_motion_generator_joint_position_limits_violation
     True if the joint position limits would be exceeded after IK calculation.
     
    -const bool & cartesian_motion_generator_joint_velocity_limits_violation
     True if the joint velocity limits would be exceeded after IK calculation.
     
    -const bool & cartesian_motion_generator_joint_velocity_discontinuity
     True if the joint velocity in Cartesian motion generators is discontinuous after IK calculation.
     
    -const bool & cartesian_motion_generator_joint_acceleration_discontinuity
     True if the joint acceleration in Cartesian motion generators is discontinuous after IK calculation.
     
    -const bool & cartesian_position_motion_generator_invalid_frame
     True if the Cartesian pose is not a valid transformation matrix.
     
    -const bool & force_controller_desired_force_tolerance_violation
     True if desired force exceeds the safety thresholds.
     
    -const bool & controller_torque_discontinuity
     True if the torque set by the external controller is discontinuous.
     
    const bool & start_elbow_sign_inconsistent
     True if the start elbow sign was inconsistent. More...
     
    -const bool & communication_constraints_violation
     True if minimum network communication quality could not be held during a motion.
     
    -const bool & power_limit_violation
     True if commanded values would result in exceeding the power limit.
     
    const bool & joint_p2p_insufficient_torque_for_planning
     True if the robot is overloaded for the required motion. More...
     
    -const bool & tau_j_range_violation
     True if the measured torque signal is out of the safe range.
     
    -const bool & instability_detected
     True if an instability is detected.
     
    -const bool & joint_move_in_wrong_direction
     True if the robot is in joint position limits violation error and the user guides the robot further towards the limit.
     
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    Detailed Description

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    Enumerates errors that can occur while controlling a franka::Robot.

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    Constructor & Destructor Documentation

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    ◆ Errors() [1/2]

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    ◆ operator bool()

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    ◆ joint_p2p_insufficient_torque_for_planning

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    True if the start elbow sign was inconsistent.

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    Base class for all exceptions used by libfranka. - More...

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    Detailed Description

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    Base class for all exceptions used by libfranka.

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    Examples:
    cartesian_impedance_control.cpp, communication_test.cpp, echo_robot_state.cpp, generate_cartesian_pose_motion.cpp, generate_cartesian_velocity_motion.cpp, generate_consecutive_motions.cpp, generate_elbow_motion.cpp, generate_joint_position_motion.cpp, generate_joint_velocity_motion.cpp, grasp_object.cpp, joint_impedance_control.cpp, joint_point_to_point_motion.cpp, motion_with_control.cpp, print_joint_poses.cpp, and vacuum_object.cpp.
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    franka::Finishable Member List
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    This is the complete list of members for franka::Finishable, including all inherited members.

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    motion_finishedfranka::Finishable
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    franka::Finishable Struct Reference
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    Helper type for control and motion generation loops. - More...

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    #include <control_types.h>

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    -Inheritance diagram for franka::Finishable:
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    -Public Attributes

    -bool motion_finished = false
     Determines whether to finish a currently running motion.
     
    -

    Detailed Description

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    Helper type for control and motion generation loops.

    -

    Used to determine whether to terminate a loop after the control callback has returned.

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    See also
    Documentation on callbacks
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    This is the complete list of members for franka::GripperState, including all inherited members.

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    is_graspedfranka::GripperState
    max_widthfranka::GripperState
    temperaturefranka::GripperState
    timefranka::GripperState
    widthfranka::GripperState
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    franka::GripperState Struct Reference
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    Describes the gripper state. - More...

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    #include <gripper_state.h>

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    -Public Attributes

    double width {}
     Current gripper opening width. More...
     
    double max_width {}
     Maximum gripper opening width. More...
     
    -bool is_grasped {}
     Indicates whether an object is currently grasped.
     
    uint16_t temperature {}
     Current gripper temperature. More...
     
    -Duration time {}
     Strictly monotonically increasing timestamp since robot start.
     
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    Detailed Description

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    Describes the gripper state.

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    Examples:
    grasp_object.cpp.
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    Member Data Documentation

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    ◆ max_width

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    double franka::GripperState::max_width {}
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    Maximum gripper opening width.

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    This parameter is estimated by homing the gripper. After changing the gripper fingers, a homing needs to be done. Unit: \([m]\).

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    See also
    Gripper::homing.
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    Examples:
    grasp_object.cpp.
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    ◆ temperature

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    uint16_t franka::GripperState::temperature {}
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    Current gripper temperature.

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    Unit: \([°C]\).

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    ◆ width

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    double franka::GripperState::width {}
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    Current gripper opening width.

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    Unit: \([m]\).

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    This is the complete list of members for franka::IncompatibleVersionException, including all inherited members.

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    IncompatibleVersionException(uint16_t server_version, uint16_t library_version) noexceptfranka::IncompatibleVersionException
    library_versionfranka::IncompatibleVersionException
    server_versionfranka::IncompatibleVersionException
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    -Public Member Functions | -Public Attributes | -List of all members
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    franka::IncompatibleVersionException Struct Reference
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    IncompatibleVersionException is thrown if the robot does not support this version of libfranka. - More...

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    #include <exception.h>

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     IncompatibleVersionException (uint16_t server_version, uint16_t library_version) noexcept
     Creates the exception using the two different protocol versions. More...
     
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    -Public Attributes

    -const uint16_t server_version
     Control's protocol version.
     
    -const uint16_t library_version
     libfranka protocol version.
     
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    Detailed Description

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    IncompatibleVersionException is thrown if the robot does not support this version of libfranka.

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    Constructor & Destructor Documentation

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    ◆ IncompatibleVersionException()

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    franka::IncompatibleVersionException::IncompatibleVersionException (uint16_t server_version,
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    Creates the exception using the two different protocol versions.

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    [in]server_versionProtocol version on the Control side.
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    libfranka -  0.8.0 -
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    FCI C++ API
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    franka::InvalidOperationException Struct Reference
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    - -

    InvalidOperationException is thrown if an operation cannot be performed. - More...

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    #include <exception.h>

    -
    -Inheritance diagram for franka::InvalidOperationException:
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    -Collaboration diagram for franka::InvalidOperationException:
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    Detailed Description

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    InvalidOperationException is thrown if an operation cannot be performed.

    -
    The documentation for this struct was generated from the following file: -
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    -Generated by   -doxygen - 1.8.13 -
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    -
    franka::ModelException Struct Reference
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    -
    - -

    ModelException is thrown if an error occurs when loading the model library. - More...

    - -

    #include <exception.h>

    -
    -Inheritance diagram for franka::ModelException:
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    Inheritance graph
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    -Collaboration diagram for franka::ModelException:
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    Detailed Description

    -

    ModelException is thrown if an error occurs when loading the model library.

    -
    The documentation for this struct was generated from the following file: -
    - -
    -Generated by   -doxygen - 1.8.13 -
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    libfranka -  0.8.0 -
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    FCI C++ API
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    franka::NetworkException Struct Reference
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    - -

    NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occurs. - More...

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    #include <exception.h>

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    -Inheritance diagram for franka::NetworkException:
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    Detailed Description

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    NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occurs.

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    The documentation for this struct was generated from the following file: -
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    libfranka -  0.8.0 -
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    FCI C++ API
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    franka::ProtocolException Struct Reference
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    - -

    ProtocolException is thrown if the robot returns an incorrect message. - More...

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    #include <exception.h>

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    -Inheritance diagram for franka::ProtocolException:
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    -Collaboration diagram for franka::ProtocolException:
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    Detailed Description

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    ProtocolException is thrown if the robot returns an incorrect message.

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    The documentation for this struct was generated from the following file: -
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    -Generated by   -doxygen - 1.8.13 -
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    FCI C++ API
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    franka::RealtimeException Struct Reference
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    RealtimeException is thrown if realtime priority cannot be set. - More...

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    #include <exception.h>

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    -Inheritance diagram for franka::RealtimeException:
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    Inheritance graph
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    [legend]
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    -Collaboration diagram for franka::RealtimeException:
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    Collaboration graph
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    Detailed Description

    -

    RealtimeException is thrown if realtime priority cannot be set.

    -
    The documentation for this struct was generated from the following file: -
    - -
    -Generated by   -doxygen - 1.8.13 -
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    libfranka -  0.8.0 -
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    FCI C++ API
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    franka::Record Member List
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    This is the complete list of members for franka::Record, including all inherited members.

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    commandfranka::Record
    statefranka::Record
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    libfranka -  0.8.0 -
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    -Public Attributes | -List of all members
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    franka::Record Struct Reference
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    One row of the log contains a robot command of timestamp n and a corresponding robot state of timestamp n+1. - More...

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    #include <log.h>

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    -Public Attributes

    -RobotState state
     Robot state of timestamp n+1.
     
    -RobotCommand command
     Robot command of timestamp n, after rate limiting (if activated).
     
    -

    Detailed Description

    -

    One row of the log contains a robot command of timestamp n and a corresponding robot state of timestamp n+1.

    -

    Provided by the ControlException.

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    The documentation for this struct was generated from the following file: -
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    franka::RobotCommand Member List
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    This is the complete list of members for franka::RobotCommand, including all inherited members.

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    cartesian_posefranka::RobotCommand
    cartesian_velocitiesfranka::RobotCommand
    joint_positionsfranka::RobotCommand
    joint_velocitiesfranka::RobotCommand
    torquesfranka::RobotCommand
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    franka::RobotCommand Struct Reference
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    Command sent to the robot. - More...

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    #include <log.h>

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    -Public Attributes

    -JointPositions joint_positions {0, 0, 0, 0, 0, 0, 0}
     \(q_d\) sent to the robot.
     
    -JointVelocities joint_velocities {0, 0, 0, 0, 0, 0, 0}
     \(\dot{q}_d\) sent to the robot.
     
    -CartesianPose cartesian_pose {1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1}
     \(^O{\mathbf{T}_{EE}}_{d}\) sent to the robot.
     
    -CartesianVelocities cartesian_velocities {0, 0, 0, 0, 0, 0}
     \(^O\dot{P}_{EE}\) sent to the robot.
     
    -Torques torques {0, 0, 0, 0, 0, 0, 0}
     \({\tau_J}_d\) sent to the robot.
     
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    Detailed Description

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    Command sent to the robot.

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    Structure used only for logging purposes.

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    The documentation for this struct was generated from the following file: -
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    This is the complete list of members for franka::RobotState, including all inherited members.

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    -Public Attributes | -List of all members
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    franka::RobotState Struct Reference
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    - -

    Describes the robot state. - More...

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    #include <robot_state.h>

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    -Collaboration diagram for franka::RobotState:
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    -Public Attributes

    std::array< double, 16 > O_T_EE {}
     \(^{O}T_{EE}\) Measured end effector pose in base frame. More...
     
    std::array< double, 16 > O_T_EE_d {}
     \({^OT_{EE}}_{d}\) Last desired end effector pose of motion generation in base frame. More...
     
    std::array< double, 16 > F_T_EE {}
     \(^{F}T_{EE}\) End effector frame pose in flange frame. More...
     
    std::array< double, 16 > F_T_NE {}
     \(^{F}T_{NE}\) Nominal end effector frame pose in flange frame. More...
     
    std::array< double, 16 > NE_T_EE {}
     \(^{NE}T_{EE}\) End effector frame pose in nominal end effector frame. More...
     
    std::array< double, 16 > EE_T_K {}
     \(^{EE}T_{K}\) Stiffness frame pose in end effector frame. More...
     
    -double m_ee {}
     \(m_{EE}\) Configured mass of the end effector.
     
    -std::array< double, 9 > I_ee {}
     \(I_{EE}\) Configured rotational inertia matrix of the end effector load with respect to center of mass.
     
    -std::array< double, 3 > F_x_Cee {}
     \(^{F}x_{C_{EE}}\) Configured center of mass of the end effector load with respect to flange frame.
     
    -double m_load {}
     \(m_{load}\) Configured mass of the external load.
     
    -std::array< double, 9 > I_load {}
     \(I_{load}\) Configured rotational inertia matrix of the external load with respect to center of mass.
     
    -std::array< double, 3 > F_x_Cload {}
     \(^{F}x_{C_{load}}\) Configured center of mass of the external load with respect to flange frame.
     
    -double m_total {}
     \(m_{total}\) Sum of the mass of the end effector and the external load.
     
    -std::array< double, 9 > I_total {}
     \(I_{total}\) Combined rotational inertia matrix of the end effector load and the external load with respect to the center of mass.
     
    -std::array< double, 3 > F_x_Ctotal {}
     \(^{F}x_{C_{total}}\) Combined center of mass of the end effector load and the external load with respect to flange frame.
     
    std::array< double, 2 > elbow {}
     Elbow configuration. More...
     
    std::array< double, 2 > elbow_d {}
     Desired elbow configuration. More...
     
    std::array< double, 2 > elbow_c {}
     Commanded elbow configuration. More...
     
    std::array< double, 2 > delbow_c {}
     Commanded elbow velocity. More...
     
    std::array< double, 2 > ddelbow_c {}
     Commanded elbow acceleration. More...
     
    std::array< double, 7 > tau_J {}
     \(\tau_{J}\) Measured link-side joint torque sensor signals. More...
     
    std::array< double, 7 > tau_J_d {}
     \({\tau_J}_d\) Desired link-side joint torque sensor signals without gravity. More...
     
    std::array< double, 7 > dtau_J {}
     \(\dot{\tau_{J}}\) Derivative of measured link-side joint torque sensor signals. More...
     
    std::array< double, 7 > q {}
     \(q\) Measured joint position. More...
     
    std::array< double, 7 > q_d {}
     \(q_d\) Desired joint position. More...
     
    std::array< double, 7 > dq {}
     \(\dot{q}\) Measured joint velocity. More...
     
    std::array< double, 7 > dq_d {}
     \(\dot{q}_d\) Desired joint velocity. More...
     
    std::array< double, 7 > ddq_d {}
     \(\dot{q}_d\) Desired joint acceleration. More...
     
    std::array< double, 7 > joint_contact {}
     Indicates which contact level is activated in which joint. More...
     
    std::array< double, 6 > cartesian_contact {}
     Indicates which contact level is activated in which Cartesian dimension \((x,y,z,R,P,Y)\). More...
     
    std::array< double, 7 > joint_collision {}
     Indicates which contact level is activated in which joint. More...
     
    std::array< double, 6 > cartesian_collision {}
     Indicates which contact level is activated in which Cartesian dimension \((x,y,z,R,P,Y)\). More...
     
    std::array< double, 7 > tau_ext_hat_filtered {}
     \(\hat{\tau}_{\text{ext}}\) External torque, filtered. More...
     
    std::array< double, 6 > O_F_ext_hat_K {}
     \(^OF_{K,\text{ext}}\) Estimated external wrench (force, torque) acting on stiffness frame, expressed relative to the base frame. More...
     
    std::array< double, 6 > K_F_ext_hat_K {}
     \(^{K}F_{K,\text{ext}}\) Estimated external wrench (force, torque) acting on stiffness frame, expressed relative to the stiffness frame. More...
     
    std::array< double, 6 > O_dP_EE_d {}
     \({^OdP_{EE}}_{d}\) Desired end effector twist in base frame. More...
     
    std::array< double, 16 > O_T_EE_c {}
     \({^OT_{EE}}_{c}\) Last commanded end effector pose of motion generation in base frame. More...
     
    std::array< double, 6 > O_dP_EE_c {}
     \({^OdP_{EE}}_{c}\) Last commanded end effector twist in base frame. More...
     
    std::array< double, 6 > O_ddP_EE_c {}
     \({^OddP_{EE}}_{c}\) Last commanded end effector acceleration in base frame. More...
     
    std::array< double, 7 > theta {}
     \(\theta\) Motor position. More...
     
    std::array< double, 7 > dtheta {}
     \(\dot{\theta}\) Motor velocity. More...
     
    -Errors current_errors {}
     Current error state.
     
    -Errors last_motion_errors {}
     Contains the errors that aborted the previous motion.
     
    double control_command_success_rate {}
     Percentage of the last 100 control commands that were successfully received by the robot. More...
     
    -RobotMode robot_mode = RobotMode::kUserStopped
     Current robot mode.
     
    Duration time {}
     Strictly monotonically increasing timestamp since robot start. More...
     
    -

    Detailed Description

    -

    Describes the robot state.

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    Examples:
    cartesian_impedance_control.cpp, communication_test.cpp, echo_robot_state.cpp, force_control.cpp, generate_cartesian_pose_motion.cpp, generate_cartesian_velocity_motion.cpp, generate_consecutive_motions.cpp, generate_elbow_motion.cpp, generate_joint_position_motion.cpp, generate_joint_velocity_motion.cpp, joint_impedance_control.cpp, motion_with_control.cpp, and print_joint_poses.cpp.
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    Member Data Documentation

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    ◆ cartesian_collision

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    std::array<double, 6> franka::RobotState::cartesian_collision {}
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    Indicates which contact level is activated in which Cartesian dimension \((x,y,z,R,P,Y)\).

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    After contact disappears, the value stays the same until a reset command is sent.

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    ◆ cartesian_contact

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    std::array<double, 6> franka::RobotState::cartesian_contact {}
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    Indicates which contact level is activated in which Cartesian dimension \((x,y,z,R,P,Y)\).

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    After contact disappears, the value turns to zero.

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    ◆ control_command_success_rate

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    double franka::RobotState::control_command_success_rate {}
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    Percentage of the last 100 control commands that were successfully received by the robot.

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    Shows a value of zero if no control or motion generator loop is currently running.

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    Range: \([0, 1]\).

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    ◆ ddelbow_c

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    std::array<double, 2> franka::RobotState::ddelbow_c {}
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    Commanded elbow acceleration.

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    The values of the array are:

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    ◆ ddq_d

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    std::array<double, 7> franka::RobotState::ddq_d {}
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    \(\dot{q}_d\) Desired joint acceleration.

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    Unit: \([\frac{rad}{s^2}]\)

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    ◆ delbow_c

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    Commanded elbow velocity.

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    The values of the array are:

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    ◆ dq

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    \(\dot{q}\) Measured joint velocity.

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    Unit: \([\frac{rad}{s}]\)

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    ◆ dq_d

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    \(\dot{q}_d\) Desired joint velocity.

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    Unit: \([\frac{rad}{s}]\)

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    ◆ dtau_J

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    \(\dot{\tau_{J}}\) Derivative of measured link-side joint torque sensor signals.

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    Unit: \([\frac{Nm}{s}]\)

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    ◆ dtheta

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    \(\dot{\theta}\) Motor velocity.

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    Unit: \([rad]\)

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    ◆ EE_T_K

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    std::array<double, 16> franka::RobotState::EE_T_K {}
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    \(^{EE}T_{K}\) Stiffness frame pose in end effector frame.

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    Pose is represented as a 4x4 matrix in column-major format.

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    ◆ elbow

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    Elbow configuration.

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    ◆ elbow_c

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    std::array<double, 2> franka::RobotState::elbow_c {}
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    Commanded elbow configuration.

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    ◆ elbow_d

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    Desired elbow configuration.

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    ◆ F_T_EE

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    \(^{F}T_{EE}\) End effector frame pose in flange frame.

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    Pose is represented as a 4x4 matrix in column-major format.

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    ◆ F_T_NE

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    \(^{F}T_{NE}\) Nominal end effector frame pose in flange frame.

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    Pose is represented as a 4x4 matrix in column-major format.

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    ◆ joint_collision

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    Indicates which contact level is activated in which joint.

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    ◆ joint_contact

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    Indicates which contact level is activated in which joint.

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    ◆ K_F_ext_hat_K

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    \(^{K}F_{K,\text{ext}}\) Estimated external wrench (force, torque) acting on stiffness frame, expressed relative to the stiffness frame.

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    See also K frame. Unit: \([N,N,N,Nm,Nm,Nm]\).

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    ◆ NE_T_EE

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    \(^{NE}T_{EE}\) End effector frame pose in nominal end effector frame.

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    Pose is represented as a 4x4 matrix in column-major format.

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    ◆ O_ddP_EE_c

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    \({^OddP_{EE}}_{c}\) Last commanded end effector acceleration in base frame.

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    Unit: \([\frac{m}{s^2},\frac{m}{s^2},\frac{m}{s^2},\frac{rad}{s^2},\frac{rad}{s^2},\frac{rad}{s^2}]\).

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    ◆ O_dP_EE_c

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    \({^OdP_{EE}}_{c}\) Last commanded end effector twist in base frame.

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    \({^OdP_{EE}}_{d}\) Desired end effector twist in base frame.

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    \(^OF_{K,\text{ext}}\) Estimated external wrench (force, torque) acting on stiffness frame, expressed relative to the base frame.

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    \(^{O}T_{EE}\) Measured end effector pose in base frame.

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    ◆ O_T_EE_c

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    \({^OT_{EE}}_{c}\) Last commanded end effector pose of motion generation in base frame.

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    Pose is represented as a 4x4 matrix in column-major format.

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    ◆ O_T_EE_d

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    \({^OT_{EE}}_{d}\) Last desired end effector pose of motion generation in base frame.

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    ◆ q

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    \(q\) Measured joint position.

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    Unit: \([rad]\)

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    ◆ q_d

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    \(q_d\) Desired joint position.

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    Unit: \([rad]\)

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    ◆ tau_ext_hat_filtered

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    \(\hat{\tau}_{\text{ext}}\) External torque, filtered.

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    Unit: \([Nm]\).

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    ◆ tau_J

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    \(\tau_{J}\) Measured link-side joint torque sensor signals.

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    Unit: \([Nm]\)

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    ◆ tau_J_d

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    \({\tau_J}_d\) Desired link-side joint torque sensor signals without gravity.

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    Unit: \([Nm]\)

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    ◆ theta

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    std::array<double, 7> franka::RobotState::theta {}
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    \(\theta\) Motor position.

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    Unit: \([rad]\)

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    ◆ time

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    Strictly monotonically increasing timestamp since robot start.

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    Inside of control loops time_step parameter of Robot::control can be used instead.

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    The documentation for this struct was generated from the following file: -
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    This is the complete list of members for franka::VacuumGripperState, including all inherited members.

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    actual_powerfranka::VacuumGripperState
    device_statusfranka::VacuumGripperState
    in_control_rangefranka::VacuumGripperState
    part_detachedfranka::VacuumGripperState
    part_presentfranka::VacuumGripperState
    timefranka::VacuumGripperState
    vacuumfranka::VacuumGripperState
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    franka::VacuumGripperState Struct Reference
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    Describes the vacuum gripper state. - More...

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    #include <vacuum_gripper_state.h>

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    -Collaboration diagram for franka::VacuumGripperState:
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    -Public Attributes

    -bool in_control_range {}
     Vacuum value within in setpoint area.
     
    -bool part_detached {}
     The part has been detached after a suction cycle.
     
    bool part_present {}
     Vacuum is over H2 and not yet under H2-h2. More...
     
    -VacuumGripperDeviceStatus device_status {}
     Current vacuum gripper device status.
     
    uint16_t actual_power {}
     Current vacuum gripper actual power. More...
     
    uint16_t vacuum {}
     Current system vacuum. More...
     
    -Duration time {}
     Strictly monotonically increasing timestamp since robot start.
     
    -

    Detailed Description

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    Describes the vacuum gripper state.

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    For more information check the cobot-pump manual.

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    Examples:
    vacuum_object.cpp.
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    Member Data Documentation

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    ◆ actual_power

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    uint16_t franka::VacuumGripperState::actual_power {}
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    Current vacuum gripper actual power.

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    Unit: \([%]\).

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    ◆ part_present

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    bool franka::VacuumGripperState::part_present {}
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    Vacuum is over H2 and not yet under H2-h2.

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    For more information check the cobot-pump manual.

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    ◆ vacuum

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    uint16_t franka::VacuumGripperState::vacuum {}
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    Current system vacuum.

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    Unit: \([mbar]\).

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    franka::VirtualWallCuboid Member List
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    This is the complete list of members for franka::VirtualWallCuboid, including all inherited members.

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    activefranka::VirtualWallCuboid
    idfranka::VirtualWallCuboid
    object_world_sizefranka::VirtualWallCuboid
    p_framefranka::VirtualWallCuboid
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    franka::VirtualWallCuboid Struct Reference
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    Parameters of a cuboid used as virtual wall. - More...

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    #include <command_types.h>

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    -Public Attributes

    -int32_t id
     ID of the virtual wall.
     
    -std::array< double, 3 > object_world_size
     Corner point of the cuboid in world frame in \([m]\).
     
    -std::array< double, 16 > p_frame
     4x4 transformation matrix, column-major.
     
    -bool active
     True if this Cartesian limit is active, false otherwise.
     
    -

    Detailed Description

    -

    Parameters of a cuboid used as virtual wall.

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    See also
    Robot::getVirtualWall
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    The documentation for this struct was generated from the following file: -
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    libfranka -  0.8.0 -
    -
    FCI C++ API
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    -Classes
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    vacuum_gripper.h File Reference
    -
    -
    - -

    Contains the franka::VacuumGripper type. -More...

    -
    #include <chrono>
    -#include <cstdint>
    -#include <memory>
    -#include <string>
    -#include <franka/vacuum_gripper_state.h>
    -
    -Include dependency graph for vacuum_gripper.h:
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    Go to the source code of this file.

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    -Classes

    class  franka::VacuumGripper
     Maintains a network connection to the vacuum gripper, provides the current vacuum gripper state, and allows the execution of commands. More...
     
    -

    Detailed Description

    -

    Contains the franka::VacuumGripper type.

    -
    - -
    -Generated by   -doxygen - 1.8.13 -
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    1 // Copyright (c) 2019 Franka Emika GmbH
    2 // Use of this source code is governed by the Apache-2.0 license, see LICENSE
    3 #pragma once
    4 
    5 #include <chrono>
    6 #include <cstdint>
    7 #include <memory>
    8 #include <string>
    9 
    10 #include <franka/vacuum_gripper_state.h>
    11 
    17 namespace franka {
    18 
    19 class Network;
    20 
    28 class VacuumGripper {
    29  public:
    33  using ServerVersion = uint16_t;
    34 
    38  enum class ProductionSetupProfile { kP0, kP1, kP2, kP3 };
    39 
    48  explicit VacuumGripper(const std::string& franka_address);
    49 
    55  VacuumGripper(VacuumGripper&& vacuum_gripper) noexcept;
    56 
    64  VacuumGripper& operator=(VacuumGripper&& vacuum_gripper) noexcept;
    65 
    69  ~VacuumGripper() noexcept;
    70 
    83  bool vacuum(uint8_t vacuum,
    84  std::chrono::milliseconds timeout,
    85  ProductionSetupProfile profile = ProductionSetupProfile::kP0) const;
    86 
    97  bool dropOff(std::chrono::milliseconds timeout) const;
    98 
    107  bool stop() const;
    108 
    117  VacuumGripperState readOnce() const;
    118 
    124  ServerVersion serverVersion() const noexcept;
    125 
    127  VacuumGripper(const VacuumGripper&) = delete;
    128  VacuumGripper& operator=(const VacuumGripper&) = delete;
    130 
    131  private:
    132  std::unique_ptr<Network> network_;
    133 
    134  uint16_t ri_version_;
    135 };
    136 
    137 } // namespace franka
    franka::VacuumGripper::serverVersion
    ServerVersion serverVersion() const noexcept
    Returns the software version reported by the connected server.
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    franka::VacuumGripper::operator=
    VacuumGripper & operator=(VacuumGripper &&vacuum_gripper) noexcept
    Move-assigns this VacuumGripper from another VacuumGripper instance.
    -
    franka::VacuumGripper
    Maintains a network connection to the vacuum gripper, provides the current vacuum gripper state...
    Definition: vacuum_gripper.h:28
    -
    franka::VacuumGripper::vacuum
    bool vacuum(uint8_t vacuum, std::chrono::milliseconds timeout, ProductionSetupProfile profile=ProductionSetupProfile::kP0) const
    Vacuums an object.
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    franka::VacuumGripper::VacuumGripper
    VacuumGripper(const std::string &franka_address)
    Establishes a connection with a vacuum gripper connected to a robot.
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    franka::VacuumGripper::ServerVersion
    uint16_t ServerVersion
    Version of the vacuum gripper server.
    Definition: vacuum_gripper.h:33
    -
    franka
    Definition: command_types.h:13
    -
    franka::VacuumGripperState
    Describes the vacuum gripper state.
    Definition: vacuum_gripper_state.h:31
    -
    franka::VacuumGripper::readOnce
    VacuumGripperState readOnce() const
    Waits for a vacuum gripper state update and returns it.
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    franka::VacuumGripper::dropOff
    bool dropOff(std::chrono::milliseconds timeout) const
    Drops the grasped object off.
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    franka::VacuumGripper::ProductionSetupProfile
    ProductionSetupProfile
    Vacuum production setup profile.
    Definition: vacuum_gripper.h:38
    -
    franka::VacuumGripper::stop
    bool stop() const
    Stops a currently running vacuum gripper vacuum or drop off operation.
    -
    franka::VacuumGripper::~VacuumGripper
    ~VacuumGripper() noexcept
    Closes the connection.
    -
    vacuum_gripper_state.h
    Contains the franka::VacuumGripperState type.
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    -Classes | -Enumerations | -Functions
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    vacuum_gripper_state.h File Reference
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    Contains the franka::VacuumGripperState type. -More...

    -
    #include <cstdint>
    -#include <ostream>
    -#include <string>
    -#include <franka/duration.h>
    -
    -Include dependency graph for vacuum_gripper_state.h:
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    -Classes

    struct  franka::VacuumGripperState
     Describes the vacuum gripper state. More...
     
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    -Enumerations

    enum  franka::VacuumGripperDeviceStatus : uint8_t { franka::VacuumGripperDeviceStatus::kGreen, -franka::VacuumGripperDeviceStatus::kYellow, -franka::VacuumGripperDeviceStatus::kOrange, -franka::VacuumGripperDeviceStatus::kRed - }
     Vacuum gripper device status.
     
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    -Functions

    std::ostream & franka::operator<< (std::ostream &ostream, const franka::VacuumGripperState &vacuum_gripper_state)
     Streams the vacuum gripper state as JSON object: {"field_name_1": value, "field_name_2": value, ...}. More...
     
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    Detailed Description

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    Contains the franka::VacuumGripperState type.

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    Function Documentation

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    ◆ operator<<()

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    )
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    Streams the vacuum gripper state as JSON object: {"field_name_1": value, "field_name_2": value, ...}.

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    [in]ostreamOstream instance
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    vacuum_gripper_state.h
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    -Go to the documentation of this file.
    1 // Copyright (c) 2019 Franka Emika GmbH
    2 // Use of this source code is governed by the Apache-2.0 license, see LICENSE
    3 #pragma once
    4 
    5 #include <cstdint>
    6 #include <ostream>
    7 #include <string>
    8 
    9 #include <franka/duration.h>
    10 
    16 namespace franka {
    17 
    21 enum class VacuumGripperDeviceStatus : uint8_t {
    22  kGreen,
    23  kYellow,
    24  kOrange,
    25  kRed
    26 };
    27 
    31 struct VacuumGripperState {
    35  bool in_control_range{};
    36 
    40  bool part_detached{};
    41 
    45  bool part_present{};
    46 
    50  VacuumGripperDeviceStatus device_status{};
    51 
    55  uint16_t actual_power{};
    56 
    60  uint16_t vacuum{};
    61 
    65  Duration time{};
    66 };
    67 
    77 std::ostream& operator<<(std::ostream& ostream,
    78  const franka::VacuumGripperState& vacuum_gripper_state);
    79 
    80 } // namespace franka
    franka::VacuumGripperDeviceStatus
    VacuumGripperDeviceStatus
    Vacuum gripper device status.
    Definition: vacuum_gripper_state.h:21
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    franka::operator<<
    std::ostream & operator<<(std::ostream &ostream, const Errors &errors)
    Streams the errors as JSON array.
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    franka::Duration
    Represents a duration with millisecond resolution.
    Definition: duration.h:19
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    franka
    Definition: command_types.h:13
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    duration.h
    Contains the franka::Duration type.
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    franka::VacuumGripperState
    Describes the vacuum gripper state.
    Definition: vacuum_gripper_state.h:31
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    An example showing how to control FRANKA's vacuum gripper.

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    // Copyright (c) 2019 Franka Emika GmbH
    // Use of this source code is governed by the Apache-2.0 license, see LICENSE
    #include <iostream>
    #include <thread>
    #include <franka/exception.h>
    #include <franka/vacuum_gripper.h>
    int main(int argc, char** argv) {
    if (argc != 2) {
    std::cerr << "Usage: ./vacuum_object <vacuum-gripper-hostname>" << std::endl;
    return -1;
    }
    franka::VacuumGripper vacuum_gripper(argv[1]);
    try {
    // Print a vacuum gripper state.
    franka::VacuumGripperState vacuum_gripper_state = vacuum_gripper.readOnce();
    std::cout << "Initial vacuum gripper state: " << vacuum_gripper_state << std::endl;
    // Vacuum the object.
    if (!vacuum_gripper.vacuum(100, std::chrono::milliseconds(1000))) {
    std::cout << "Failed to vacuum the object." << std::endl;
    return -1;
    }
    vacuum_gripper_state = vacuum_gripper.readOnce();
    std::cout << "Vacuum gripper state after applying vacuum: " << vacuum_gripper_state
    << std::endl;
    // Wait 3s and check afterwards, if the object is still grasped.
    std::this_thread::sleep_for(std::chrono::duration<double, std::milli>(3000));
    vacuum_gripper_state = vacuum_gripper.readOnce();
    if (!vacuum_gripper_state.in_control_range) {
    std::cout << "Object lost." << std::endl;
    return -1;
    }
    std::cout << "Vacuumed object, will release it now." << std::endl;
    vacuum_gripper.dropOff(std::chrono::milliseconds(1000));
    } catch (franka::Exception const& e) {
    vacuum_gripper.stop();
    std::cout << e.what() << std::endl;
    return -1;
    }
    return 0;
    }
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