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libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/active__control__base_8h.html b/0.13.5/active__control__base_8h.html similarity index 98% rename from 0.14.1/active__control__base_8h.html rename to 0.13.5/active__control__base_8h.html index 60902852..dc23e17e 100644 --- a/0.14.1/active__control__base_8h.html +++ b/0.13.5/active__control__base_8h.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/active__control__base_8h__dep__incl.map b/0.13.5/active__control__base_8h__dep__incl.map similarity index 100% rename from 0.14.1/active__control__base_8h__dep__incl.map rename to 0.13.5/active__control__base_8h__dep__incl.map diff --git a/0.14.1/active__control__base_8h__dep__incl.md5 b/0.13.5/active__control__base_8h__dep__incl.md5 similarity index 100% rename from 0.14.1/active__control__base_8h__dep__incl.md5 rename to 0.13.5/active__control__base_8h__dep__incl.md5 diff --git a/0.14.1/active__control__base_8h__dep__incl.png b/0.13.5/active__control__base_8h__dep__incl.png similarity index 100% rename from 0.14.1/active__control__base_8h__dep__incl.png rename to 0.13.5/active__control__base_8h__dep__incl.png diff --git a/0.14.1/active__control__base_8h__incl.map b/0.13.5/active__control__base_8h__incl.map similarity index 100% rename from 0.14.1/active__control__base_8h__incl.map rename to 0.13.5/active__control__base_8h__incl.map diff --git a/0.14.1/active__control__base_8h__incl.md5 b/0.13.5/active__control__base_8h__incl.md5 similarity index 100% rename from 0.14.1/active__control__base_8h__incl.md5 rename to 0.13.5/active__control__base_8h__incl.md5 diff --git a/0.14.1/active__control__base_8h__incl.png b/0.13.5/active__control__base_8h__incl.png similarity index 100% rename from 0.14.1/active__control__base_8h__incl.png rename to 0.13.5/active__control__base_8h__incl.png diff --git a/0.14.1/active__control__base_8h_source.html b/0.13.5/active__control__base_8h_source.html similarity index 99% rename from 0.14.1/active__control__base_8h_source.html rename to 0.13.5/active__control__base_8h_source.html index 32d9ca6e..f2f10d2c 100644 --- a/0.14.1/active__control__base_8h_source.html +++ b/0.13.5/active__control__base_8h_source.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/active__motion__generator_8h.html b/0.13.5/active__motion__generator_8h.html similarity index 78% rename from 0.14.1/active__motion__generator_8h.html rename to 0.13.5/active__motion__generator_8h.html index a13cf8c9..4575a501 100644 --- a/0.14.1/active__motion__generator_8h.html +++ b/0.13.5/active__motion__generator_8h.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + @@ -90,35 +90,33 @@
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + +
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libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + @@ -114,7 +114,7 @@
franka::ActiveControl::control_lock
std::unique_lock< std::mutex > control_lock
control-lock preventing parallel control processes
Definition: active_control.h:87
franka::ActiveMotionGenerator
Allows the user to read the state of a Robot and to send new motion generator commands after starting...
Definition: active_motion_generator.h:22
franka::ActiveMotionGenerator::writeOnce
void writeOnce(const MotionGeneratorType &motion_generator_input, const std::optional< const Torques > &control_input) override
Updates the motion generator commands of an active control.
-
franka::Robot
Maintains a network connection to the robot, provides the current robot state, gives access to the mo...
Definition: robot.h:68
+
franka::Robot
Maintains a network connection to the robot, provides the current robot state, gives access to the mo...
Definition: robot.h:67
diff --git a/0.14.1/active__torque__control_8h.html b/0.13.5/active__torque__control_8h.html similarity index 78% rename from 0.14.1/active__torque__control_8h.html rename to 0.13.5/active__torque__control_8h.html index 0210bba1..7a36c028 100644 --- a/0.14.1/active__torque__control_8h.html +++ b/0.13.5/active__torque__control_8h.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + @@ -90,35 +90,33 @@
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + +
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libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + @@ -108,7 +108,7 @@
franka::ActiveControl::control_lock
std::unique_lock< std::mutex > control_lock
control-lock preventing parallel control processes
Definition: active_control.h:87
franka::ActiveTorqueControl
Allows the user to read the state of a Robot and to send new torque control commands after starting a...
Definition: active_torque_control.h:21
franka::ActiveTorqueControl::writeOnce
void writeOnce(const Torques &control_input) override
Updates the joint-level based torque commands of an active joint effort control.
-
franka::Robot
Maintains a network connection to the robot, provides the current robot state, gives access to the mo...
Definition: robot.h:68
+
franka::Robot
Maintains a network connection to the robot, provides the current robot state, gives access to the mo...
Definition: robot.h:67
franka::Torques
Stores joint-level torque commands without gravity and friction.
Definition: control_types.h:45
diff --git a/0.14.1/annotated.html b/0.13.5/annotated.html similarity index 89% rename from 0.14.1/annotated.html rename to 0.13.5/annotated.html index c870db33..9a4c3376 100644 --- a/0.14.1/annotated.html +++ b/0.13.5/annotated.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + @@ -105,12 +105,10 @@ - - - - - - + + + +
libfranka -  0.14.1 +  0.13.5
FCI C++ API
 CRecordOne row of the log contains a robot command of timestamp n and a corresponding robot state of timestamp n+1
 CModelCalculates poses of joints and dynamic properties of the robot
 CRobotMaintains a network connection to the robot, provides the current robot state, gives access to the model library and allows to control the robot
 CRobotModelImplements RobotModelBase using Pinocchio
 CRobotStateDescribes the robot state
 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
 CMotionGeneratorAn example showing how to generate a joint pose motion to a goal position
 CRobotModelBaseRobot dynamic parameters computed from the URDF model with Pinocchio
 CRobotStateDescribes the robot state
 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
 CMotionGeneratorAn example showing how to generate a joint pose motion to a goal position
diff --git a/0.14.1/bc_s.png b/0.13.5/bc_s.png similarity index 100% rename from 0.14.1/bc_s.png rename to 0.13.5/bc_s.png diff --git a/0.14.1/bdwn.png b/0.13.5/bdwn.png similarity index 100% rename from 0.14.1/bdwn.png rename to 0.13.5/bdwn.png diff --git a/0.14.1/cartesian_impedance_control_8cpp-example.html b/0.13.5/cartesian_impedance_control_8cpp-example.html similarity index 99% rename from 0.14.1/cartesian_impedance_control_8cpp-example.html rename to 0.13.5/cartesian_impedance_control_8cpp-example.html index f7130808..e435eb11 100644 --- a/0.14.1/cartesian_impedance_control_8cpp-example.html +++ b/0.13.5/cartesian_impedance_control_8cpp-example.html @@ -27,10 +27,10 @@ - + @@ -195,10 +195,10 @@
return 0;
}
franka::Duration
Represents a duration with millisecond resolution.
Definition: duration.h:19
-
franka::Model
Calculates poses of joints and dynamic properties of the robot.
Definition: model.h:52
+
franka::Model
Calculates poses of joints and dynamic properties of the robot.
Definition: model.h:51
franka::Model::zeroJacobian
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.
franka::Model::coriolis
std::array< double, 7 > coriolis(const franka::RobotState &robot_state) const noexcept
Calculates the Coriolis force vector (state-space equation): , in .
-
franka::Robot
Maintains a network connection to the robot, provides the current robot state, gives access to the mo...
Definition: robot.h:68
+
franka::Robot
Maintains a network connection to the robot, provides the current robot state, gives access to the mo...
Definition: robot.h:67
franka::Robot::control
void control(std::function< Torques(const RobotState &, franka::Duration)> control_callback, bool limit_rate=false, double cutoff_frequency=kDefaultCutoffFrequency)
Starts a control loop for sending joint-level torque commands.
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::loadModel
Model loadModel()
Loads the model library from the robot.
diff --git a/0.14.1/classMotionGenerator-members.html b/0.13.5/classMotionGenerator-members.html similarity index 96% rename from 0.14.1/classMotionGenerator-members.html rename to 0.13.5/classMotionGenerator-members.html index caa62578..f43ace85 100644 --- a/0.14.1/classMotionGenerator-members.html +++ b/0.13.5/classMotionGenerator-members.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/classMotionGenerator.html b/0.13.5/classMotionGenerator.html similarity index 98% rename from 0.14.1/classMotionGenerator.html rename to 0.13.5/classMotionGenerator.html index 46ba77ef..9e24020d 100644 --- a/0.14.1/classMotionGenerator.html +++ b/0.13.5/classMotionGenerator.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/classes.html b/0.13.5/classes.html similarity index 95% rename from 0.14.1/classes.html rename to 0.13.5/classes.html index 1224bd3d..5ccd88f0 100644 --- a/0.14.1/classes.html +++ b/0.13.5/classes.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + @@ -112,7 +112,7 @@
ProtocolException (franka)
R
-
RealtimeException (franka)
Record (franka)
Robot (franka)
RobotCommand (franka)
RobotModel (franka)
RobotModelBase
RobotState (franka)
+
RealtimeException (franka)
Record (franka)
Robot (franka)
RobotCommand (franka)
RobotState (franka)
T
Torques (franka)
diff --git a/0.14.1/classfranka_1_1ActiveControl-members.html b/0.13.5/classfranka_1_1ActiveControl-members.html similarity index 98% rename from 0.14.1/classfranka_1_1ActiveControl-members.html rename to 0.13.5/classfranka_1_1ActiveControl-members.html index 4b443d84..3192db4e 100644 --- a/0.14.1/classfranka_1_1ActiveControl-members.html +++ b/0.13.5/classfranka_1_1ActiveControl-members.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/classfranka_1_1ActiveControl.html b/0.13.5/classfranka_1_1ActiveControl.html similarity index 99% rename from 0.14.1/classfranka_1_1ActiveControl.html rename to 0.13.5/classfranka_1_1ActiveControl.html index f28ccf41..67dbc6dd 100644 --- a/0.14.1/classfranka_1_1ActiveControl.html +++ b/0.13.5/classfranka_1_1ActiveControl.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/classfranka_1_1ActiveControlBase-members.html b/0.13.5/classfranka_1_1ActiveControlBase-members.html similarity index 98% rename from 0.14.1/classfranka_1_1ActiveControlBase-members.html rename to 0.13.5/classfranka_1_1ActiveControlBase-members.html index 7b63941d..46a1d966 100644 --- a/0.14.1/classfranka_1_1ActiveControlBase-members.html +++ b/0.13.5/classfranka_1_1ActiveControlBase-members.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/classfranka_1_1ActiveControlBase.html b/0.13.5/classfranka_1_1ActiveControlBase.html similarity index 99% rename from 0.14.1/classfranka_1_1ActiveControlBase.html rename to 0.13.5/classfranka_1_1ActiveControlBase.html index a0fb0802..09d82c5d 100644 --- a/0.14.1/classfranka_1_1ActiveControlBase.html +++ b/0.13.5/classfranka_1_1ActiveControlBase.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/classfranka_1_1ActiveControlBase__inherit__graph.map b/0.13.5/classfranka_1_1ActiveControlBase__inherit__graph.map similarity index 100% rename from 0.14.1/classfranka_1_1ActiveControlBase__inherit__graph.map rename to 0.13.5/classfranka_1_1ActiveControlBase__inherit__graph.map diff --git a/0.14.1/classfranka_1_1ActiveControlBase__inherit__graph.md5 b/0.13.5/classfranka_1_1ActiveControlBase__inherit__graph.md5 similarity index 100% rename from 0.14.1/classfranka_1_1ActiveControlBase__inherit__graph.md5 rename to 0.13.5/classfranka_1_1ActiveControlBase__inherit__graph.md5 diff --git a/0.14.1/classfranka_1_1ActiveControlBase__inherit__graph.png b/0.13.5/classfranka_1_1ActiveControlBase__inherit__graph.png similarity index 100% rename from 0.14.1/classfranka_1_1ActiveControlBase__inherit__graph.png rename to 0.13.5/classfranka_1_1ActiveControlBase__inherit__graph.png diff --git a/0.14.1/classfranka_1_1ActiveControl__coll__graph.map b/0.13.5/classfranka_1_1ActiveControl__coll__graph.map similarity index 100% rename from 0.14.1/classfranka_1_1ActiveControl__coll__graph.map rename to 0.13.5/classfranka_1_1ActiveControl__coll__graph.map diff --git a/0.14.1/classfranka_1_1ActiveControl__coll__graph.md5 b/0.13.5/classfranka_1_1ActiveControl__coll__graph.md5 similarity index 100% rename from 0.14.1/classfranka_1_1ActiveControl__coll__graph.md5 rename to 0.13.5/classfranka_1_1ActiveControl__coll__graph.md5 diff --git a/0.14.1/classfranka_1_1ActiveControl__coll__graph.png b/0.13.5/classfranka_1_1ActiveControl__coll__graph.png similarity index 100% rename from 0.14.1/classfranka_1_1ActiveControl__coll__graph.png rename to 0.13.5/classfranka_1_1ActiveControl__coll__graph.png diff --git a/0.14.1/classfranka_1_1ActiveControl__inherit__graph.map b/0.13.5/classfranka_1_1ActiveControl__inherit__graph.map similarity index 100% rename from 0.14.1/classfranka_1_1ActiveControl__inherit__graph.map rename to 0.13.5/classfranka_1_1ActiveControl__inherit__graph.map diff --git a/0.14.1/classfranka_1_1ActiveControl__inherit__graph.md5 b/0.13.5/classfranka_1_1ActiveControl__inherit__graph.md5 similarity index 100% rename from 0.14.1/classfranka_1_1ActiveControl__inherit__graph.md5 rename to 0.13.5/classfranka_1_1ActiveControl__inherit__graph.md5 diff --git a/0.14.1/classfranka_1_1ActiveControl__inherit__graph.png b/0.13.5/classfranka_1_1ActiveControl__inherit__graph.png similarity index 100% rename from 0.14.1/classfranka_1_1ActiveControl__inherit__graph.png rename to 0.13.5/classfranka_1_1ActiveControl__inherit__graph.png diff --git a/0.14.1/classfranka_1_1ActiveMotionGenerator-members.html b/0.13.5/classfranka_1_1ActiveMotionGenerator-members.html similarity index 98% rename from 0.14.1/classfranka_1_1ActiveMotionGenerator-members.html rename to 0.13.5/classfranka_1_1ActiveMotionGenerator-members.html index 0111d0ff..e561e1a6 100644 --- a/0.14.1/classfranka_1_1ActiveMotionGenerator-members.html +++ b/0.13.5/classfranka_1_1ActiveMotionGenerator-members.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/classfranka_1_1ActiveMotionGenerator.html b/0.13.5/classfranka_1_1ActiveMotionGenerator.html similarity index 99% rename from 0.14.1/classfranka_1_1ActiveMotionGenerator.html rename to 0.13.5/classfranka_1_1ActiveMotionGenerator.html index 1ccdcea6..624c001b 100644 --- a/0.14.1/classfranka_1_1ActiveMotionGenerator.html +++ b/0.13.5/classfranka_1_1ActiveMotionGenerator.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/classfranka_1_1ActiveMotionGenerator__coll__graph.map b/0.13.5/classfranka_1_1ActiveMotionGenerator__coll__graph.map similarity index 100% rename from 0.14.1/classfranka_1_1ActiveMotionGenerator__coll__graph.map rename to 0.13.5/classfranka_1_1ActiveMotionGenerator__coll__graph.map diff --git a/0.14.1/classfranka_1_1ActiveMotionGenerator__coll__graph.md5 b/0.13.5/classfranka_1_1ActiveMotionGenerator__coll__graph.md5 similarity index 100% rename from 0.14.1/classfranka_1_1ActiveMotionGenerator__coll__graph.md5 rename to 0.13.5/classfranka_1_1ActiveMotionGenerator__coll__graph.md5 diff --git a/0.14.1/classfranka_1_1ActiveMotionGenerator__coll__graph.png b/0.13.5/classfranka_1_1ActiveMotionGenerator__coll__graph.png similarity index 100% rename from 0.14.1/classfranka_1_1ActiveMotionGenerator__coll__graph.png rename to 0.13.5/classfranka_1_1ActiveMotionGenerator__coll__graph.png diff --git a/0.14.1/classfranka_1_1ActiveMotionGenerator__inherit__graph.map b/0.13.5/classfranka_1_1ActiveMotionGenerator__inherit__graph.map similarity index 100% rename from 0.14.1/classfranka_1_1ActiveMotionGenerator__inherit__graph.map rename to 0.13.5/classfranka_1_1ActiveMotionGenerator__inherit__graph.map diff --git a/0.14.1/classfranka_1_1ActiveMotionGenerator__inherit__graph.md5 b/0.13.5/classfranka_1_1ActiveMotionGenerator__inherit__graph.md5 similarity index 100% rename from 0.14.1/classfranka_1_1ActiveMotionGenerator__inherit__graph.md5 rename to 0.13.5/classfranka_1_1ActiveMotionGenerator__inherit__graph.md5 diff --git a/0.14.1/classfranka_1_1ActiveMotionGenerator__inherit__graph.png b/0.13.5/classfranka_1_1ActiveMotionGenerator__inherit__graph.png similarity index 100% rename from 0.14.1/classfranka_1_1ActiveMotionGenerator__inherit__graph.png rename to 0.13.5/classfranka_1_1ActiveMotionGenerator__inherit__graph.png diff --git a/0.14.1/classfranka_1_1ActiveTorqueControl-members.html b/0.13.5/classfranka_1_1ActiveTorqueControl-members.html similarity index 98% rename from 0.14.1/classfranka_1_1ActiveTorqueControl-members.html rename to 0.13.5/classfranka_1_1ActiveTorqueControl-members.html index a0e69e94..1a5d45c6 100644 --- a/0.14.1/classfranka_1_1ActiveTorqueControl-members.html +++ b/0.13.5/classfranka_1_1ActiveTorqueControl-members.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/classfranka_1_1ActiveTorqueControl.html b/0.13.5/classfranka_1_1ActiveTorqueControl.html similarity index 99% rename from 0.14.1/classfranka_1_1ActiveTorqueControl.html rename to 0.13.5/classfranka_1_1ActiveTorqueControl.html index eb9b516c..8faca65d 100644 --- a/0.14.1/classfranka_1_1ActiveTorqueControl.html +++ b/0.13.5/classfranka_1_1ActiveTorqueControl.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/classfranka_1_1ActiveTorqueControl__coll__graph.map b/0.13.5/classfranka_1_1ActiveTorqueControl__coll__graph.map similarity index 100% rename from 0.14.1/classfranka_1_1ActiveTorqueControl__coll__graph.map rename to 0.13.5/classfranka_1_1ActiveTorqueControl__coll__graph.map diff --git a/0.14.1/classfranka_1_1ActiveTorqueControl__coll__graph.md5 b/0.13.5/classfranka_1_1ActiveTorqueControl__coll__graph.md5 similarity index 100% rename from 0.14.1/classfranka_1_1ActiveTorqueControl__coll__graph.md5 rename to 0.13.5/classfranka_1_1ActiveTorqueControl__coll__graph.md5 diff --git a/0.14.1/classfranka_1_1ActiveTorqueControl__coll__graph.png b/0.13.5/classfranka_1_1ActiveTorqueControl__coll__graph.png similarity index 100% rename from 0.14.1/classfranka_1_1ActiveTorqueControl__coll__graph.png rename to 0.13.5/classfranka_1_1ActiveTorqueControl__coll__graph.png diff --git a/0.14.1/classfranka_1_1ActiveTorqueControl__inherit__graph.map b/0.13.5/classfranka_1_1ActiveTorqueControl__inherit__graph.map similarity index 100% rename from 0.14.1/classfranka_1_1ActiveTorqueControl__inherit__graph.map rename to 0.13.5/classfranka_1_1ActiveTorqueControl__inherit__graph.map diff --git a/0.14.1/classfranka_1_1ActiveTorqueControl__inherit__graph.md5 b/0.13.5/classfranka_1_1ActiveTorqueControl__inherit__graph.md5 similarity index 100% rename from 0.14.1/classfranka_1_1ActiveTorqueControl__inherit__graph.md5 rename to 0.13.5/classfranka_1_1ActiveTorqueControl__inherit__graph.md5 diff --git a/0.14.1/classfranka_1_1ActiveTorqueControl__inherit__graph.png b/0.13.5/classfranka_1_1ActiveTorqueControl__inherit__graph.png similarity index 100% rename from 0.14.1/classfranka_1_1ActiveTorqueControl__inherit__graph.png rename to 0.13.5/classfranka_1_1ActiveTorqueControl__inherit__graph.png diff --git a/0.14.1/classfranka_1_1CartesianPose-members.html b/0.13.5/classfranka_1_1CartesianPose-members.html similarity index 97% rename from 0.14.1/classfranka_1_1CartesianPose-members.html rename to 0.13.5/classfranka_1_1CartesianPose-members.html index 34d257d0..307a26c4 100644 --- a/0.14.1/classfranka_1_1CartesianPose-members.html +++ b/0.13.5/classfranka_1_1CartesianPose-members.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/classfranka_1_1CartesianPose.html b/0.13.5/classfranka_1_1CartesianPose.html similarity index 99% rename from 0.14.1/classfranka_1_1CartesianPose.html rename to 0.13.5/classfranka_1_1CartesianPose.html index dc4f11a7..b8be995b 100644 --- a/0.14.1/classfranka_1_1CartesianPose.html +++ b/0.13.5/classfranka_1_1CartesianPose.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/classfranka_1_1CartesianPose__coll__graph.map b/0.13.5/classfranka_1_1CartesianPose__coll__graph.map similarity index 100% rename from 0.14.1/classfranka_1_1CartesianPose__coll__graph.map rename to 0.13.5/classfranka_1_1CartesianPose__coll__graph.map diff --git a/0.14.1/classfranka_1_1CartesianPose__coll__graph.md5 b/0.13.5/classfranka_1_1CartesianPose__coll__graph.md5 similarity index 100% rename from 0.14.1/classfranka_1_1CartesianPose__coll__graph.md5 rename to 0.13.5/classfranka_1_1CartesianPose__coll__graph.md5 diff --git a/0.14.1/classfranka_1_1CartesianPose__coll__graph.png b/0.13.5/classfranka_1_1CartesianPose__coll__graph.png similarity index 100% rename from 0.14.1/classfranka_1_1CartesianPose__coll__graph.png rename to 0.13.5/classfranka_1_1CartesianPose__coll__graph.png diff --git a/0.14.1/classfranka_1_1CartesianPose__inherit__graph.map b/0.13.5/classfranka_1_1CartesianPose__inherit__graph.map similarity index 100% rename from 0.14.1/classfranka_1_1CartesianPose__inherit__graph.map rename to 0.13.5/classfranka_1_1CartesianPose__inherit__graph.map diff --git a/0.14.1/classfranka_1_1CartesianPose__inherit__graph.md5 b/0.13.5/classfranka_1_1CartesianPose__inherit__graph.md5 similarity index 100% rename from 0.14.1/classfranka_1_1CartesianPose__inherit__graph.md5 rename to 0.13.5/classfranka_1_1CartesianPose__inherit__graph.md5 diff --git a/0.14.1/classfranka_1_1CartesianPose__inherit__graph.png b/0.13.5/classfranka_1_1CartesianPose__inherit__graph.png similarity index 100% rename from 0.14.1/classfranka_1_1CartesianPose__inherit__graph.png rename to 0.13.5/classfranka_1_1CartesianPose__inherit__graph.png diff --git a/0.14.1/classfranka_1_1CartesianVelocities-members.html b/0.13.5/classfranka_1_1CartesianVelocities-members.html similarity index 97% rename from 0.14.1/classfranka_1_1CartesianVelocities-members.html rename to 0.13.5/classfranka_1_1CartesianVelocities-members.html index ed60edfe..b18af167 100644 --- a/0.14.1/classfranka_1_1CartesianVelocities-members.html +++ b/0.13.5/classfranka_1_1CartesianVelocities-members.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/classfranka_1_1CartesianVelocities.html b/0.13.5/classfranka_1_1CartesianVelocities.html similarity index 99% rename from 0.14.1/classfranka_1_1CartesianVelocities.html rename to 0.13.5/classfranka_1_1CartesianVelocities.html index 94079368..daab3f1e 100644 --- a/0.14.1/classfranka_1_1CartesianVelocities.html +++ b/0.13.5/classfranka_1_1CartesianVelocities.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/classfranka_1_1CartesianVelocities__coll__graph.map b/0.13.5/classfranka_1_1CartesianVelocities__coll__graph.map similarity index 100% rename from 0.14.1/classfranka_1_1CartesianVelocities__coll__graph.map rename to 0.13.5/classfranka_1_1CartesianVelocities__coll__graph.map diff --git a/0.14.1/classfranka_1_1CartesianVelocities__coll__graph.md5 b/0.13.5/classfranka_1_1CartesianVelocities__coll__graph.md5 similarity index 100% rename from 0.14.1/classfranka_1_1CartesianVelocities__coll__graph.md5 rename to 0.13.5/classfranka_1_1CartesianVelocities__coll__graph.md5 diff --git a/0.14.1/classfranka_1_1CartesianVelocities__coll__graph.png b/0.13.5/classfranka_1_1CartesianVelocities__coll__graph.png similarity index 100% rename from 0.14.1/classfranka_1_1CartesianVelocities__coll__graph.png rename to 0.13.5/classfranka_1_1CartesianVelocities__coll__graph.png diff --git a/0.14.1/classfranka_1_1CartesianVelocities__inherit__graph.map b/0.13.5/classfranka_1_1CartesianVelocities__inherit__graph.map similarity index 100% rename from 0.14.1/classfranka_1_1CartesianVelocities__inherit__graph.map rename to 0.13.5/classfranka_1_1CartesianVelocities__inherit__graph.map diff --git a/0.14.1/classfranka_1_1CartesianVelocities__inherit__graph.md5 b/0.13.5/classfranka_1_1CartesianVelocities__inherit__graph.md5 similarity index 100% rename from 0.14.1/classfranka_1_1CartesianVelocities__inherit__graph.md5 rename to 0.13.5/classfranka_1_1CartesianVelocities__inherit__graph.md5 diff --git a/0.14.1/classfranka_1_1CartesianVelocities__inherit__graph.png b/0.13.5/classfranka_1_1CartesianVelocities__inherit__graph.png similarity index 100% rename from 0.14.1/classfranka_1_1CartesianVelocities__inherit__graph.png rename to 0.13.5/classfranka_1_1CartesianVelocities__inherit__graph.png diff --git a/0.14.1/classfranka_1_1Duration-members.html b/0.13.5/classfranka_1_1Duration-members.html similarity index 98% rename from 0.14.1/classfranka_1_1Duration-members.html rename to 0.13.5/classfranka_1_1Duration-members.html index 7a3af4bf..28f6167f 100644 --- a/0.14.1/classfranka_1_1Duration-members.html +++ b/0.13.5/classfranka_1_1Duration-members.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/classfranka_1_1Duration.html b/0.13.5/classfranka_1_1Duration.html similarity index 99% rename from 0.14.1/classfranka_1_1Duration.html rename to 0.13.5/classfranka_1_1Duration.html index 6db7e888..a0691de3 100644 --- a/0.14.1/classfranka_1_1Duration.html +++ b/0.13.5/classfranka_1_1Duration.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/classfranka_1_1Gripper-members.html b/0.13.5/classfranka_1_1Gripper-members.html similarity index 98% rename from 0.14.1/classfranka_1_1Gripper-members.html rename to 0.13.5/classfranka_1_1Gripper-members.html index af2bb56b..f80e226c 100644 --- a/0.14.1/classfranka_1_1Gripper-members.html +++ b/0.13.5/classfranka_1_1Gripper-members.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/classfranka_1_1Gripper.html b/0.13.5/classfranka_1_1Gripper.html similarity index 99% rename from 0.14.1/classfranka_1_1Gripper.html rename to 0.13.5/classfranka_1_1Gripper.html index 549f0125..562a254e 100644 --- a/0.14.1/classfranka_1_1Gripper.html +++ b/0.13.5/classfranka_1_1Gripper.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/classfranka_1_1JointPositions-members.html b/0.13.5/classfranka_1_1JointPositions-members.html similarity index 97% rename from 0.14.1/classfranka_1_1JointPositions-members.html rename to 0.13.5/classfranka_1_1JointPositions-members.html index da14f52a..225ebd5d 100644 --- a/0.14.1/classfranka_1_1JointPositions-members.html +++ b/0.13.5/classfranka_1_1JointPositions-members.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/classfranka_1_1JointPositions.html b/0.13.5/classfranka_1_1JointPositions.html similarity index 98% rename from 0.14.1/classfranka_1_1JointPositions.html rename to 0.13.5/classfranka_1_1JointPositions.html index 6ebaaa3f..e5ff39bd 100644 --- a/0.14.1/classfranka_1_1JointPositions.html +++ b/0.13.5/classfranka_1_1JointPositions.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/classfranka_1_1JointPositions__coll__graph.map b/0.13.5/classfranka_1_1JointPositions__coll__graph.map similarity index 100% rename from 0.14.1/classfranka_1_1JointPositions__coll__graph.map rename to 0.13.5/classfranka_1_1JointPositions__coll__graph.map diff --git a/0.14.1/classfranka_1_1JointPositions__coll__graph.md5 b/0.13.5/classfranka_1_1JointPositions__coll__graph.md5 similarity index 100% rename from 0.14.1/classfranka_1_1JointPositions__coll__graph.md5 rename to 0.13.5/classfranka_1_1JointPositions__coll__graph.md5 diff --git a/0.14.1/classfranka_1_1JointPositions__coll__graph.png b/0.13.5/classfranka_1_1JointPositions__coll__graph.png similarity index 100% rename from 0.14.1/classfranka_1_1JointPositions__coll__graph.png rename to 0.13.5/classfranka_1_1JointPositions__coll__graph.png diff --git a/0.14.1/classfranka_1_1JointPositions__inherit__graph.map b/0.13.5/classfranka_1_1JointPositions__inherit__graph.map similarity index 100% rename from 0.14.1/classfranka_1_1JointPositions__inherit__graph.map rename to 0.13.5/classfranka_1_1JointPositions__inherit__graph.map diff --git a/0.14.1/classfranka_1_1JointPositions__inherit__graph.md5 b/0.13.5/classfranka_1_1JointPositions__inherit__graph.md5 similarity index 100% rename from 0.14.1/classfranka_1_1JointPositions__inherit__graph.md5 rename to 0.13.5/classfranka_1_1JointPositions__inherit__graph.md5 diff --git a/0.14.1/classfranka_1_1JointPositions__inherit__graph.png b/0.13.5/classfranka_1_1JointPositions__inherit__graph.png similarity index 100% rename from 0.14.1/classfranka_1_1JointPositions__inherit__graph.png rename to 0.13.5/classfranka_1_1JointPositions__inherit__graph.png diff --git a/0.14.1/classfranka_1_1JointVelocities-members.html b/0.13.5/classfranka_1_1JointVelocities-members.html similarity index 97% rename from 0.14.1/classfranka_1_1JointVelocities-members.html rename to 0.13.5/classfranka_1_1JointVelocities-members.html index 4b7a9bf8..18bf6b5f 100644 --- a/0.14.1/classfranka_1_1JointVelocities-members.html +++ b/0.13.5/classfranka_1_1JointVelocities-members.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/classfranka_1_1JointVelocities.html b/0.13.5/classfranka_1_1JointVelocities.html similarity index 98% rename from 0.14.1/classfranka_1_1JointVelocities.html rename to 0.13.5/classfranka_1_1JointVelocities.html index 1ced8dcd..3ba76425 100644 --- a/0.14.1/classfranka_1_1JointVelocities.html +++ b/0.13.5/classfranka_1_1JointVelocities.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/classfranka_1_1JointVelocities__coll__graph.map b/0.13.5/classfranka_1_1JointVelocities__coll__graph.map similarity index 100% rename from 0.14.1/classfranka_1_1JointVelocities__coll__graph.map rename to 0.13.5/classfranka_1_1JointVelocities__coll__graph.map diff --git a/0.14.1/classfranka_1_1JointVelocities__coll__graph.md5 b/0.13.5/classfranka_1_1JointVelocities__coll__graph.md5 similarity index 100% rename from 0.14.1/classfranka_1_1JointVelocities__coll__graph.md5 rename to 0.13.5/classfranka_1_1JointVelocities__coll__graph.md5 diff --git a/0.14.1/classfranka_1_1JointVelocities__coll__graph.png b/0.13.5/classfranka_1_1JointVelocities__coll__graph.png similarity index 100% rename from 0.14.1/classfranka_1_1JointVelocities__coll__graph.png rename to 0.13.5/classfranka_1_1JointVelocities__coll__graph.png diff --git a/0.14.1/classfranka_1_1JointVelocities__inherit__graph.map b/0.13.5/classfranka_1_1JointVelocities__inherit__graph.map similarity index 100% rename from 0.14.1/classfranka_1_1JointVelocities__inherit__graph.map rename to 0.13.5/classfranka_1_1JointVelocities__inherit__graph.map diff --git a/0.14.1/classfranka_1_1JointVelocities__inherit__graph.md5 b/0.13.5/classfranka_1_1JointVelocities__inherit__graph.md5 similarity index 100% rename from 0.14.1/classfranka_1_1JointVelocities__inherit__graph.md5 rename to 0.13.5/classfranka_1_1JointVelocities__inherit__graph.md5 diff --git a/0.14.1/classfranka_1_1JointVelocities__inherit__graph.png b/0.13.5/classfranka_1_1JointVelocities__inherit__graph.png similarity index 100% rename from 0.14.1/classfranka_1_1JointVelocities__inherit__graph.png rename to 0.13.5/classfranka_1_1JointVelocities__inherit__graph.png diff --git a/0.14.1/classfranka_1_1Model-members.html b/0.13.5/classfranka_1_1Model-members.html similarity index 74% rename from 0.14.1/classfranka_1_1Model-members.html rename to 0.13.5/classfranka_1_1Model-members.html index 07e897cc..db60ac08 100644 --- a/0.14.1/classfranka_1_1Model-members.html +++ b/0.13.5/classfranka_1_1Model-members.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + @@ -91,15 +91,14 @@ - - - - - - - - - + + + + + + + +
libfranka -  0.14.1 +  0.13.5
FCI C++ API
gravity(const franka::RobotState &robot_state) 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, const std::string &urdf_model)franka::Modelexplicit
Model(franka::Network &network, std::unique_ptr< RobotModelBase > robot_model)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
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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libfranka -  0.14.1 +  0.13.5
FCI C++ API
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Examples
cartesian_impedance_control.cpp, force_control.cpp, joint_impedance_control.cpp, and print_joint_poses.cpp.

Constructor & Destructor Documentation

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◆ Model() [1/3]

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◆ Model() [1/2]

@@ -164,18 +161,8 @@

franka::Model::Model

- - - - + - - - - - - -

Public Member Functions

 Model (franka::Network &network, const std::string &urdf_model)
 Creates a new Model instance. More...
 
 Model (franka::Network &network, std::unique_ptr< RobotModelBase > robot_model)
 Creates a new Model instance only for the tests. More...
 
 Model (franka::Network &network)
 Creates a new Model instance. More...
 
 Model (Model &&model) noexcept
 Move-constructs a new Model instance. More...
 
( franka::Network & network,
network) const std::string & urdf_model 
)
@@ -201,56 +188,10 @@

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◆ Model() [2/3]

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franka::Model::Model (franka::Network & network,
std::unique_ptr< RobotModelBase > robot_model 
)
- 		-explicit
-
- -

Creates a new Model instance only for the tests.

-

This constructor is for the unittests for enabling mocks.

-
Parameters
- - - -
[in]networkFor internal use.
[in]robot_modelunique pointer to the mocked robot_model
-
-
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◆ Model() [3/3]

+

◆ Model() [2/2]

diff --git a/0.14.1/classfranka_1_1Robot-members.html b/0.13.5/classfranka_1_1Robot-members.html similarity index 94% rename from 0.14.1/classfranka_1_1Robot-members.html rename to 0.13.5/classfranka_1_1Robot-members.html index 7464ac91..22849e65 100644 --- a/0.14.1/classfranka_1_1Robot-members.html +++ b/0.13.5/classfranka_1_1Robot-members.html @@ -27,10 +27,10 @@ - + @@ -92,9 +92,7 @@ - - - + diff --git a/0.14.1/classfranka_1_1Robot.html b/0.13.5/classfranka_1_1Robot.html similarity index 98% rename from 0.14.1/classfranka_1_1Robot.html rename to 0.13.5/classfranka_1_1Robot.html index 17541695..9f880d0e 100644 --- a/0.14.1/classfranka_1_1Robot.html +++ b/0.13.5/classfranka_1_1Robot.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
control(std::function< JointVelocities(const RobotState &, franka::Duration)> motion_generator_callback, ControllerMode controller_mode=ControllerMode::kJointImpedance, bool limit_rate=false, 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=false, 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=false, double cutoff_frequency=kDefaultCutoffFrequency)franka::Robot
getRobotModel() -> std::stringfranka::Robot
loadModel()franka::Robot
loadModel(std::unique_ptr< RobotModelBase > robot_model) (defined in franka::Robot)franka::Robot
loadModel()franka::Robot
operator=(Robot &&other) noexceptfranka::Robot
read(std::function< bool(const RobotState &)> read_callback)franka::Robot
readOnce()franka::Robotvirtual
- + @@ -121,9 +121,6 @@ - - @@ -186,8 +183,6 @@ - - @@ -973,31 +968,6 @@

See also
Robot::Robot to change behavior if realtime priority cannot be set.
- - - -

◆ getRobotModel()

- -
-
-

libfranka -  0.14.1 +  0.13.5
FCI C++ API
Model loadModel ()
 Loads the model library from the robot. More...
 
-Model loadModel (std::unique_ptr< RobotModelBase > robot_model)
 
ServerVersion serverVersion () const noexcept
 Returns the software version reported by the connected server. More...
 

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

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

auto getRobotModel () -> std::string
 
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...
 
- - - - - - -
auto franka::Robot::getRobotModel () -> std::string
-
-
Exceptions
- - - -
CommandExceptionif the Control reports an error.
NetworkExceptionif the connection is lost, e.g. after a timeout.
-
-
-
Returns
std::string Provides the URDF model of the attached robot arm as json string
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@@ -1088,7 +1058,7 @@

std::cout << robot_state << std::endl;
return count++ < 100;
});
-
franka::Robot
Maintains a network connection to the robot, provides the current robot state, gives access to the mo...
Definition: robot.h:68
+
franka::Robot
Maintains a network connection to the robot, provides the current robot state, gives access to the mo...
Definition: robot.h:67
Parameters
diff --git a/0.14.1/classfranka_1_1Torques-members.html b/0.13.5/classfranka_1_1Torques-members.html similarity index 97% rename from 0.14.1/classfranka_1_1Torques-members.html rename to 0.13.5/classfranka_1_1Torques-members.html index 3aedd329..22caa4d2 100644 --- a/0.14.1/classfranka_1_1Torques-members.html +++ b/0.13.5/classfranka_1_1Torques-members.html @@ -27,10 +27,10 @@
[in]read_callbackCallback function for robot state reading.
- + diff --git a/0.14.1/classfranka_1_1Torques.html b/0.13.5/classfranka_1_1Torques.html similarity index 98% rename from 0.14.1/classfranka_1_1Torques.html rename to 0.13.5/classfranka_1_1Torques.html index 3de342e6..031de43a 100644 --- a/0.14.1/classfranka_1_1Torques.html +++ b/0.13.5/classfranka_1_1Torques.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/classfranka_1_1Torques__coll__graph.map b/0.13.5/classfranka_1_1Torques__coll__graph.map similarity index 100% rename from 0.14.1/classfranka_1_1Torques__coll__graph.map rename to 0.13.5/classfranka_1_1Torques__coll__graph.map diff --git a/0.14.1/classfranka_1_1Torques__coll__graph.md5 b/0.13.5/classfranka_1_1Torques__coll__graph.md5 similarity index 100% rename from 0.14.1/classfranka_1_1Torques__coll__graph.md5 rename to 0.13.5/classfranka_1_1Torques__coll__graph.md5 diff --git a/0.14.1/classfranka_1_1Torques__coll__graph.png b/0.13.5/classfranka_1_1Torques__coll__graph.png similarity index 100% rename from 0.14.1/classfranka_1_1Torques__coll__graph.png rename to 0.13.5/classfranka_1_1Torques__coll__graph.png diff --git a/0.14.1/classfranka_1_1Torques__inherit__graph.map b/0.13.5/classfranka_1_1Torques__inherit__graph.map similarity index 100% rename from 0.14.1/classfranka_1_1Torques__inherit__graph.map rename to 0.13.5/classfranka_1_1Torques__inherit__graph.map diff --git a/0.14.1/classfranka_1_1Torques__inherit__graph.md5 b/0.13.5/classfranka_1_1Torques__inherit__graph.md5 similarity index 100% rename from 0.14.1/classfranka_1_1Torques__inherit__graph.md5 rename to 0.13.5/classfranka_1_1Torques__inherit__graph.md5 diff --git a/0.14.1/classfranka_1_1Torques__inherit__graph.png b/0.13.5/classfranka_1_1Torques__inherit__graph.png similarity index 100% rename from 0.14.1/classfranka_1_1Torques__inherit__graph.png rename to 0.13.5/classfranka_1_1Torques__inherit__graph.png diff --git a/0.14.1/classfranka_1_1VacuumGripper-members.html b/0.13.5/classfranka_1_1VacuumGripper-members.html similarity index 98% rename from 0.14.1/classfranka_1_1VacuumGripper-members.html rename to 0.13.5/classfranka_1_1VacuumGripper-members.html index bf9f8469..e5352e1b 100644 --- a/0.14.1/classfranka_1_1VacuumGripper-members.html +++ b/0.13.5/classfranka_1_1VacuumGripper-members.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/classfranka_1_1VacuumGripper.html b/0.13.5/classfranka_1_1VacuumGripper.html similarity index 99% rename from 0.14.1/classfranka_1_1VacuumGripper.html rename to 0.13.5/classfranka_1_1VacuumGripper.html index 02e9388e..c405c6c8 100644 --- a/0.14.1/classfranka_1_1VacuumGripper.html +++ b/0.13.5/classfranka_1_1VacuumGripper.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/closed.png b/0.13.5/closed.png similarity index 100% rename from 0.14.1/closed.png rename to 0.13.5/closed.png diff --git a/0.14.1/communication_test_8cpp-example.html b/0.13.5/communication_test_8cpp-example.html similarity index 99% rename from 0.14.1/communication_test_8cpp-example.html rename to 0.13.5/communication_test_8cpp-example.html index bdcd339c..3d72b740 100644 --- a/0.14.1/communication_test_8cpp-example.html +++ b/0.13.5/communication_test_8cpp-example.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + @@ -205,7 +205,7 @@
MotionGenerator
An example showing how to generate a joint pose motion to a goal position.
Definition: examples_common.h:31
franka::Duration
Represents a duration with millisecond resolution.
Definition: duration.h:19
franka::Duration::toMSec
uint64_t toMSec() const noexcept
Returns the stored duration in .
-
franka::Robot
Maintains a network connection to the robot, provides the current robot state, gives access to the mo...
Definition: robot.h:68
+
franka::Robot
Maintains a network connection to the robot, provides the current robot state, gives access to the mo...
Definition: robot.h:67
franka::Robot::control
void control(std::function< Torques(const RobotState &, franka::Duration)> control_callback, bool limit_rate=false, double cutoff_frequency=kDefaultCutoffFrequency)
Starts a control loop for sending joint-level torque commands.
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::startTorqueControl
virtual std::unique_ptr< ActiveControlBase > startTorqueControl()
Starts a new torque controller.
diff --git a/0.14.1/control__tools_8h.html b/0.13.5/control__tools_8h.html similarity index 99% rename from 0.14.1/control__tools_8h.html rename to 0.13.5/control__tools_8h.html index eb3a3c71..011825e4 100644 --- a/0.14.1/control__tools_8h.html +++ b/0.13.5/control__tools_8h.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/control__tools_8h__incl.map b/0.13.5/control__tools_8h__incl.map similarity index 100% rename from 0.14.1/control__tools_8h__incl.map rename to 0.13.5/control__tools_8h__incl.map diff --git a/0.14.1/control__tools_8h__incl.md5 b/0.13.5/control__tools_8h__incl.md5 similarity index 100% rename from 0.14.1/control__tools_8h__incl.md5 rename to 0.13.5/control__tools_8h__incl.md5 diff --git a/0.14.1/control__tools_8h__incl.png b/0.13.5/control__tools_8h__incl.png similarity index 100% rename from 0.14.1/control__tools_8h__incl.png rename to 0.13.5/control__tools_8h__incl.png diff --git a/0.14.1/control__tools_8h_source.html b/0.13.5/control__tools_8h_source.html similarity index 99% rename from 0.14.1/control__tools_8h_source.html rename to 0.13.5/control__tools_8h_source.html index 827278eb..9315157b 100644 --- a/0.14.1/control__tools_8h_source.html +++ b/0.13.5/control__tools_8h_source.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/control__types_8h.html b/0.13.5/control__types_8h.html similarity index 99% rename from 0.14.1/control__types_8h.html rename to 0.13.5/control__types_8h.html index 231dfb7a..7c23282b 100644 --- a/0.14.1/control__types_8h.html +++ b/0.13.5/control__types_8h.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/control__types_8h__dep__incl.map b/0.13.5/control__types_8h__dep__incl.map similarity index 100% rename from 0.14.1/control__types_8h__dep__incl.map rename to 0.13.5/control__types_8h__dep__incl.map diff --git a/0.14.1/control__types_8h__dep__incl.md5 b/0.13.5/control__types_8h__dep__incl.md5 similarity index 100% rename from 0.14.1/control__types_8h__dep__incl.md5 rename to 0.13.5/control__types_8h__dep__incl.md5 diff --git a/0.14.1/control__types_8h__dep__incl.png b/0.13.5/control__types_8h__dep__incl.png similarity index 100% rename from 0.14.1/control__types_8h__dep__incl.png rename to 0.13.5/control__types_8h__dep__incl.png diff --git a/0.14.1/control__types_8h__incl.map b/0.13.5/control__types_8h__incl.map similarity index 100% rename from 0.14.1/control__types_8h__incl.map rename to 0.13.5/control__types_8h__incl.map diff --git a/0.14.1/control__types_8h__incl.md5 b/0.13.5/control__types_8h__incl.md5 similarity index 100% rename from 0.14.1/control__types_8h__incl.md5 rename to 0.13.5/control__types_8h__incl.md5 diff --git a/0.14.1/control__types_8h__incl.png b/0.13.5/control__types_8h__incl.png similarity index 100% rename from 0.14.1/control__types_8h__incl.png rename to 0.13.5/control__types_8h__incl.png diff --git a/0.14.1/control__types_8h_source.html b/0.13.5/control__types_8h_source.html similarity index 99% rename from 0.14.1/control__types_8h_source.html rename to 0.13.5/control__types_8h_source.html index 21e8e762..a35364dc 100644 --- a/0.14.1/control__types_8h_source.html +++ b/0.13.5/control__types_8h_source.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/dir_000001_000002.html b/0.13.5/dir_000001_000002.html similarity index 99% rename from 0.14.1/dir_000001_000002.html rename to 0.13.5/dir_000001_000002.html index f2f89f21..870eb1a6 100644 --- a/0.14.1/dir_000001_000002.html +++ b/0.13.5/dir_000001_000002.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/dir_5f30c89189ebb3336d6b33aa932838ba.html b/0.13.5/dir_5f30c89189ebb3336d6b33aa932838ba.html similarity index 99% rename from 0.14.1/dir_5f30c89189ebb3336d6b33aa932838ba.html rename to 0.13.5/dir_5f30c89189ebb3336d6b33aa932838ba.html index 01d6b075..5c26e62a 100644 --- a/0.14.1/dir_5f30c89189ebb3336d6b33aa932838ba.html +++ b/0.13.5/dir_5f30c89189ebb3336d6b33aa932838ba.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/dir_d28a4824dc47e487b107a5db32ef43c4.html b/0.13.5/dir_d28a4824dc47e487b107a5db32ef43c4.html similarity index 97% rename from 0.14.1/dir_d28a4824dc47e487b107a5db32ef43c4.html rename to 0.13.5/dir_d28a4824dc47e487b107a5db32ef43c4.html index 40b8e57a..0eec7ed8 100644 --- a/0.14.1/dir_d28a4824dc47e487b107a5db32ef43c4.html +++ b/0.13.5/dir_d28a4824dc47e487b107a5db32ef43c4.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/dir_d28a4824dc47e487b107a5db32ef43c4_dep.map b/0.13.5/dir_d28a4824dc47e487b107a5db32ef43c4_dep.map similarity index 100% rename from 0.14.1/dir_d28a4824dc47e487b107a5db32ef43c4_dep.map rename to 0.13.5/dir_d28a4824dc47e487b107a5db32ef43c4_dep.map diff --git a/0.14.1/dir_d28a4824dc47e487b107a5db32ef43c4_dep.md5 b/0.13.5/dir_d28a4824dc47e487b107a5db32ef43c4_dep.md5 similarity index 100% rename from 0.14.1/dir_d28a4824dc47e487b107a5db32ef43c4_dep.md5 rename to 0.13.5/dir_d28a4824dc47e487b107a5db32ef43c4_dep.md5 diff --git a/0.14.1/dir_d28a4824dc47e487b107a5db32ef43c4_dep.png b/0.13.5/dir_d28a4824dc47e487b107a5db32ef43c4_dep.png similarity index 100% rename from 0.14.1/dir_d28a4824dc47e487b107a5db32ef43c4_dep.png rename to 0.13.5/dir_d28a4824dc47e487b107a5db32ef43c4_dep.png diff --git a/0.14.1/dir_d44c64559bbebec7f509842c48db8b23.html b/0.13.5/dir_d44c64559bbebec7f509842c48db8b23.html similarity index 96% rename from 0.14.1/dir_d44c64559bbebec7f509842c48db8b23.html rename to 0.13.5/dir_d44c64559bbebec7f509842c48db8b23.html index 2be30e6b..b686d8f9 100644 --- a/0.14.1/dir_d44c64559bbebec7f509842c48db8b23.html +++ b/0.13.5/dir_d44c64559bbebec7f509842c48db8b23.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/dir_e68e8157741866f444e17edd764ebbae.html b/0.13.5/dir_e68e8157741866f444e17edd764ebbae.html similarity index 96% rename from 0.14.1/dir_e68e8157741866f444e17edd764ebbae.html rename to 0.13.5/dir_e68e8157741866f444e17edd764ebbae.html index 5db32e47..ddb7c2db 100644 --- a/0.14.1/dir_e68e8157741866f444e17edd764ebbae.html +++ b/0.13.5/dir_e68e8157741866f444e17edd764ebbae.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/doc.png b/0.13.5/doc.png similarity index 100% rename from 0.14.1/doc.png rename to 0.13.5/doc.png diff --git a/0.14.1/doxygen.css b/0.13.5/doxygen.css similarity index 100% rename from 0.14.1/doxygen.css rename to 0.13.5/doxygen.css diff --git a/0.14.1/doxygen.svg b/0.13.5/doxygen.svg similarity index 100% rename from 0.14.1/doxygen.svg rename to 0.13.5/doxygen.svg diff --git a/0.14.1/duration_8h.html b/0.13.5/duration_8h.html similarity index 98% rename from 0.14.1/duration_8h.html rename to 0.13.5/duration_8h.html index 2bd21710..a6117015 100644 --- a/0.14.1/duration_8h.html +++ b/0.13.5/duration_8h.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/duration_8h__dep__incl.map b/0.13.5/duration_8h__dep__incl.map similarity index 100% rename from 0.14.1/duration_8h__dep__incl.map rename to 0.13.5/duration_8h__dep__incl.map diff --git a/0.14.1/duration_8h__dep__incl.md5 b/0.13.5/duration_8h__dep__incl.md5 similarity index 100% rename from 0.14.1/duration_8h__dep__incl.md5 rename to 0.13.5/duration_8h__dep__incl.md5 diff --git a/0.14.1/duration_8h__dep__incl.png b/0.13.5/duration_8h__dep__incl.png similarity index 100% rename from 0.14.1/duration_8h__dep__incl.png rename to 0.13.5/duration_8h__dep__incl.png diff --git a/0.14.1/duration_8h__incl.map b/0.13.5/duration_8h__incl.map similarity index 100% rename from 0.14.1/duration_8h__incl.map rename to 0.13.5/duration_8h__incl.map diff --git a/0.14.1/duration_8h__incl.md5 b/0.13.5/duration_8h__incl.md5 similarity index 100% rename from 0.14.1/duration_8h__incl.md5 rename to 0.13.5/duration_8h__incl.md5 diff --git a/0.14.1/duration_8h__incl.png b/0.13.5/duration_8h__incl.png similarity index 100% rename from 0.14.1/duration_8h__incl.png rename to 0.13.5/duration_8h__incl.png diff --git a/0.14.1/duration_8h_source.html b/0.13.5/duration_8h_source.html similarity index 99% rename from 0.14.1/duration_8h_source.html rename to 0.13.5/duration_8h_source.html index 937ea182..c0dd42c7 100644 --- a/0.14.1/duration_8h_source.html +++ b/0.13.5/duration_8h_source.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/dynsections.js b/0.13.5/dynsections.js similarity index 100% rename from 0.14.1/dynsections.js rename to 0.13.5/dynsections.js diff --git a/0.14.1/echo_robot_state_8cpp-example.html b/0.13.5/echo_robot_state_8cpp-example.html similarity index 97% rename from 0.14.1/echo_robot_state_8cpp-example.html rename to 0.13.5/echo_robot_state_8cpp-example.html index 5bc236ea..3e0d73d9 100644 --- a/0.14.1/echo_robot_state_8cpp-example.html +++ b/0.13.5/echo_robot_state_8cpp-example.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + @@ -108,7 +108,7 @@
return 0;
}
-
franka::Robot
Maintains a network connection to the robot, provides the current robot state, gives access to the mo...
Definition: robot.h:68
+
franka::Robot
Maintains a network connection to the robot, provides the current robot state, gives access to the mo...
Definition: robot.h:67
franka::Robot::read
void read(std::function< bool(const RobotState &)> read_callback)
Starts a loop for reading the current robot state.
exception.h
Contains exception definitions.
robot.h
Contains the franka::Robot type.
diff --git a/0.14.1/errors_8h.html b/0.13.5/errors_8h.html similarity index 98% rename from 0.14.1/errors_8h.html rename to 0.13.5/errors_8h.html index 73955813..67a1b7d3 100644 --- a/0.14.1/errors_8h.html +++ b/0.13.5/errors_8h.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/errors_8h__dep__incl.map b/0.13.5/errors_8h__dep__incl.map similarity index 100% rename from 0.14.1/errors_8h__dep__incl.map rename to 0.13.5/errors_8h__dep__incl.map diff --git a/0.14.1/errors_8h__dep__incl.md5 b/0.13.5/errors_8h__dep__incl.md5 similarity index 100% rename from 0.14.1/errors_8h__dep__incl.md5 rename to 0.13.5/errors_8h__dep__incl.md5 diff --git a/0.14.1/errors_8h__dep__incl.png b/0.13.5/errors_8h__dep__incl.png similarity index 100% rename from 0.14.1/errors_8h__dep__incl.png rename to 0.13.5/errors_8h__dep__incl.png diff --git a/0.14.1/errors_8h__incl.map b/0.13.5/errors_8h__incl.map similarity index 100% rename from 0.14.1/errors_8h__incl.map rename to 0.13.5/errors_8h__incl.map diff --git a/0.14.1/errors_8h__incl.md5 b/0.13.5/errors_8h__incl.md5 similarity index 100% rename from 0.14.1/errors_8h__incl.md5 rename to 0.13.5/errors_8h__incl.md5 diff --git a/0.14.1/errors_8h__incl.png b/0.13.5/errors_8h__incl.png similarity index 100% rename from 0.14.1/errors_8h__incl.png rename to 0.13.5/errors_8h__incl.png diff --git a/0.14.1/errors_8h_source.html b/0.13.5/errors_8h_source.html similarity index 99% rename from 0.14.1/errors_8h_source.html rename to 0.13.5/errors_8h_source.html index fa9f075b..ccbce751 100644 --- a/0.14.1/errors_8h_source.html +++ b/0.13.5/errors_8h_source.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/examples.html b/0.13.5/examples.html similarity index 97% rename from 0.14.1/examples.html rename to 0.13.5/examples.html index cbcb2046..0c911033 100644 --- a/0.14.1/examples.html +++ b/0.13.5/examples.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/examples__common_8h.html b/0.13.5/examples__common_8h.html similarity index 86% rename from 0.14.1/examples__common_8h.html rename to 0.13.5/examples__common_8h.html index 3300d8f1..6b298dc0 100644 --- a/0.14.1/examples__common_8h.html +++ b/0.13.5/examples__common_8h.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + @@ -96,28 +96,26 @@
- - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + +
diff --git a/0.13.5/examples__common_8h__incl.map b/0.13.5/examples__common_8h__incl.map new file mode 100644 index 00000000..f408e37d --- /dev/null +++ b/0.13.5/examples__common_8h__incl.map @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/0.13.5/examples__common_8h__incl.md5 b/0.13.5/examples__common_8h__incl.md5 new file mode 100644 index 00000000..c9d1b608 --- /dev/null +++ b/0.13.5/examples__common_8h__incl.md5 @@ -0,0 +1 @@ +848019a0803ed3a5beee032a2aa4313b \ No newline at end of file diff --git a/0.13.5/examples__common_8h__incl.png b/0.13.5/examples__common_8h__incl.png new file mode 100644 index 00000000..22b7a7d3 Binary files /dev/null and b/0.13.5/examples__common_8h__incl.png differ diff --git a/0.14.1/examples__common_8h_source.html b/0.13.5/examples__common_8h_source.html similarity index 98% rename from 0.14.1/examples__common_8h_source.html rename to 0.13.5/examples__common_8h_source.html index 5635f8af..a2d484c4 100644 --- a/0.14.1/examples__common_8h_source.html +++ b/0.13.5/examples__common_8h_source.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + @@ -130,7 +130,7 @@
MotionGenerator::operator()
franka::JointPositions operator()(const franka::RobotState &robot_state, franka::Duration period)
Sends joint position calculations.
Definition: examples_common.cpp:114
franka::Duration
Represents a duration with millisecond resolution.
Definition: duration.h:19
franka::JointPositions
Stores values for joint position motion generation.
Definition: control_types.h:72
-
franka::Robot
Maintains a network connection to the robot, provides the current robot state, gives access to the mo...
Definition: robot.h:68
+
franka::Robot
Maintains a network connection to the robot, provides the current robot state, gives access to the mo...
Definition: robot.h:67
control_types.h
Contains helper types for returning motion generation and joint-level torque commands.
duration.h
Contains the franka::Duration type.
setDefaultBehavior
void setDefaultBehavior(franka::Robot &robot)
Sets a default collision behavior, joint impedance and Cartesian impedance.
Definition: examples_common.cpp:12
diff --git a/0.14.1/exception_8h.html b/0.13.5/exception_8h.html similarity index 99% rename from 0.14.1/exception_8h.html rename to 0.13.5/exception_8h.html index a703a5ce..fcaa4f35 100644 --- a/0.14.1/exception_8h.html +++ b/0.13.5/exception_8h.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
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libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/files.html b/0.13.5/files.html similarity index 95% rename from 0.14.1/files.html rename to 0.13.5/files.html index 4ff589ac..62205edd 100644 --- a/0.14.1/files.html +++ b/0.13.5/files.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + @@ -97,11 +97,9 @@ - - - - - + + +
libfranka -  0.14.1 +  0.13.5
FCI C++ API
 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_model.h
 robot_model_base.h
 robot_state.hContains the franka::RobotState types
 vacuum_gripper.hContains the franka::VacuumGripper type
 vacuum_gripper_state.hContains the franka::VacuumGripperState type
 robot_state.hContains the franka::RobotState types
 vacuum_gripper.hContains the franka::VacuumGripper type
 vacuum_gripper_state.hContains the franka::VacuumGripperState type
diff --git a/0.14.1/folderclosed.png b/0.13.5/folderclosed.png similarity index 100% rename from 0.14.1/folderclosed.png rename to 0.13.5/folderclosed.png diff --git a/0.14.1/folderopen.png b/0.13.5/folderopen.png similarity index 100% rename from 0.14.1/folderopen.png rename to 0.13.5/folderopen.png diff --git a/0.14.1/force_control_8cpp-example.html b/0.13.5/force_control_8cpp-example.html similarity index 98% rename from 0.14.1/force_control_8cpp-example.html rename to 0.13.5/force_control_8cpp-example.html index 52c0099d..3f10302c 100644 --- a/0.14.1/force_control_8cpp-example.html +++ b/0.13.5/force_control_8cpp-example.html @@ -27,10 +27,10 @@ - + @@ -188,10 +188,10 @@
return 0;
}
franka::Duration
Represents a duration with millisecond resolution.
Definition: duration.h:19
-
franka::Model
Calculates poses of joints and dynamic properties of the robot.
Definition: model.h:52
+
franka::Model
Calculates poses of joints and dynamic properties of the robot.
Definition: model.h:51
franka::Model::zeroJacobian
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.
franka::Model::gravity
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.
-
franka::Robot
Maintains a network connection to the robot, provides the current robot state, gives access to the mo...
Definition: robot.h:68
+
franka::Robot
Maintains a network connection to the robot, provides the current robot state, gives access to the mo...
Definition: robot.h:67
franka::Robot::control
void control(std::function< Torques(const RobotState &, franka::Duration)> control_callback, bool limit_rate=false, double cutoff_frequency=kDefaultCutoffFrequency)
Starts a control loop for sending joint-level torque commands.
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::loadModel
Model loadModel()
Loads the model library from the robot.
diff --git a/0.14.1/functions.html b/0.13.5/functions.html similarity index 96% rename from 0.14.1/functions.html rename to 0.13.5/functions.html index 0fae3354..59354b21 100644 --- a/0.14.1/functions.html +++ b/0.13.5/functions.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
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libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/functions_c.html b/0.13.5/functions_c.html similarity index 93% rename from 0.14.1/functions_c.html rename to 0.13.5/functions_c.html index 2cdcf0d4..a88900d8 100644 --- a/0.14.1/functions_c.html +++ b/0.13.5/functions_c.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + @@ -138,7 +138,7 @@

- c -

libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/functions_e.html b/0.13.5/functions_e.html similarity index 96% rename from 0.14.1/functions_e.html rename to 0.13.5/functions_e.html index 1f0bced7..845581e9 100644 --- a/0.14.1/functions_e.html +++ b/0.13.5/functions_e.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/functions_enum.html b/0.13.5/functions_enum.html similarity index 96% rename from 0.14.1/functions_enum.html rename to 0.13.5/functions_enum.html index 7ce8a7b0..1734a90f 100644 --- a/0.14.1/functions_enum.html +++ b/0.13.5/functions_enum.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/functions_f.html b/0.13.5/functions_f.html similarity index 96% rename from 0.14.1/functions_f.html rename to 0.13.5/functions_f.html index ecd5d7ca..b458ee37 100644 --- a/0.14.1/functions_f.html +++ b/0.13.5/functions_f.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/functions_func.html b/0.13.5/functions_func.html similarity index 93% rename from 0.14.1/functions_func.html rename to 0.13.5/functions_func.html index abbdea45..5fd2c5b2 100644 --- a/0.14.1/functions_func.html +++ b/0.13.5/functions_func.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
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- c -

@@ -129,16 +127,11 @@

- e -

libfranka -  0.14.1 +  0.13.5
FCI C++ API
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Here is a list of all documented class members with links to the class documentation for each member:

- g -

libfranka -  0.14.1 +  0.13.5
FCI C++ API
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libfranka -  0.14.1 +  0.13.5
FCI C++ API
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libfranka -  0.14.1 +  0.13.5
FCI C++ API
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libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/functions_l.html b/0.13.5/functions_l.html similarity index 96% rename from 0.14.1/functions_l.html rename to 0.13.5/functions_l.html index a64e1b2a..4fa2bc4b 100644 --- a/0.14.1/functions_l.html +++ b/0.13.5/functions_l.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
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libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + @@ -85,8 +85,6 @@

- m -

libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/functions_o.html b/0.13.5/functions_o.html similarity index 98% rename from 0.14.1/functions_o.html rename to 0.13.5/functions_o.html index 5e69066b..da939384 100644 --- a/0.14.1/functions_o.html +++ b/0.13.5/functions_o.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/functions_p.html b/0.13.5/functions_p.html similarity index 96% rename from 0.14.1/functions_p.html rename to 0.13.5/functions_p.html index 50cfa0e7..d6105fac 100644 --- a/0.14.1/functions_p.html +++ b/0.13.5/functions_p.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
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libfranka -  0.14.1 +  0.13.5
FCI C++ API
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libfranka -  0.14.1 +  0.13.5
FCI C++ API
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libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/functions_s.html b/0.13.5/functions_s.html similarity index 98% rename from 0.14.1/functions_s.html rename to 0.13.5/functions_s.html index 7ffcc717..1a71099a 100644 --- a/0.14.1/functions_s.html +++ b/0.13.5/functions_s.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
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- s -

libfranka -  0.14.1 +  0.13.5
FCI C++ API
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libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/functions_v.html b/0.13.5/functions_v.html similarity index 96% rename from 0.14.1/functions_v.html rename to 0.13.5/functions_v.html index 2e7acc9d..5dd17d9d 100644 --- a/0.14.1/functions_v.html +++ b/0.13.5/functions_v.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/functions_vars.html b/0.13.5/functions_vars.html similarity index 99% rename from 0.14.1/functions_vars.html rename to 0.13.5/functions_vars.html index e2283f3c..079335fc 100644 --- a/0.14.1/functions_vars.html +++ b/0.13.5/functions_vars.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
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libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/functions_z.html b/0.13.5/functions_z.html similarity index 96% rename from 0.14.1/functions_z.html rename to 0.13.5/functions_z.html index b2ffbb8a..5019a601 100644 --- a/0.14.1/functions_z.html +++ b/0.13.5/functions_z.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
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libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/generate_cartesian_pose_motion_8cpp-example.html b/0.13.5/generate_cartesian_pose_motion_8cpp-example.html similarity index 95% rename from 0.14.1/generate_cartesian_pose_motion_8cpp-example.html rename to 0.13.5/generate_cartesian_pose_motion_8cpp-example.html index 3760dd6c..2164fa53 100644 --- a/0.14.1/generate_cartesian_pose_motion_8cpp-example.html +++ b/0.13.5/generate_cartesian_pose_motion_8cpp-example.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + @@ -120,7 +120,7 @@
time += period.toSec();
if (time == 0.0) {
-
initial_pose = robot_state.O_T_EE;
+
initial_pose = robot_state.O_T_EE_c;
}
constexpr double kRadius = 0.3;
@@ -149,7 +149,7 @@
franka::CartesianPose
Stores values for Cartesian pose motion generation.
Definition: control_types.h:127
franka::Duration
Represents a duration with millisecond resolution.
Definition: duration.h:19
franka::Duration::toSec
double toSec() const noexcept
Returns the stored duration in .
-
franka::Robot
Maintains a network connection to the robot, provides the current robot state, gives access to the mo...
Definition: robot.h:68
+
franka::Robot
Maintains a network connection to the robot, provides the current robot state, gives access to the mo...
Definition: robot.h:67
franka::Robot::control
void control(std::function< Torques(const RobotState &, franka::Duration)> control_callback, bool limit_rate=false, double cutoff_frequency=kDefaultCutoffFrequency)
Starts a control loop for sending joint-level torque commands.
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::MotionFinished
Torques MotionFinished(Torques command) noexcept
Helper method to indicate that a motion should stop after processing the given command.
Definition: control_types.h:294
@@ -159,7 +159,7 @@
robot.h
Contains the franka::Robot type.
franka::Exception
Base class for all exceptions used by libfranka.
Definition: exception.h:20
franka::RobotState
Describes the robot state.
Definition: robot_state.h:34
-
franka::RobotState::O_T_EE
std::array< double, 16 > O_T_EE
Measured end effector pose in base frame.
Definition: robot_state.h:40
+
franka::RobotState::O_T_EE_c
std::array< double, 16 > O_T_EE_c
Last commanded end effector pose of motion generation in base frame.
Definition: robot_state.h:342
diff --git a/0.14.1/generate_cartesian_pose_motion_external_control_loop_8cpp-example.html b/0.13.5/generate_cartesian_pose_motion_external_control_loop_8cpp-example.html similarity index 98% rename from 0.14.1/generate_cartesian_pose_motion_external_control_loop_8cpp-example.html rename to 0.13.5/generate_cartesian_pose_motion_external_control_loop_8cpp-example.html index 565e4e9e..f3a5f315 100644 --- a/0.14.1/generate_cartesian_pose_motion_external_control_loop_8cpp-example.html +++ b/0.13.5/generate_cartesian_pose_motion_external_control_loop_8cpp-example.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + @@ -168,7 +168,7 @@
MotionGenerator
An example showing how to generate a joint pose motion to a goal position.
Definition: examples_common.h:31
franka::CartesianPose
Stores values for Cartesian pose motion generation.
Definition: control_types.h:127
franka::Duration
Represents a duration with millisecond resolution.
Definition: duration.h:19
-
franka::Robot
Maintains a network connection to the robot, provides the current robot state, gives access to the mo...
Definition: robot.h:68
+
franka::Robot
Maintains a network connection to the robot, provides the current robot state, gives access to the mo...
Definition: robot.h:67
franka::Robot::control
void control(std::function< Torques(const RobotState &, franka::Duration)> control_callback, bool limit_rate=false, double cutoff_frequency=kDefaultCutoffFrequency)
Starts a control loop for sending joint-level torque commands.
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::startCartesianPoseControl
virtual std::unique_ptr< ActiveControlBase > startCartesianPoseControl(const research_interface::robot::Move::ControllerMode &control_type)
Starts a new cartesian position motion generator.
diff --git a/0.14.1/generate_cartesian_velocity_motion_8cpp-example.html b/0.13.5/generate_cartesian_velocity_motion_8cpp-example.html similarity index 98% rename from 0.14.1/generate_cartesian_velocity_motion_8cpp-example.html rename to 0.13.5/generate_cartesian_velocity_motion_8cpp-example.html index 7f1e867e..e4a6f2c2 100644 --- a/0.14.1/generate_cartesian_velocity_motion_8cpp-example.html +++ b/0.13.5/generate_cartesian_velocity_motion_8cpp-example.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + @@ -159,7 +159,7 @@
franka::CartesianVelocities
Stores values for Cartesian velocity motion generation.
Definition: control_types.h:211
franka::Duration
Represents a duration with millisecond resolution.
Definition: duration.h:19
franka::Duration::toSec
double toSec() const noexcept
Returns the stored duration in .
-
franka::Robot
Maintains a network connection to the robot, provides the current robot state, gives access to the mo...
Definition: robot.h:68
+
franka::Robot
Maintains a network connection to the robot, provides the current robot state, gives access to the mo...
Definition: robot.h:67
franka::Robot::control
void control(std::function< Torques(const RobotState &, franka::Duration)> control_callback, bool limit_rate=false, double cutoff_frequency=kDefaultCutoffFrequency)
Starts a control loop for sending joint-level torque commands.
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::setJointImpedance
void setJointImpedance(const std::array< double, 7 > &K_theta)
Sets the impedance for each joint in the internal controller.
diff --git a/0.14.1/generate_cartesian_velocity_motion_external_control_loop_8cpp-example.html b/0.13.5/generate_cartesian_velocity_motion_external_control_loop_8cpp-example.html similarity index 99% rename from 0.14.1/generate_cartesian_velocity_motion_external_control_loop_8cpp-example.html rename to 0.13.5/generate_cartesian_velocity_motion_external_control_loop_8cpp-example.html index 87dc5bed..1b3c0501 100644 --- a/0.14.1/generate_cartesian_velocity_motion_external_control_loop_8cpp-example.html +++ b/0.13.5/generate_cartesian_velocity_motion_external_control_loop_8cpp-example.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + @@ -178,7 +178,7 @@
MotionGenerator
An example showing how to generate a joint pose motion to a goal position.
Definition: examples_common.h:31
franka::CartesianVelocities
Stores values for Cartesian velocity motion generation.
Definition: control_types.h:211
franka::Duration
Represents a duration with millisecond resolution.
Definition: duration.h:19
-
franka::Robot
Maintains a network connection to the robot, provides the current robot state, gives access to the mo...
Definition: robot.h:68
+
franka::Robot
Maintains a network connection to the robot, provides the current robot state, gives access to the mo...
Definition: robot.h:67
franka::Robot::control
void control(std::function< Torques(const RobotState &, franka::Duration)> control_callback, bool limit_rate=false, double cutoff_frequency=kDefaultCutoffFrequency)
Starts a control loop for sending joint-level torque commands.
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::startCartesianVelocityControl
virtual std::unique_ptr< ActiveControlBase > startCartesianVelocityControl(const research_interface::robot::Move::ControllerMode &control_type)
Starts a new cartesian velocity motion generator.
diff --git a/0.14.1/generate_consecutive_motions_8cpp-example.html b/0.13.5/generate_consecutive_motions_8cpp-example.html similarity index 98% rename from 0.14.1/generate_consecutive_motions_8cpp-example.html rename to 0.13.5/generate_consecutive_motions_8cpp-example.html index a9ceba54..8143dc17 100644 --- a/0.14.1/generate_consecutive_motions_8cpp-example.html +++ b/0.13.5/generate_consecutive_motions_8cpp-example.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + @@ -152,7 +152,7 @@
franka::Duration
Represents a duration with millisecond resolution.
Definition: duration.h:19
franka::Duration::toSec
double toSec() const noexcept
Returns the stored duration in .
franka::JointVelocities
Stores values for joint velocity motion generation.
Definition: control_types.h:99
-
franka::Robot
Maintains a network connection to the robot, provides the current robot state, gives access to the mo...
Definition: robot.h:68
+
franka::Robot
Maintains a network connection to the robot, provides the current robot state, gives access to the mo...
Definition: robot.h:67
franka::Robot::control
void control(std::function< Torques(const RobotState &, franka::Duration)> control_callback, bool limit_rate=false, double cutoff_frequency=kDefaultCutoffFrequency)
Starts a control loop for sending joint-level torque commands.
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::automaticErrorRecovery
void automaticErrorRecovery()
Runs automatic error recovery on the robot.
diff --git a/0.14.1/generate_elbow_motion_8cpp-example.html b/0.13.5/generate_elbow_motion_8cpp-example.html similarity index 92% rename from 0.14.1/generate_elbow_motion_8cpp-example.html rename to 0.13.5/generate_elbow_motion_8cpp-example.html index 9004402a..8058b036 100644 --- a/0.14.1/generate_elbow_motion_8cpp-example.html +++ b/0.13.5/generate_elbow_motion_8cpp-example.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + @@ -122,8 +122,8 @@
time += period.toSec();
if (time == 0.0) {
-
initial_pose = robot_state.O_T_EE;
-
initial_elbow = robot_state.elbow;
+
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));
@@ -149,7 +149,7 @@
franka::CartesianPose
Stores values for Cartesian pose motion generation.
Definition: control_types.h:127
franka::Duration
Represents a duration with millisecond resolution.
Definition: duration.h:19
franka::Duration::toSec
double toSec() const noexcept
Returns the stored duration in .
-
franka::Robot
Maintains a network connection to the robot, provides the current robot state, gives access to the mo...
Definition: robot.h:68
+
franka::Robot
Maintains a network connection to the robot, provides the current robot state, gives access to the mo...
Definition: robot.h:67
franka::Robot::control
void control(std::function< Torques(const RobotState &, franka::Duration)> control_callback, bool limit_rate=false, double cutoff_frequency=kDefaultCutoffFrequency)
Starts a control loop for sending joint-level torque commands.
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::MotionFinished
Torques MotionFinished(Torques command) noexcept
Helper method to indicate that a motion should stop after processing the given command.
Definition: control_types.h:294
@@ -159,8 +159,8 @@
robot.h
Contains the franka::Robot type.
franka::Exception
Base class for all exceptions used by libfranka.
Definition: exception.h:20
franka::RobotState
Describes the robot state.
Definition: robot_state.h:34
-
franka::RobotState::O_T_EE
std::array< double, 16 > O_T_EE
Measured end effector pose in base frame.
Definition: robot_state.h:40
-
franka::RobotState::elbow
std::array< double, 2 > elbow
Elbow configuration.
Definition: robot_state.h:161
+
franka::RobotState::elbow_c
std::array< double, 2 > elbow_c
Commanded elbow configuration.
Definition: robot_state.h:191
+
franka::RobotState::O_T_EE_c
std::array< double, 16 > O_T_EE_c
Last commanded end effector pose of motion generation in base frame.
Definition: robot_state.h:342
diff --git a/0.14.1/generate_joint_position_motion_8cpp-example.html b/0.13.5/generate_joint_position_motion_8cpp-example.html similarity index 96% rename from 0.14.1/generate_joint_position_motion_8cpp-example.html rename to 0.13.5/generate_joint_position_motion_8cpp-example.html index 09b4263d..a296c64a 100644 --- a/0.14.1/generate_joint_position_motion_8cpp-example.html +++ b/0.13.5/generate_joint_position_motion_8cpp-example.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + @@ -120,7 +120,7 @@
time += period.toSec();
if (time == 0.0) {
-
initial_position = robot_state.q;
+
initial_position = robot_state.q_d;
}
double delta_angle = M_PI / 8.0 * (1 - std::cos(M_PI / 2.5 * time));
@@ -147,7 +147,7 @@
franka::Duration
Represents a duration with millisecond resolution.
Definition: duration.h:19
franka::Duration::toSec
double toSec() const noexcept
Returns the stored duration in .
franka::JointPositions
Stores values for joint position motion generation.
Definition: control_types.h:72
-
franka::Robot
Maintains a network connection to the robot, provides the current robot state, gives access to the mo...
Definition: robot.h:68
+
franka::Robot
Maintains a network connection to the robot, provides the current robot state, gives access to the mo...
Definition: robot.h:67
franka::Robot::control
void control(std::function< Torques(const RobotState &, franka::Duration)> control_callback, bool limit_rate=false, double cutoff_frequency=kDefaultCutoffFrequency)
Starts a control loop for sending joint-level torque commands.
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::MotionFinished
Torques MotionFinished(Torques command) noexcept
Helper method to indicate that a motion should stop after processing the given command.
Definition: control_types.h:294
@@ -157,7 +157,7 @@
robot.h
Contains the franka::Robot type.
franka::Exception
Base class for all exceptions used by libfranka.
Definition: exception.h:20
franka::RobotState
Describes the robot state.
Definition: robot_state.h:34
-
franka::RobotState::q
std::array< double, 7 > q
Measured joint position.
Definition: robot_state.h:233
+
franka::RobotState::q_d
std::array< double, 7 > q_d
Desired joint position.
Definition: robot_state.h:239
diff --git a/0.14.1/generate_joint_position_motion_external_control_loop_8cpp-example.html b/0.13.5/generate_joint_position_motion_external_control_loop_8cpp-example.html similarity index 98% rename from 0.14.1/generate_joint_position_motion_external_control_loop_8cpp-example.html rename to 0.13.5/generate_joint_position_motion_external_control_loop_8cpp-example.html index e890b37f..91e22aab 100644 --- a/0.14.1/generate_joint_position_motion_external_control_loop_8cpp-example.html +++ b/0.13.5/generate_joint_position_motion_external_control_loop_8cpp-example.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + @@ -165,7 +165,7 @@
MotionGenerator
An example showing how to generate a joint pose motion to a goal position.
Definition: examples_common.h:31
franka::Duration
Represents a duration with millisecond resolution.
Definition: duration.h:19
franka::JointPositions
Stores values for joint position motion generation.
Definition: control_types.h:72
-
franka::Robot
Maintains a network connection to the robot, provides the current robot state, gives access to the mo...
Definition: robot.h:68
+
franka::Robot
Maintains a network connection to the robot, provides the current robot state, gives access to the mo...
Definition: robot.h:67
franka::Robot::control
void control(std::function< Torques(const RobotState &, franka::Duration)> control_callback, bool limit_rate=false, double cutoff_frequency=kDefaultCutoffFrequency)
Starts a control loop for sending joint-level torque commands.
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::startJointPositionControl
virtual std::unique_ptr< ActiveControlBase > startJointPositionControl(const research_interface::robot::Move::ControllerMode &control_type)
Starts a new joint position motion generator.
diff --git a/0.14.1/generate_joint_velocity_motion_8cpp-example.html b/0.13.5/generate_joint_velocity_motion_8cpp-example.html similarity index 98% rename from 0.14.1/generate_joint_velocity_motion_8cpp-example.html rename to 0.13.5/generate_joint_velocity_motion_8cpp-example.html index ddef45b4..4b82e7af 100644 --- a/0.14.1/generate_joint_velocity_motion_8cpp-example.html +++ b/0.13.5/generate_joint_velocity_motion_8cpp-example.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + @@ -142,7 +142,7 @@
franka::Duration
Represents a duration with millisecond resolution.
Definition: duration.h:19
franka::Duration::toSec
double toSec() const noexcept
Returns the stored duration in .
franka::JointVelocities
Stores values for joint velocity motion generation.
Definition: control_types.h:99
-
franka::Robot
Maintains a network connection to the robot, provides the current robot state, gives access to the mo...
Definition: robot.h:68
+
franka::Robot
Maintains a network connection to the robot, provides the current robot state, gives access to the mo...
Definition: robot.h:67
franka::Robot::control
void control(std::function< Torques(const RobotState &, franka::Duration)> control_callback, bool limit_rate=false, double cutoff_frequency=kDefaultCutoffFrequency)
Starts a control loop for sending joint-level torque commands.
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::MotionFinished
Torques MotionFinished(Torques command) noexcept
Helper method to indicate that a motion should stop after processing the given command.
Definition: control_types.h:294
diff --git a/0.14.1/generate_joint_velocity_motion_external_control_loop_8cpp-example.html b/0.13.5/generate_joint_velocity_motion_external_control_loop_8cpp-example.html similarity index 98% rename from 0.14.1/generate_joint_velocity_motion_external_control_loop_8cpp-example.html rename to 0.13.5/generate_joint_velocity_motion_external_control_loop_8cpp-example.html index f08c6c1b..c16e2b6c 100644 --- a/0.14.1/generate_joint_velocity_motion_external_control_loop_8cpp-example.html +++ b/0.13.5/generate_joint_velocity_motion_external_control_loop_8cpp-example.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + @@ -161,7 +161,7 @@
MotionGenerator
An example showing how to generate a joint pose motion to a goal position.
Definition: examples_common.h:31
franka::Duration
Represents a duration with millisecond resolution.
Definition: duration.h:19
franka::JointVelocities
Stores values for joint velocity motion generation.
Definition: control_types.h:99
-
franka::Robot
Maintains a network connection to the robot, provides the current robot state, gives access to the mo...
Definition: robot.h:68
+
franka::Robot
Maintains a network connection to the robot, provides the current robot state, gives access to the mo...
Definition: robot.h:67
franka::Robot::control
void control(std::function< Torques(const RobotState &, franka::Duration)> control_callback, bool limit_rate=false, double cutoff_frequency=kDefaultCutoffFrequency)
Starts a control loop for sending joint-level torque commands.
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::startJointVelocityControl
virtual std::unique_ptr< ActiveControlBase > startJointVelocityControl(const research_interface::robot::Move::ControllerMode &control_type)
Starts a new joint velocity motion generator.
diff --git a/0.14.1/globals.html b/0.13.5/globals.html similarity index 96% rename from 0.14.1/globals.html rename to 0.13.5/globals.html index 761be7a8..1819b64d 100644 --- a/0.14.1/globals.html +++ b/0.13.5/globals.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/globals_func.html b/0.13.5/globals_func.html similarity index 96% rename from 0.14.1/globals_func.html rename to 0.13.5/globals_func.html index 73399464..f89dda7e 100644 --- a/0.14.1/globals_func.html +++ b/0.13.5/globals_func.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/graph_legend.html b/0.13.5/graph_legend.html similarity index 98% rename from 0.14.1/graph_legend.html rename to 0.13.5/graph_legend.html index 79c50160..47f862ca 100644 --- a/0.14.1/graph_legend.html +++ b/0.13.5/graph_legend.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/graph_legend.md5 b/0.13.5/graph_legend.md5 similarity index 100% rename from 0.14.1/graph_legend.md5 rename to 0.13.5/graph_legend.md5 diff --git a/0.14.1/graph_legend.png b/0.13.5/graph_legend.png similarity index 100% rename from 0.14.1/graph_legend.png rename to 0.13.5/graph_legend.png diff --git a/0.14.1/grasp_object_8cpp-example.html b/0.13.5/grasp_object_8cpp-example.html similarity index 98% rename from 0.14.1/grasp_object_8cpp-example.html rename to 0.13.5/grasp_object_8cpp-example.html index b7e6f41d..e8fc1ffe 100644 --- a/0.14.1/grasp_object_8cpp-example.html +++ b/0.13.5/grasp_object_8cpp-example.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/gripper_8h.html b/0.13.5/gripper_8h.html similarity index 97% rename from 0.14.1/gripper_8h.html rename to 0.13.5/gripper_8h.html index 6f546b0a..e867796e 100644 --- a/0.14.1/gripper_8h.html +++ b/0.13.5/gripper_8h.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/gripper_8h__incl.map b/0.13.5/gripper_8h__incl.map similarity index 100% rename from 0.14.1/gripper_8h__incl.map rename to 0.13.5/gripper_8h__incl.map diff --git a/0.14.1/gripper_8h__incl.md5 b/0.13.5/gripper_8h__incl.md5 similarity index 100% rename from 0.14.1/gripper_8h__incl.md5 rename to 0.13.5/gripper_8h__incl.md5 diff --git a/0.14.1/gripper_8h__incl.png b/0.13.5/gripper_8h__incl.png similarity index 100% rename from 0.14.1/gripper_8h__incl.png rename to 0.13.5/gripper_8h__incl.png diff --git a/0.14.1/gripper_8h_source.html b/0.13.5/gripper_8h_source.html similarity index 99% rename from 0.14.1/gripper_8h_source.html rename to 0.13.5/gripper_8h_source.html index 40e88030..fec620b7 100644 --- a/0.14.1/gripper_8h_source.html +++ b/0.13.5/gripper_8h_source.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/gripper__state_8h.html b/0.13.5/gripper__state_8h.html similarity index 98% rename from 0.14.1/gripper__state_8h.html rename to 0.13.5/gripper__state_8h.html index 90a45c80..01ec3a83 100644 --- a/0.14.1/gripper__state_8h.html +++ b/0.13.5/gripper__state_8h.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/gripper__state_8h__dep__incl.map b/0.13.5/gripper__state_8h__dep__incl.map similarity index 100% rename from 0.14.1/gripper__state_8h__dep__incl.map rename to 0.13.5/gripper__state_8h__dep__incl.map diff --git a/0.14.1/gripper__state_8h__dep__incl.md5 b/0.13.5/gripper__state_8h__dep__incl.md5 similarity index 100% rename from 0.14.1/gripper__state_8h__dep__incl.md5 rename to 0.13.5/gripper__state_8h__dep__incl.md5 diff --git a/0.14.1/gripper__state_8h__dep__incl.png b/0.13.5/gripper__state_8h__dep__incl.png similarity index 100% rename from 0.14.1/gripper__state_8h__dep__incl.png rename to 0.13.5/gripper__state_8h__dep__incl.png diff --git a/0.14.1/gripper__state_8h__incl.map b/0.13.5/gripper__state_8h__incl.map similarity index 100% rename from 0.14.1/gripper__state_8h__incl.map rename to 0.13.5/gripper__state_8h__incl.map diff --git a/0.14.1/gripper__state_8h__incl.md5 b/0.13.5/gripper__state_8h__incl.md5 similarity index 100% rename from 0.14.1/gripper__state_8h__incl.md5 rename to 0.13.5/gripper__state_8h__incl.md5 diff --git a/0.14.1/gripper__state_8h__incl.png b/0.13.5/gripper__state_8h__incl.png similarity index 100% rename from 0.14.1/gripper__state_8h__incl.png rename to 0.13.5/gripper__state_8h__incl.png diff --git a/0.14.1/gripper__state_8h_source.html b/0.13.5/gripper__state_8h_source.html similarity index 98% rename from 0.14.1/gripper__state_8h_source.html rename to 0.13.5/gripper__state_8h_source.html index 20c366c3..b7429f44 100644 --- a/0.14.1/gripper__state_8h_source.html +++ b/0.13.5/gripper__state_8h_source.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/hierarchy.html b/0.13.5/hierarchy.html similarity index 89% rename from 0.14.1/hierarchy.html rename to 0.13.5/hierarchy.html index 28c5a3ca..66f03929 100644 --- a/0.14.1/hierarchy.html +++ b/0.13.5/hierarchy.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + @@ -98,21 +98,19 @@ - - - - - - - - - - - - - - - + + + + + + + + + + + + +
libfranka -  0.14.1 +  0.13.5
FCI C++ API
 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
 ▼CRobotModelBaseRobot dynamic parameters computed from the URDF model with Pinocchio
 Cfranka::RobotModelImplements RobotModelBase using Pinocchio
 Cfranka::RobotStateDescribes the robot state
 ▼Cstd::runtime_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::RobotStateDescribes the robot state
 ▼Cstd::runtime_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
diff --git a/0.14.1/index.html b/0.13.5/index.html similarity index 96% rename from 0.14.1/index.html rename to 0.13.5/index.html index ec2b3a96..2cc20694 100644 --- a/0.14.1/index.html +++ b/0.13.5/index.html @@ -27,10 +27,10 @@ - + diff --git a/0.14.1/inherit_graph_0.map b/0.13.5/inherit_graph_0.map similarity index 100% rename from 0.14.1/inherit_graph_0.map rename to 0.13.5/inherit_graph_0.map diff --git a/0.14.1/inherit_graph_0.md5 b/0.13.5/inherit_graph_0.md5 similarity index 100% rename from 0.14.1/inherit_graph_0.md5 rename to 0.13.5/inherit_graph_0.md5 diff --git a/0.14.1/inherit_graph_0.png b/0.13.5/inherit_graph_0.png similarity index 100% rename from 0.14.1/inherit_graph_0.png rename to 0.13.5/inherit_graph_0.png diff --git a/0.14.1/inherit_graph_1.map b/0.13.5/inherit_graph_1.map similarity index 100% rename from 0.14.1/inherit_graph_1.map rename to 0.13.5/inherit_graph_1.map diff --git a/0.14.1/inherit_graph_1.md5 b/0.13.5/inherit_graph_1.md5 similarity index 100% rename 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0.14.1/inherits.html rename to 0.13.5/inherits.html index b0870181..b4968691 100644 --- a/0.14.1/inherits.html +++ b/0.13.5/inherits.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + @@ -170,12 +170,6 @@ -
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- - - - -
diff --git a/0.14.1/joint_impedance_control_8cpp-example.html b/0.13.5/joint_impedance_control_8cpp-example.html similarity index 99% rename from 0.14.1/joint_impedance_control_8cpp-example.html rename to 0.13.5/joint_impedance_control_8cpp-example.html index 4e3808c0..04532936 100644 --- a/0.14.1/joint_impedance_control_8cpp-example.html +++ b/0.13.5/joint_impedance_control_8cpp-example.html @@ -27,10 +27,10 @@ - + @@ -298,8 +298,8 @@
franka::CartesianPose
Stores values for Cartesian pose motion generation.
Definition: control_types.h:127
franka::CartesianPose::O_T_EE
std::array< double, 16 > O_T_EE
Homogeneous transformation , column major, that transforms from the end effector frame to base frame...
Definition: control_types.h:178
franka::Duration
Represents a duration with millisecond resolution.
Definition: duration.h:19
-
franka::Model
Calculates poses of joints and dynamic properties of the robot.
Definition: model.h:52
-
franka::Robot
Maintains a network connection to the robot, provides the current robot state, gives access to the mo...
Definition: robot.h:68
+
franka::Model
Calculates poses of joints and dynamic properties of the robot.
Definition: model.h:51
+
franka::Robot
Maintains a network connection to the robot, provides the current robot state, gives access to the mo...
Definition: robot.h:67
franka::Torques
Stores joint-level torque commands without gravity and friction.
Definition: control_types.h:45
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:294
duration.h
Contains the franka::Duration type.
diff --git a/0.14.1/joint_point_to_point_motion_8cpp-example.html b/0.13.5/joint_point_to_point_motion_8cpp-example.html similarity index 98% rename from 0.14.1/joint_point_to_point_motion_8cpp-example.html rename to 0.13.5/joint_point_to_point_motion_8cpp-example.html index 4fda3d4d..364c03f7 100644 --- a/0.14.1/joint_point_to_point_motion_8cpp-example.html +++ b/0.13.5/joint_point_to_point_motion_8cpp-example.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + @@ -128,7 +128,7 @@
return 0;
}
MotionGenerator
An example showing how to generate a joint pose motion to a goal position.
Definition: examples_common.h:31
-
franka::Robot
Maintains a network connection to the robot, provides the current robot state, gives access to the mo...
Definition: robot.h:68
+
franka::Robot
Maintains a network connection to the robot, provides the current robot state, gives access to the mo...
Definition: robot.h:67
franka::Robot::control
void control(std::function< Torques(const RobotState &, franka::Duration)> control_callback, bool limit_rate=false, double cutoff_frequency=kDefaultCutoffFrequency)
Starts a control loop for sending joint-level torque commands.
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.
examples_common.h
Contains common types and functions for the examples.
diff --git a/0.14.1/jquery.js b/0.13.5/jquery.js similarity index 100% rename from 0.14.1/jquery.js rename to 0.13.5/jquery.js diff --git a/0.14.1/log_8h.html b/0.13.5/log_8h.html similarity index 98% rename from 0.14.1/log_8h.html rename to 0.13.5/log_8h.html index 61a7bea7..b853671a 100644 --- a/0.14.1/log_8h.html +++ b/0.13.5/log_8h.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/log_8h__dep__incl.map b/0.13.5/log_8h__dep__incl.map similarity index 100% rename from 0.14.1/log_8h__dep__incl.map rename to 0.13.5/log_8h__dep__incl.map diff --git a/0.14.1/log_8h__dep__incl.md5 b/0.13.5/log_8h__dep__incl.md5 similarity index 100% rename from 0.14.1/log_8h__dep__incl.md5 rename to 0.13.5/log_8h__dep__incl.md5 diff --git a/0.14.1/log_8h__dep__incl.png b/0.13.5/log_8h__dep__incl.png similarity index 100% rename from 0.14.1/log_8h__dep__incl.png rename to 0.13.5/log_8h__dep__incl.png diff --git a/0.14.1/log_8h__incl.map b/0.13.5/log_8h__incl.map similarity index 100% rename from 0.14.1/log_8h__incl.map rename to 0.13.5/log_8h__incl.map diff --git a/0.14.1/log_8h__incl.md5 b/0.13.5/log_8h__incl.md5 similarity index 100% rename from 0.14.1/log_8h__incl.md5 rename to 0.13.5/log_8h__incl.md5 diff --git a/0.14.1/log_8h__incl.png b/0.13.5/log_8h__incl.png similarity index 100% rename from 0.14.1/log_8h__incl.png rename to 0.13.5/log_8h__incl.png diff --git a/0.14.1/log_8h_source.html b/0.13.5/log_8h_source.html similarity index 99% rename from 0.14.1/log_8h_source.html rename to 0.13.5/log_8h_source.html index 5783064e..253bbce2 100644 --- a/0.14.1/log_8h_source.html +++ b/0.13.5/log_8h_source.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/lowpass__filter_8h.html b/0.13.5/lowpass__filter_8h.html similarity index 99% rename from 0.14.1/lowpass__filter_8h.html rename to 0.13.5/lowpass__filter_8h.html index 0d8ec854..8d721b75 100644 --- a/0.14.1/lowpass__filter_8h.html +++ b/0.13.5/lowpass__filter_8h.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/lowpass__filter_8h__dep__incl.map b/0.13.5/lowpass__filter_8h__dep__incl.map similarity index 100% rename from 0.14.1/lowpass__filter_8h__dep__incl.map rename to 0.13.5/lowpass__filter_8h__dep__incl.map diff --git a/0.14.1/lowpass__filter_8h__dep__incl.md5 b/0.13.5/lowpass__filter_8h__dep__incl.md5 similarity index 100% rename from 0.14.1/lowpass__filter_8h__dep__incl.md5 rename to 0.13.5/lowpass__filter_8h__dep__incl.md5 diff --git a/0.14.1/lowpass__filter_8h__dep__incl.png b/0.13.5/lowpass__filter_8h__dep__incl.png similarity index 100% rename from 0.14.1/lowpass__filter_8h__dep__incl.png rename to 0.13.5/lowpass__filter_8h__dep__incl.png diff --git a/0.14.1/lowpass__filter_8h__incl.map b/0.13.5/lowpass__filter_8h__incl.map similarity index 100% rename from 0.14.1/lowpass__filter_8h__incl.map rename to 0.13.5/lowpass__filter_8h__incl.map diff --git a/0.14.1/lowpass__filter_8h__incl.md5 b/0.13.5/lowpass__filter_8h__incl.md5 similarity index 100% rename from 0.14.1/lowpass__filter_8h__incl.md5 rename to 0.13.5/lowpass__filter_8h__incl.md5 diff --git a/0.14.1/lowpass__filter_8h__incl.png b/0.13.5/lowpass__filter_8h__incl.png similarity index 100% rename from 0.14.1/lowpass__filter_8h__incl.png rename to 0.13.5/lowpass__filter_8h__incl.png diff --git a/0.14.1/lowpass__filter_8h_source.html b/0.13.5/lowpass__filter_8h_source.html similarity index 98% rename from 0.14.1/lowpass__filter_8h_source.html rename to 0.13.5/lowpass__filter_8h_source.html index 1129ee08..155f3879 100644 --- a/0.14.1/lowpass__filter_8h_source.html +++ b/0.13.5/lowpass__filter_8h_source.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/menu.js b/0.13.5/menu.js similarity index 100% rename from 0.14.1/menu.js rename to 0.13.5/menu.js diff --git a/0.14.1/menudata.js b/0.13.5/menudata.js similarity index 100% rename from 0.14.1/menudata.js rename to 0.13.5/menudata.js diff --git a/0.14.1/model_8h.html b/0.13.5/model_8h.html similarity index 86% rename from 0.14.1/model_8h.html rename to 0.13.5/model_8h.html index 19a73b36..ba040410 100644 --- a/0.14.1/model_8h.html +++ b/0.13.5/model_8h.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + @@ -89,34 +89,31 @@
#include <array>
#include <memory>
#include <franka/robot.h>
-#include <franka/robot_model_base.h>
#include <franka/robot_state.h>
Include dependency graph for model.h:
- - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + +
diff --git a/0.13.5/model_8h__incl.map b/0.13.5/model_8h__incl.map new file mode 100644 index 00000000..0b26c942 --- /dev/null +++ b/0.13.5/model_8h__incl.map @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/0.13.5/model_8h__incl.md5 b/0.13.5/model_8h__incl.md5 new file mode 100644 index 00000000..92921650 --- /dev/null +++ b/0.13.5/model_8h__incl.md5 @@ -0,0 +1 @@ +76eee6b042db692a0fb0f395d8731c72 \ No newline at end of file diff --git a/0.13.5/model_8h__incl.png b/0.13.5/model_8h__incl.png new file mode 100644 index 00000000..f2b30093 Binary files /dev/null and b/0.13.5/model_8h__incl.png differ diff --git a/0.14.1/model_8h_source.html b/0.13.5/model_8h_source.html similarity index 68% rename from 0.14.1/model_8h_source.html rename to 0.13.5/model_8h_source.html index e0afa2b1..f70147b5 100644 --- a/0.14.1/model_8h_source.html +++ b/0.13.5/model_8h_source.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + @@ -87,122 +87,117 @@
6 #include <memory>
7 
8 #include <franka/robot.h>
-
9 #include <franka/robot_model_base.h>
-
10 #include <franka/robot_state.h>
-
11 
-
17 namespace franka {
-
18 
-
22 enum class Frame {
-
23  kJoint1,
-
24  kJoint2,
-
25  kJoint3,
-
26  kJoint4,
-
27  kJoint5,
-
28  kJoint6,
-
29  kJoint7,
-
30  kFlange,
-
31  kEndEffector,
-
32  kStiffness
-
33 };
-
34 
-
44 Frame operator++(Frame& frame, int /* dummy */) noexcept;
-
45 
-
46 class ModelLibrary;
-
47 class Network;
-
48 
-
52 class Model {
-
53  public:
-
65  explicit Model(franka::Network& network, const std::string& urdf_model);
-
66 
-
76  explicit Model(franka::Network& network, std::unique_ptr<RobotModelBase> robot_model);
-
77 
-
83  Model(Model&& model) noexcept;
-
84 
-
92  Model& operator=(Model&& model) noexcept;
-
93 
-
97  ~Model() noexcept;
+
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 
-
109  std::array<double, 16> pose(Frame frame, const franka::RobotState& robot_state) const;
-
110 
-
123  std::array<double, 16> pose(
-
124  Frame frame,
-
125  const std::array<double, 7>& q,
-
126  const std::array<double, 16>& F_T_EE, // NOLINT(readability-identifier-naming)
-
127  const std::array<double, 16>& EE_T_K) // NOLINT(readability-identifier-naming)
-
128  const;
+
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 
-
140  std::array<double, 42> bodyJacobian(Frame frame, const franka::RobotState& robot_state) const;
-
141 
-
154  std::array<double, 42> bodyJacobian(
-
155  Frame frame,
-
156  const std::array<double, 7>& q,
-
157  const std::array<double, 16>& F_T_EE, // NOLINT(readability-identifier-naming)
-
158  const std::array<double, 16>& EE_T_K) // NOLINT(readability-identifier-naming)
-
159  const;
+
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 
-
171  std::array<double, 42> zeroJacobian(Frame frame, const franka::RobotState& robot_state) const;
-
172 
-
185  std::array<double, 42> zeroJacobian(
-
186  Frame frame,
-
187  const std::array<double, 7>& q,
-
188  const std::array<double, 16>& F_T_EE, // NOLINT(readability-identifier-naming)
-
189  const std::array<double, 16>& EE_T_K) // NOLINT(readability-identifier-naming)
-
190  const;
-
191 
-
199  std::array<double, 49> mass(const franka::RobotState& robot_state) const noexcept;
-
200 
-
214  std::array<double, 49> mass(
-
215  const std::array<double, 7>& q,
-
216  const std::array<double, 9>& I_total, // NOLINT(readability-identifier-naming)
-
217  double m_total,
-
218  const std::array<double, 3>& F_x_Ctotal) // NOLINT(readability-identifier-naming)
-
219  const noexcept;
-
220 
-
229  std::array<double, 7> coriolis(const franka::RobotState& robot_state) const noexcept;
-
230 
-
246  std::array<double, 7> coriolis(
-
247  const std::array<double, 7>& q,
-
248  const std::array<double, 7>& dq,
-
249  const std::array<double, 9>& I_total, // NOLINT(readability-identifier-naming)
-
250  double m_total,
-
251  const std::array<double, 3>& F_x_Ctotal) // NOLINT(readability-identifier-naming)
-
252  const noexcept;
-
253 
-
267  std::array<double, 7> gravity(
-
268  const std::array<double, 7>& q,
-
269  double m_total,
-
270  const std::array<double, 3>& F_x_Ctotal, // NOLINT(readability-identifier-naming)
-
271  const std::array<double, 3>& gravity_earth = {{0., 0., -9.81}}) const noexcept;
-
272 
-
281  std::array<double, 7> gravity(const franka::RobotState& robot_state,
-
282  const std::array<double, 3>& gravity_earth) const noexcept;
-
283 
-
291  std::array<double, 7> gravity(const franka::RobotState& robot_state) const noexcept;
-
292 
-
294  Model(const Model&) = delete;
-
295  Model& operator=(const Model&) = delete;
-
297 
-
298  private:
-
299  std::unique_ptr<ModelLibrary> library_;
-
300  std::unique_ptr<RobotModelBase> robot_model_;
-
301 };
-
302 
-
303 } // namespace franka
-
franka::Model
Calculates poses of joints and dynamic properties of the robot.
Definition: model.h:52
+
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 
+
269  std::array<double, 7> gravity(const franka::RobotState& robot_state,
+
270  const std::array<double, 3>& gravity_earth) const noexcept;
+
271 
+
279  std::array<double, 7> gravity(const franka::RobotState& robot_state) const noexcept;
+
280 
+
282  Model(const Model&) = delete;
+
283  Model& operator=(const Model&) = delete;
+
285 
+
286  private:
+
287  std::unique_ptr<ModelLibrary> library_;
+
288 };
+
289 
+
290 } // namespace franka
+
franka::Model
Calculates poses of joints and dynamic properties of the robot.
Definition: model.h:51
franka::Model::~Model
~Model() noexcept
Unloads the model library.
franka::Model::pose
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.
franka::Model::operator=
Model & operator=(Model &&model) noexcept
Move-assigns this Model from another Model instance.
franka::Model::zeroJacobian
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.
+
franka::Model::Model
Model(franka::Network &network)
Creates a new Model instance.
franka::Model::gravity
std::array< double, 7 > gravity(const franka::RobotState &robot_state, const std::array< double, 3 > &gravity_earth) const noexcept
Calculates the gravity vector.
-
franka::Model::Model
Model(franka::Network &network, std::unique_ptr< RobotModelBase > robot_model)
Creates a new Model instance only for the tests.
franka::Model::Model
Model(Model &&model) noexcept
Move-constructs a new Model instance.
-
franka::Model::Model
Model(franka::Network &network, const std::string &urdf_model)
Creates a new Model instance.
franka::Model::coriolis
std::array< double, 7 > coriolis(const franka::RobotState &robot_state) const noexcept
Calculates the Coriolis force vector (state-space equation): , in .
franka::Model::bodyJacobian
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.
franka::Model::gravity
std::array< double, 7 > gravity(const franka::RobotState &robot_state) const noexcept
Calculates the gravity vector using the robot state.
franka::Model::gravity
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.
franka::Model::mass
std::array< double, 49 > mass(const franka::RobotState &robot_state) const noexcept
Calculates the 7x7 mass matrix.
-
franka::Frame
Frame
Enumerates the seven joints, the flange, and the end effector of a robot.
Definition: model.h:22
+
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.
robot_state.h
Contains the franka::RobotState types.
diff --git a/0.14.1/motion_with_control_8cpp-example.html b/0.13.5/motion_with_control_8cpp-example.html similarity index 99% rename from 0.14.1/motion_with_control_8cpp-example.html rename to 0.13.5/motion_with_control_8cpp-example.html index 85d8ce1c..806aa980 100644 --- a/0.14.1/motion_with_control_8cpp-example.html +++ b/0.13.5/motion_with_control_8cpp-example.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + @@ -281,7 +281,7 @@
franka::Duration
Represents a duration with millisecond resolution.
Definition: duration.h:19
franka::JointVelocities
Stores values for joint velocity motion generation.
Definition: control_types.h:99
franka::JointVelocities::dq
std::array< double, 7 > dq
Desired joint velocities in .
Definition: control_types.h:121
-
franka::Robot
Maintains a network connection to the robot, provides the current robot state, gives access to the mo...
Definition: robot.h:68
+
franka::Robot
Maintains a network connection to the robot, provides the current robot state, gives access to the mo...
Definition: robot.h:67
franka::Torques
Stores joint-level torque commands without gravity and friction.
Definition: control_types.h:45
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:294
examples_common.h
Contains common types and functions for the examples.
diff --git a/0.14.1/motion_with_control_external_control_loop_8cpp-example.html b/0.13.5/motion_with_control_external_control_loop_8cpp-example.html similarity index 99% rename from 0.14.1/motion_with_control_external_control_loop_8cpp-example.html rename to 0.13.5/motion_with_control_external_control_loop_8cpp-example.html index b87835cd..f14f3ebd 100644 --- a/0.14.1/motion_with_control_external_control_loop_8cpp-example.html +++ b/0.13.5/motion_with_control_external_control_loop_8cpp-example.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + @@ -302,7 +302,7 @@
franka::Duration
Represents a duration with millisecond resolution.
Definition: duration.h:19
franka::JointVelocities
Stores values for joint velocity motion generation.
Definition: control_types.h:99
franka::JointVelocities::dq
std::array< double, 7 > dq
Desired joint velocities in .
Definition: control_types.h:121
-
franka::Robot
Maintains a network connection to the robot, provides the current robot state, gives access to the mo...
Definition: robot.h:68
+
franka::Robot
Maintains a network connection to the robot, provides the current robot state, gives access to the mo...
Definition: robot.h:67
franka::Torques
Stores joint-level torque commands without gravity and friction.
Definition: control_types.h:45
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:294
examples_common.h
Contains common types and functions for the examples.
diff --git a/0.14.1/nav_f.png b/0.13.5/nav_f.png similarity index 100% rename from 0.14.1/nav_f.png rename to 0.13.5/nav_f.png diff --git a/0.14.1/nav_g.png b/0.13.5/nav_g.png similarity index 100% rename from 0.14.1/nav_g.png rename to 0.13.5/nav_g.png diff --git a/0.14.1/nav_h.png b/0.13.5/nav_h.png similarity index 100% rename from 0.14.1/nav_h.png rename to 0.13.5/nav_h.png diff --git a/0.14.1/open.png b/0.13.5/open.png similarity index 100% rename from 0.14.1/open.png rename to 0.13.5/open.png diff --git a/0.14.1/print_joint_poses_8cpp-example.html b/0.13.5/print_joint_poses_8cpp-example.html similarity index 97% rename from 0.14.1/print_joint_poses_8cpp-example.html rename to 0.13.5/print_joint_poses_8cpp-example.html index 7565cd6e..487e8570 100644 --- a/0.14.1/print_joint_poses_8cpp-example.html +++ b/0.13.5/print_joint_poses_8cpp-example.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + @@ -116,12 +116,12 @@
return 0;
}
-
franka::Model
Calculates poses of joints and dynamic properties of the robot.
Definition: model.h:52
-
franka::Robot
Maintains a network connection to the robot, provides the current robot state, gives access to the mo...
Definition: robot.h:68
+
franka::Model
Calculates poses of joints and dynamic properties of the robot.
Definition: model.h:51
+
franka::Robot
Maintains a network connection to the robot, provides the current robot state, gives access to the mo...
Definition: robot.h:67
franka::operator<<
std::ostream & operator<<(std::ostream &ostream, const Errors &errors)
Streams the errors as JSON array.
exception.h
Contains exception definitions.
model.h
Contains model library types.
-
franka::Frame
Frame
Enumerates the seven joints, the flange, and the end effector of a robot.
Definition: model.h:22
+
franka::Frame
Frame
Enumerates the seven joints, the flange, and the end effector of a robot.
Definition: model.h:21
franka::Exception
Base class for all exceptions used by libfranka.
Definition: exception.h:20
franka::RobotState
Describes the robot state.
Definition: robot_state.h:34
diff --git a/0.14.1/rate__limiting_8h.html b/0.13.5/rate__limiting_8h.html similarity index 99% rename from 0.14.1/rate__limiting_8h.html rename to 0.13.5/rate__limiting_8h.html index d4d914bf..73512bbe 100644 --- a/0.14.1/rate__limiting_8h.html +++ b/0.13.5/rate__limiting_8h.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/rate__limiting_8h__incl.map b/0.13.5/rate__limiting_8h__incl.map similarity index 100% rename from 0.14.1/rate__limiting_8h__incl.map rename to 0.13.5/rate__limiting_8h__incl.map diff --git a/0.14.1/rate__limiting_8h__incl.md5 b/0.13.5/rate__limiting_8h__incl.md5 similarity index 100% rename from 0.14.1/rate__limiting_8h__incl.md5 rename to 0.13.5/rate__limiting_8h__incl.md5 diff --git a/0.14.1/rate__limiting_8h__incl.png b/0.13.5/rate__limiting_8h__incl.png similarity index 100% rename from 0.14.1/rate__limiting_8h__incl.png rename to 0.13.5/rate__limiting_8h__incl.png diff --git a/0.14.1/rate__limiting_8h_source.html b/0.13.5/rate__limiting_8h_source.html similarity index 99% rename from 0.14.1/rate__limiting_8h_source.html rename to 0.13.5/rate__limiting_8h_source.html index dad8cd6a..fcc2df0c 100644 --- a/0.14.1/rate__limiting_8h_source.html +++ b/0.13.5/rate__limiting_8h_source.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/robot_8h.html b/0.13.5/robot_8h.html similarity index 87% rename from 0.14.1/robot_8h.html rename to 0.13.5/robot_8h.html index b30ebdf0..dd41c9f1 100644 --- a/0.14.1/robot_8h.html +++ b/0.13.5/robot_8h.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + @@ -91,35 +91,31 @@ #include <franka/control_types.h>
#include <franka/duration.h>
#include <franka/lowpass_filter.h>
-#include <franka/robot_model_base.h>
#include <franka/robot_state.h>
#include <research_interface/robot/service_types.h>
-#include <franka/commands/get_robot_model_command.hpp>
Include dependency graph for robot.h:
- + - + - - - - - - - - - - - - + + + + + + + + + +
diff --git a/0.14.1/robot_8h__dep__incl.map b/0.13.5/robot_8h__dep__incl.map similarity index 100% rename from 0.14.1/robot_8h__dep__incl.map rename to 0.13.5/robot_8h__dep__incl.map diff --git a/0.14.1/robot_8h__dep__incl.md5 b/0.13.5/robot_8h__dep__incl.md5 similarity index 100% rename from 0.14.1/robot_8h__dep__incl.md5 rename to 0.13.5/robot_8h__dep__incl.md5 diff --git a/0.14.1/robot_8h__dep__incl.png b/0.13.5/robot_8h__dep__incl.png similarity index 100% rename from 0.14.1/robot_8h__dep__incl.png rename to 0.13.5/robot_8h__dep__incl.png diff --git a/0.13.5/robot_8h__incl.map b/0.13.5/robot_8h__incl.map new file mode 100644 index 00000000..b3bae200 --- /dev/null +++ b/0.13.5/robot_8h__incl.map @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/0.13.5/robot_8h__incl.md5 b/0.13.5/robot_8h__incl.md5 new file mode 100644 index 00000000..7a283eb3 --- /dev/null +++ b/0.13.5/robot_8h__incl.md5 @@ -0,0 +1 @@ +7e58e1636e6895ca00080143cb2bc8dc \ No newline at end of file diff --git a/0.13.5/robot_8h__incl.png b/0.13.5/robot_8h__incl.png new file mode 100644 index 00000000..ab94e1dd Binary files /dev/null and b/0.13.5/robot_8h__incl.png differ diff --git a/0.14.1/robot_8h_source.html b/0.13.5/robot_8h_source.html similarity index 73% rename from 0.14.1/robot_8h_source.html rename to 0.13.5/robot_8h_source.html index 30211d11..e63f481f 100644 --- a/0.14.1/robot_8h_source.html +++ b/0.13.5/robot_8h_source.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + @@ -91,173 +91,165 @@
10 #include <franka/control_types.h>
11 #include <franka/duration.h>
12 #include <franka/lowpass_filter.h>
-
13 #include <franka/robot_model_base.h>
-
14 #include <franka/robot_state.h>
-
15 #include <research_interface/robot/service_types.h>
-
16 #include <franka/commands/get_robot_model_command.hpp>
-
17 
-
22 namespace franka {
-
23 
-
24 class Model;
-
25 
-
26 class ActiveControlBase;
-
27 
-
68 class Robot {
-
69  public:
-
73  using ServerVersion = uint16_t;
-
74 
-
87  explicit Robot(const std::string& franka_address,
-
88  RealtimeConfig realtime_config = RealtimeConfig::kEnforce,
-
89  size_t log_size = 50);
-
90 
-
96  Robot(Robot&& other) noexcept;
-
97 
-
105  Robot& operator=(Robot&& other) noexcept;
-
106 
-
110  virtual ~Robot() noexcept;
-
111 
-
175  void control(std::function<Torques(const RobotState&, franka::Duration)> control_callback,
-
176  bool limit_rate = false,
-
177  double cutoff_frequency = kDefaultCutoffFrequency);
-
178 
-
203  void control(
-
204  std::function<Torques(const RobotState&, franka::Duration)> control_callback,
-
205  std::function<JointPositions(const RobotState&, franka::Duration)> motion_generator_callback,
-
206  bool limit_rate = false,
-
207  double cutoff_frequency = kDefaultCutoffFrequency);
-
208 
-
233  void control(
-
234  std::function<Torques(const RobotState&, franka::Duration)> control_callback,
-
235  std::function<JointVelocities(const RobotState&, franka::Duration)> motion_generator_callback,
-
236  bool limit_rate = false,
-
237  double cutoff_frequency = kDefaultCutoffFrequency);
-
238 
-
263  void control(
-
264  std::function<Torques(const RobotState&, franka::Duration)> control_callback,
-
265  std::function<CartesianPose(const RobotState&, franka::Duration)> motion_generator_callback,
-
266  bool limit_rate = false,
-
267  double cutoff_frequency = kDefaultCutoffFrequency);
-
268 
-
293  void control(std::function<Torques(const RobotState&, franka::Duration)> control_callback,
-
294  std::function<CartesianVelocities(const RobotState&, franka::Duration)>
-
295  motion_generator_callback,
-
296  bool limit_rate = false,
-
297  double cutoff_frequency = kDefaultCutoffFrequency);
-
298 
-
321  void control(
-
322  std::function<JointPositions(const RobotState&, franka::Duration)> motion_generator_callback,
-
323  ControllerMode controller_mode = ControllerMode::kJointImpedance,
-
324  bool limit_rate = false,
-
325  double cutoff_frequency = kDefaultCutoffFrequency);
-
326 
-
349  void control(
-
350  std::function<JointVelocities(const RobotState&, franka::Duration)> motion_generator_callback,
-
351  ControllerMode controller_mode = ControllerMode::kJointImpedance,
-
352  bool limit_rate = false,
-
353  double cutoff_frequency = kDefaultCutoffFrequency);
-
354 
-
377  void control(
-
378  std::function<CartesianPose(const RobotState&, franka::Duration)> motion_generator_callback,
-
379  ControllerMode controller_mode = ControllerMode::kJointImpedance,
-
380  bool limit_rate = false,
-
381  double cutoff_frequency = kDefaultCutoffFrequency);
-
382 
-
405  void control(std::function<CartesianVelocities(const RobotState&, franka::Duration)>
-
406  motion_generator_callback,
-
407  ControllerMode controller_mode = ControllerMode::kJointImpedance,
-
408  bool limit_rate = false,
-
409  double cutoff_frequency = kDefaultCutoffFrequency);
-
410 
-
435  void read(std::function<bool(const RobotState&)> read_callback);
-
436 
-
449  virtual RobotState readOnce();
-
450 
-
465  auto getRobotModel() -> std::string;
-
466 
-
503  void setCollisionBehavior(const std::array<double, 7>& lower_torque_thresholds_acceleration,
-
504  const std::array<double, 7>& upper_torque_thresholds_acceleration,
-
505  const std::array<double, 7>& lower_torque_thresholds_nominal,
-
506  const std::array<double, 7>& upper_torque_thresholds_nominal,
-
507  const std::array<double, 6>& lower_force_thresholds_acceleration,
-
508  const std::array<double, 6>& upper_force_thresholds_acceleration,
-
509  const std::array<double, 6>& lower_force_thresholds_nominal,
-
510  const std::array<double, 6>& upper_force_thresholds_nominal);
-
511 
-
538  void setCollisionBehavior(const std::array<double, 7>& lower_torque_thresholds,
-
539  const std::array<double, 7>& upper_torque_thresholds,
-
540  const std::array<double, 6>& lower_force_thresholds,
-
541  const std::array<double, 6>& upper_force_thresholds);
-
542 
-
554  void setJointImpedance(
-
555  const std::array<double, 7>& K_theta); // NOLINT(readability-identifier-naming)
-
556 
-
571  void setCartesianImpedance(
-
572  const std::array<double, 6>& K_x); // NOLINT(readability-identifier-naming)
-
573 
-
588  void setGuidingMode(const std::array<bool, 6>& guiding_mode, bool elbow);
-
589 
-
602  void setK(const std::array<double, 16>& EE_T_K); // NOLINT(readability-identifier-naming)
-
603 
-
619  void setEE(const std::array<double, 16>& NE_T_EE); // NOLINT(readability-identifier-naming)
-
620 
-
637  void setLoad(double load_mass,
-
638  const std::array<double, 3>& F_x_Cload, // NOLINT(readability-identifier-naming)
-
639  const std::array<double, 9>& load_inertia);
-
640 
-
649  void automaticErrorRecovery();
-
650 
-
662  virtual std::unique_ptr<ActiveControlBase> startTorqueControl();
-
663 
-
677  virtual std::unique_ptr<ActiveControlBase> startJointPositionControl(
-
678  const research_interface::robot::Move::ControllerMode& control_type);
-
679 
-
692  virtual std::unique_ptr<ActiveControlBase> startJointVelocityControl(
-
693  const research_interface::robot::Move::ControllerMode& control_type);
-
694 
-
707  virtual std::unique_ptr<ActiveControlBase> startCartesianPoseControl(
-
708  const research_interface::robot::Move::ControllerMode& control_type);
-
709 
-
723  virtual std::unique_ptr<ActiveControlBase> startCartesianVelocityControl(
-
724  const research_interface::robot::Move::ControllerMode& control_type);
-
725 
-
735  void stop();
-
736 
-
749  Model loadModel();
-
750 
-
751  // Loads the model library for the unittests mockRobotModel
-
752  Model loadModel(std::unique_ptr<RobotModelBase> robot_model);
+
13 #include <franka/robot_state.h>
+
14 #include <research_interface/robot/service_types.h>
+
15 
+
21 namespace franka {
+
22 
+
23 class Model;
+
24 
+
25 class ActiveControlBase;
+
26 
+
67 class Robot {
+
68  public:
+
72  using ServerVersion = uint16_t;
+
73 
+
86  explicit Robot(const std::string& franka_address,
+
87  RealtimeConfig realtime_config = RealtimeConfig::kEnforce,
+
88  size_t log_size = 50);
+
89 
+
95  Robot(Robot&& other) noexcept;
+
96 
+
104  Robot& operator=(Robot&& other) noexcept;
+
105 
+
109  virtual ~Robot() noexcept;
+
110 
+
174  void control(std::function<Torques(const RobotState&, franka::Duration)> control_callback,
+
175  bool limit_rate = false,
+
176  double cutoff_frequency = kDefaultCutoffFrequency);
+
177 
+
202  void control(
+
203  std::function<Torques(const RobotState&, franka::Duration)> control_callback,
+
204  std::function<JointPositions(const RobotState&, franka::Duration)> motion_generator_callback,
+
205  bool limit_rate = false,
+
206  double cutoff_frequency = kDefaultCutoffFrequency);
+
207 
+
232  void control(
+
233  std::function<Torques(const RobotState&, franka::Duration)> control_callback,
+
234  std::function<JointVelocities(const RobotState&, franka::Duration)> motion_generator_callback,
+
235  bool limit_rate = false,
+
236  double cutoff_frequency = kDefaultCutoffFrequency);
+
237 
+
262  void control(
+
263  std::function<Torques(const RobotState&, franka::Duration)> control_callback,
+
264  std::function<CartesianPose(const RobotState&, franka::Duration)> motion_generator_callback,
+
265  bool limit_rate = false,
+
266  double cutoff_frequency = kDefaultCutoffFrequency);
+
267 
+
292  void control(std::function<Torques(const RobotState&, franka::Duration)> control_callback,
+
293  std::function<CartesianVelocities(const RobotState&, franka::Duration)>
+
294  motion_generator_callback,
+
295  bool limit_rate = false,
+
296  double cutoff_frequency = kDefaultCutoffFrequency);
+
297 
+
320  void control(
+
321  std::function<JointPositions(const RobotState&, franka::Duration)> motion_generator_callback,
+
322  ControllerMode controller_mode = ControllerMode::kJointImpedance,
+
323  bool limit_rate = false,
+
324  double cutoff_frequency = kDefaultCutoffFrequency);
+
325 
+
348  void control(
+
349  std::function<JointVelocities(const RobotState&, franka::Duration)> motion_generator_callback,
+
350  ControllerMode controller_mode = ControllerMode::kJointImpedance,
+
351  bool limit_rate = false,
+
352  double cutoff_frequency = kDefaultCutoffFrequency);
+
353 
+
376  void control(
+
377  std::function<CartesianPose(const RobotState&, franka::Duration)> motion_generator_callback,
+
378  ControllerMode controller_mode = ControllerMode::kJointImpedance,
+
379  bool limit_rate = false,
+
380  double cutoff_frequency = kDefaultCutoffFrequency);
+
381 
+
404  void control(std::function<CartesianVelocities(const RobotState&, franka::Duration)>
+
405  motion_generator_callback,
+
406  ControllerMode controller_mode = ControllerMode::kJointImpedance,
+
407  bool limit_rate = false,
+
408  double cutoff_frequency = kDefaultCutoffFrequency);
+
409 
+
434  void read(std::function<bool(const RobotState&)> read_callback);
+
435 
+
448  virtual RobotState readOnce();
+
449 
+
494  void setCollisionBehavior(const std::array<double, 7>& lower_torque_thresholds_acceleration,
+
495  const std::array<double, 7>& upper_torque_thresholds_acceleration,
+
496  const std::array<double, 7>& lower_torque_thresholds_nominal,
+
497  const std::array<double, 7>& upper_torque_thresholds_nominal,
+
498  const std::array<double, 6>& lower_force_thresholds_acceleration,
+
499  const std::array<double, 6>& upper_force_thresholds_acceleration,
+
500  const std::array<double, 6>& lower_force_thresholds_nominal,
+
501  const std::array<double, 6>& upper_force_thresholds_nominal);
+
502 
+
529  void setCollisionBehavior(const std::array<double, 7>& lower_torque_thresholds,
+
530  const std::array<double, 7>& upper_torque_thresholds,
+
531  const std::array<double, 6>& lower_force_thresholds,
+
532  const std::array<double, 6>& upper_force_thresholds);
+
533 
+
545  void setJointImpedance(
+
546  const std::array<double, 7>& K_theta); // NOLINT(readability-identifier-naming)
+
547 
+
562  void setCartesianImpedance(
+
563  const std::array<double, 6>& K_x); // NOLINT(readability-identifier-naming)
+
564 
+
579  void setGuidingMode(const std::array<bool, 6>& guiding_mode, bool elbow);
+
580 
+
593  void setK(const std::array<double, 16>& EE_T_K); // NOLINT(readability-identifier-naming)
+
594 
+
610  void setEE(const std::array<double, 16>& NE_T_EE); // NOLINT(readability-identifier-naming)
+
611 
+
628  void setLoad(double load_mass,
+
629  const std::array<double, 3>& F_x_Cload, // NOLINT(readability-identifier-naming)
+
630  const std::array<double, 9>& load_inertia);
+
631 
+
640  void automaticErrorRecovery();
+
641 
+
653  virtual std::unique_ptr<ActiveControlBase> startTorqueControl();
+
654 
+
668  virtual std::unique_ptr<ActiveControlBase> startJointPositionControl(
+
669  const research_interface::robot::Move::ControllerMode& control_type);
+
670 
+
683  virtual std::unique_ptr<ActiveControlBase> startJointVelocityControl(
+
684  const research_interface::robot::Move::ControllerMode& control_type);
+
685 
+
698  virtual std::unique_ptr<ActiveControlBase> startCartesianPoseControl(
+
699  const research_interface::robot::Move::ControllerMode& control_type);
+
700 
+
714  virtual std::unique_ptr<ActiveControlBase> startCartesianVelocityControl(
+
715  const research_interface::robot::Move::ControllerMode& control_type);
+
716 
+
726  void stop();
+
727 
+
740  Model loadModel();
+
741 
+
747  ServerVersion serverVersion() const noexcept;
+
748 
+
750  Robot(const Robot&) = delete;
+
751  Robot& operator=(const Robot&) = delete;
753 
-
759  ServerVersion serverVersion() const noexcept;
-
760 
-
762  Robot(const Robot&) = delete;
-
763  Robot& operator=(const Robot&) = delete;
-
765 
-
766  class Impl;
-
767 
-
768  protected:
-
774  Robot(std::shared_ptr<Impl> robot_impl);
-
775 
-
779  Robot() = default;
-
780 
-
781  private:
-
796  template <typename T>
-
797  std::unique_ptr<ActiveControlBase> startControl(
-
798  const research_interface::robot::Move::ControllerMode& controller_type);
-
799 
-
800  std::shared_ptr<Impl> impl_;
-
801  std::mutex control_mutex_;
-
802 };
-
803 
-
804 } // namespace franka
-
RobotModelBase
Robot dynamic parameters computed from the URDF model with Pinocchio.
Definition: robot_model_base.h:10
+
754  class Impl;
+
755 
+
756  protected:
+
762  Robot(std::shared_ptr<Impl> robot_impl);
+
763 
+
767  Robot() = default;
+
768 
+
769  private:
+
784  template <typename T>
+
785  std::unique_ptr<ActiveControlBase> startControl(
+
786  const research_interface::robot::Move::ControllerMode& controller_type);
+
787 
+
788  std::shared_ptr<Impl> impl_;
+
789  std::mutex control_mutex_;
+
790 };
+
791 
+
792 } // namespace franka
franka::ActiveControlBase
Allows the user to read the state of a Robot and to send new control commands after starting a contro...
Definition: active_control_base.h:27
franka::CartesianPose
Stores values for Cartesian pose motion generation.
Definition: control_types.h:127
franka::CartesianVelocities
Stores values for Cartesian velocity motion generation.
Definition: control_types.h:211
franka::Duration
Represents a duration with millisecond resolution.
Definition: duration.h:19
franka::JointPositions
Stores values for joint position motion generation.
Definition: control_types.h:72
franka::JointVelocities
Stores values for joint velocity motion generation.
Definition: control_types.h:99
-
franka::Model
Calculates poses of joints and dynamic properties of the robot.
Definition: model.h:52
-
franka::Robot
Maintains a network connection to the robot, provides the current robot state, gives access to the mo...
Definition: robot.h:68
+
franka::Model
Calculates poses of joints and dynamic properties of the robot.
Definition: model.h:51
+
franka::Robot
Maintains a network connection to the robot, provides the current robot state, gives access to the mo...
Definition: robot.h:67
franka::Robot::control
void control(std::function< Torques(const RobotState &, franka::Duration)> control_callback, bool limit_rate=false, double cutoff_frequency=kDefaultCutoffFrequency)
Starts a control loop for sending joint-level torque commands.
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::loadModel
Model loadModel()
Loads the model library from the robot.
@@ -265,7 +257,6 @@
franka::Robot::Robot
Robot(Robot &&other) noexcept
Move-constructs a new Robot instance.
franka::Robot::startCartesianPoseControl
virtual std::unique_ptr< ActiveControlBase > startCartesianPoseControl(const research_interface::robot::Move::ControllerMode &control_type)
Starts a new cartesian position motion generator.
franka::Robot::serverVersion
ServerVersion serverVersion() const noexcept
Returns the software version reported by the connected server.
-
franka::Robot::getRobotModel
auto getRobotModel() -> std::string
franka::Robot::stop
void stop()
Stops all currently running motions.
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::Robot::startTorqueControl
virtual std::unique_ptr< ActiveControlBase > startTorqueControl()
Starts a new torque controller.
@@ -276,7 +267,7 @@
franka::Robot::setCartesianImpedance
void setCartesianImpedance(const std::array< double, 6 > &K_x)
Sets the Cartesian stiffness/compliance (for x, y, z, roll, pitch, yaw) in the internal controller.
franka::Robot::startJointPositionControl
virtual std::unique_ptr< ActiveControlBase > startJointPositionControl(const research_interface::robot::Move::ControllerMode &control_type)
Starts a new joint position motion generator.
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::ServerVersion
uint16_t ServerVersion
Version of the robot server.
Definition: robot.h:73
+
franka::Robot::ServerVersion
uint16_t ServerVersion
Version of the robot server.
Definition: robot.h:72
franka::Robot::readOnce
virtual RobotState readOnce()
Waits for a robot state update and returns it.
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::startJointVelocityControl
virtual std::unique_ptr< ActiveControlBase > startJointVelocityControl(const research_interface::robot::Move::ControllerMode &control_type)
Starts a new joint velocity motion generator.
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libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/robot__state_8h__dep__incl.map b/0.13.5/robot__state_8h__dep__incl.map similarity index 100% rename from 0.14.1/robot__state_8h__dep__incl.map rename to 0.13.5/robot__state_8h__dep__incl.map diff --git a/0.14.1/robot__state_8h__dep__incl.md5 b/0.13.5/robot__state_8h__dep__incl.md5 similarity index 100% rename from 0.14.1/robot__state_8h__dep__incl.md5 rename to 0.13.5/robot__state_8h__dep__incl.md5 diff --git a/0.14.1/robot__state_8h__dep__incl.png b/0.13.5/robot__state_8h__dep__incl.png similarity index 100% rename from 0.14.1/robot__state_8h__dep__incl.png rename to 0.13.5/robot__state_8h__dep__incl.png diff --git a/0.14.1/robot__state_8h__incl.map b/0.13.5/robot__state_8h__incl.map similarity index 100% rename from 0.14.1/robot__state_8h__incl.map rename to 0.13.5/robot__state_8h__incl.map diff --git a/0.14.1/robot__state_8h__incl.md5 b/0.13.5/robot__state_8h__incl.md5 similarity index 100% rename from 0.14.1/robot__state_8h__incl.md5 rename to 0.13.5/robot__state_8h__incl.md5 diff --git a/0.14.1/robot__state_8h__incl.png b/0.13.5/robot__state_8h__incl.png similarity index 100% rename from 0.14.1/robot__state_8h__incl.png rename to 0.13.5/robot__state_8h__incl.png diff --git a/0.14.1/robot__state_8h_source.html b/0.13.5/robot__state_8h_source.html similarity index 99% rename from 0.14.1/robot__state_8h_source.html rename to 0.13.5/robot__state_8h_source.html index 46a4ef04..3f85ea58 100644 --- a/0.14.1/robot__state_8h_source.html +++ b/0.13.5/robot__state_8h_source.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + @@ -79,7 +79,7 @@
robot_state.h
-Go to the documentation of this file.
1 // Copyright (c) 2024 Franka Robotics GmbH
+Go to the documentation of this file.
1 // Copyright (c) 2023 Franka Robotics GmbH
2 // Use of this source code is governed by the Apache-2.0 license, see LICENSE
3 #pragma once
4 
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FCI C++ API
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libfranka -  0.14.1 +  0.13.5
FCI C++ API
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libfranka -  0.14.1 +  0.13.5
FCI C++ API
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libfranka -  0.14.1 +  0.13.5
FCI C++ API
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libfranka -  0.14.1 +  0.13.5
FCI C++ API
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libfranka -  0.14.1 +  0.13.5
FCI C++ API
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libfranka -  0.14.1 +  0.13.5
FCI C++ API
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libfranka -  0.14.1 +  0.13.5
FCI C++ API
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libfranka -  0.14.1 +  0.13.5
FCI C++ API
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libfranka -  0.14.1 +  0.13.5
FCI C++ API
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libfranka -  0.14.1 +  0.13.5
FCI C++ API
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libfranka -  0.14.1 +  0.13.5
FCI C++ API
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libfranka -  0.14.1 +  0.13.5
FCI C++ API
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libfranka -  0.14.1 +  0.13.5
FCI C++ API
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libfranka -  0.14.1 +  0.13.5
FCI C++ API
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libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/structfranka_1_1ProtocolException__coll__graph.map b/0.13.5/structfranka_1_1ProtocolException__coll__graph.map similarity index 100% rename from 0.14.1/structfranka_1_1ProtocolException__coll__graph.map rename to 0.13.5/structfranka_1_1ProtocolException__coll__graph.map diff --git a/0.14.1/structfranka_1_1ProtocolException__coll__graph.md5 b/0.13.5/structfranka_1_1ProtocolException__coll__graph.md5 similarity index 100% rename from 0.14.1/structfranka_1_1ProtocolException__coll__graph.md5 rename to 0.13.5/structfranka_1_1ProtocolException__coll__graph.md5 diff --git a/0.14.1/structfranka_1_1ProtocolException__coll__graph.png b/0.13.5/structfranka_1_1ProtocolException__coll__graph.png similarity index 100% rename from 0.14.1/structfranka_1_1ProtocolException__coll__graph.png rename to 0.13.5/structfranka_1_1ProtocolException__coll__graph.png diff --git a/0.14.1/structfranka_1_1ProtocolException__inherit__graph.map b/0.13.5/structfranka_1_1ProtocolException__inherit__graph.map similarity index 100% rename from 0.14.1/structfranka_1_1ProtocolException__inherit__graph.map rename to 0.13.5/structfranka_1_1ProtocolException__inherit__graph.map diff --git a/0.14.1/structfranka_1_1ProtocolException__inherit__graph.md5 b/0.13.5/structfranka_1_1ProtocolException__inherit__graph.md5 similarity index 100% rename from 0.14.1/structfranka_1_1ProtocolException__inherit__graph.md5 rename to 0.13.5/structfranka_1_1ProtocolException__inherit__graph.md5 diff --git a/0.14.1/structfranka_1_1ProtocolException__inherit__graph.png b/0.13.5/structfranka_1_1ProtocolException__inherit__graph.png similarity index 100% rename from 0.14.1/structfranka_1_1ProtocolException__inherit__graph.png rename to 0.13.5/structfranka_1_1ProtocolException__inherit__graph.png diff --git a/0.14.1/structfranka_1_1RealtimeException.html b/0.13.5/structfranka_1_1RealtimeException.html similarity index 97% rename from 0.14.1/structfranka_1_1RealtimeException.html rename to 0.13.5/structfranka_1_1RealtimeException.html index e5557083..1faa2770 100644 --- a/0.14.1/structfranka_1_1RealtimeException.html +++ b/0.13.5/structfranka_1_1RealtimeException.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/structfranka_1_1RealtimeException__coll__graph.map b/0.13.5/structfranka_1_1RealtimeException__coll__graph.map similarity index 100% rename from 0.14.1/structfranka_1_1RealtimeException__coll__graph.map rename to 0.13.5/structfranka_1_1RealtimeException__coll__graph.map diff --git a/0.14.1/structfranka_1_1RealtimeException__coll__graph.md5 b/0.13.5/structfranka_1_1RealtimeException__coll__graph.md5 similarity index 100% rename from 0.14.1/structfranka_1_1RealtimeException__coll__graph.md5 rename to 0.13.5/structfranka_1_1RealtimeException__coll__graph.md5 diff --git a/0.14.1/structfranka_1_1RealtimeException__coll__graph.png b/0.13.5/structfranka_1_1RealtimeException__coll__graph.png similarity index 100% rename from 0.14.1/structfranka_1_1RealtimeException__coll__graph.png rename to 0.13.5/structfranka_1_1RealtimeException__coll__graph.png diff --git a/0.14.1/structfranka_1_1RealtimeException__inherit__graph.map b/0.13.5/structfranka_1_1RealtimeException__inherit__graph.map similarity index 100% rename from 0.14.1/structfranka_1_1RealtimeException__inherit__graph.map rename to 0.13.5/structfranka_1_1RealtimeException__inherit__graph.map diff --git a/0.14.1/structfranka_1_1RealtimeException__inherit__graph.md5 b/0.13.5/structfranka_1_1RealtimeException__inherit__graph.md5 similarity index 100% rename from 0.14.1/structfranka_1_1RealtimeException__inherit__graph.md5 rename to 0.13.5/structfranka_1_1RealtimeException__inherit__graph.md5 diff --git a/0.14.1/structfranka_1_1RealtimeException__inherit__graph.png b/0.13.5/structfranka_1_1RealtimeException__inherit__graph.png similarity index 100% rename from 0.14.1/structfranka_1_1RealtimeException__inherit__graph.png rename to 0.13.5/structfranka_1_1RealtimeException__inherit__graph.png diff --git a/0.14.1/structfranka_1_1Record-members.html b/0.13.5/structfranka_1_1Record-members.html similarity index 96% rename from 0.14.1/structfranka_1_1Record-members.html rename to 0.13.5/structfranka_1_1Record-members.html index 18417661..e3e23766 100644 --- a/0.14.1/structfranka_1_1Record-members.html +++ b/0.13.5/structfranka_1_1Record-members.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/structfranka_1_1Record.html b/0.13.5/structfranka_1_1Record.html similarity index 98% rename from 0.14.1/structfranka_1_1Record.html rename to 0.13.5/structfranka_1_1Record.html index 474adf98..7f10fd37 100644 --- a/0.14.1/structfranka_1_1Record.html +++ b/0.13.5/structfranka_1_1Record.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/structfranka_1_1Record__coll__graph.map b/0.13.5/structfranka_1_1Record__coll__graph.map similarity index 100% rename from 0.14.1/structfranka_1_1Record__coll__graph.map rename to 0.13.5/structfranka_1_1Record__coll__graph.map diff --git a/0.14.1/structfranka_1_1Record__coll__graph.md5 b/0.13.5/structfranka_1_1Record__coll__graph.md5 similarity index 100% rename from 0.14.1/structfranka_1_1Record__coll__graph.md5 rename to 0.13.5/structfranka_1_1Record__coll__graph.md5 diff --git a/0.14.1/structfranka_1_1Record__coll__graph.png b/0.13.5/structfranka_1_1Record__coll__graph.png similarity index 100% rename from 0.14.1/structfranka_1_1Record__coll__graph.png rename to 0.13.5/structfranka_1_1Record__coll__graph.png diff --git a/0.14.1/structfranka_1_1RobotCommand-members.html b/0.13.5/structfranka_1_1RobotCommand-members.html similarity index 97% rename from 0.14.1/structfranka_1_1RobotCommand-members.html rename to 0.13.5/structfranka_1_1RobotCommand-members.html index 0690bb66..0c44393b 100644 --- a/0.14.1/structfranka_1_1RobotCommand-members.html +++ b/0.13.5/structfranka_1_1RobotCommand-members.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/structfranka_1_1RobotCommand.html b/0.13.5/structfranka_1_1RobotCommand.html similarity index 98% rename from 0.14.1/structfranka_1_1RobotCommand.html rename to 0.13.5/structfranka_1_1RobotCommand.html index 074a4476..244ab4f7 100644 --- a/0.14.1/structfranka_1_1RobotCommand.html +++ b/0.13.5/structfranka_1_1RobotCommand.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/structfranka_1_1RobotCommand__coll__graph.map b/0.13.5/structfranka_1_1RobotCommand__coll__graph.map similarity index 100% rename from 0.14.1/structfranka_1_1RobotCommand__coll__graph.map rename to 0.13.5/structfranka_1_1RobotCommand__coll__graph.map diff --git a/0.14.1/structfranka_1_1RobotCommand__coll__graph.md5 b/0.13.5/structfranka_1_1RobotCommand__coll__graph.md5 similarity index 100% rename from 0.14.1/structfranka_1_1RobotCommand__coll__graph.md5 rename to 0.13.5/structfranka_1_1RobotCommand__coll__graph.md5 diff --git a/0.14.1/structfranka_1_1RobotCommand__coll__graph.png b/0.13.5/structfranka_1_1RobotCommand__coll__graph.png similarity index 100% rename from 0.14.1/structfranka_1_1RobotCommand__coll__graph.png rename to 0.13.5/structfranka_1_1RobotCommand__coll__graph.png diff --git a/0.14.1/structfranka_1_1RobotState-members.html b/0.13.5/structfranka_1_1RobotState-members.html similarity index 99% rename from 0.14.1/structfranka_1_1RobotState-members.html rename to 0.13.5/structfranka_1_1RobotState-members.html index 414740eb..c8da13d9 100644 --- a/0.14.1/structfranka_1_1RobotState-members.html +++ b/0.13.5/structfranka_1_1RobotState-members.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/structfranka_1_1RobotState.html b/0.13.5/structfranka_1_1RobotState.html similarity index 98% rename from 0.14.1/structfranka_1_1RobotState.html rename to 0.13.5/structfranka_1_1RobotState.html index f8d7e14a..ef9ccae1 100644 --- a/0.14.1/structfranka_1_1RobotState.html +++ b/0.13.5/structfranka_1_1RobotState.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + @@ -485,8 +485,6 @@

Examples
generate_elbow_motion.cpp.
- @@ -513,6 +511,8 @@

Examples
generate_elbow_motion.cpp.
+ @@ -764,7 +764,7 @@

base frame.

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

-
Examples
cartesian_impedance_control.cpp, generate_cartesian_pose_motion.cpp, and generate_elbow_motion.cpp.
+
Examples
cartesian_impedance_control.cpp.
@@ -783,6 +783,8 @@

base frame.

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

+
Examples
generate_cartesian_pose_motion.cpp, and generate_elbow_motion.cpp.
+
@@ -817,7 +819,7 @@

Examples
cartesian_impedance_control.cpp, generate_joint_position_motion.cpp, motion_with_control.cpp, and motion_with_control_external_control_loop.cpp.
+
Examples
cartesian_impedance_control.cpp, motion_with_control.cpp, and motion_with_control_external_control_loop.cpp.
@@ -836,7 +838,7 @@

Examples
motion_with_control.cpp, and motion_with_control_external_control_loop.cpp.
+
Examples
generate_joint_position_motion.cpp, motion_with_control.cpp, and motion_with_control_external_control_loop.cpp.
diff --git a/0.14.1/structfranka_1_1RobotState__coll__graph.map b/0.13.5/structfranka_1_1RobotState__coll__graph.map similarity index 100% rename from 0.14.1/structfranka_1_1RobotState__coll__graph.map rename to 0.13.5/structfranka_1_1RobotState__coll__graph.map diff --git a/0.14.1/structfranka_1_1RobotState__coll__graph.md5 b/0.13.5/structfranka_1_1RobotState__coll__graph.md5 similarity index 100% rename from 0.14.1/structfranka_1_1RobotState__coll__graph.md5 rename to 0.13.5/structfranka_1_1RobotState__coll__graph.md5 diff --git a/0.14.1/structfranka_1_1RobotState__coll__graph.png b/0.13.5/structfranka_1_1RobotState__coll__graph.png similarity index 100% rename from 0.14.1/structfranka_1_1RobotState__coll__graph.png rename to 0.13.5/structfranka_1_1RobotState__coll__graph.png diff --git a/0.14.1/structfranka_1_1VacuumGripperState-members.html b/0.13.5/structfranka_1_1VacuumGripperState-members.html similarity index 97% rename from 0.14.1/structfranka_1_1VacuumGripperState-members.html rename to 0.13.5/structfranka_1_1VacuumGripperState-members.html index 47e88c61..cc8e0043 100644 --- a/0.14.1/structfranka_1_1VacuumGripperState-members.html +++ b/0.13.5/structfranka_1_1VacuumGripperState-members.html @@ -27,10 +27,10 @@

libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/structfranka_1_1VacuumGripperState.html b/0.13.5/structfranka_1_1VacuumGripperState.html similarity index 98% rename from 0.14.1/structfranka_1_1VacuumGripperState.html rename to 0.13.5/structfranka_1_1VacuumGripperState.html index 11ec1438..5a7675cd 100644 --- a/0.14.1/structfranka_1_1VacuumGripperState.html +++ b/0.13.5/structfranka_1_1VacuumGripperState.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/structfranka_1_1VacuumGripperState__coll__graph.map b/0.13.5/structfranka_1_1VacuumGripperState__coll__graph.map similarity index 100% rename from 0.14.1/structfranka_1_1VacuumGripperState__coll__graph.map rename to 0.13.5/structfranka_1_1VacuumGripperState__coll__graph.map diff --git a/0.14.1/structfranka_1_1VacuumGripperState__coll__graph.md5 b/0.13.5/structfranka_1_1VacuumGripperState__coll__graph.md5 similarity index 100% rename from 0.14.1/structfranka_1_1VacuumGripperState__coll__graph.md5 rename to 0.13.5/structfranka_1_1VacuumGripperState__coll__graph.md5 diff --git a/0.14.1/structfranka_1_1VacuumGripperState__coll__graph.png b/0.13.5/structfranka_1_1VacuumGripperState__coll__graph.png similarity index 100% rename from 0.14.1/structfranka_1_1VacuumGripperState__coll__graph.png rename to 0.13.5/structfranka_1_1VacuumGripperState__coll__graph.png diff --git a/0.14.1/sync_off.png b/0.13.5/sync_off.png similarity index 100% rename from 0.14.1/sync_off.png rename to 0.13.5/sync_off.png diff --git a/0.14.1/sync_on.png b/0.13.5/sync_on.png similarity index 100% rename from 0.14.1/sync_on.png rename to 0.13.5/sync_on.png diff --git a/0.14.1/tab_a.png b/0.13.5/tab_a.png similarity index 100% rename from 0.14.1/tab_a.png rename to 0.13.5/tab_a.png diff --git a/0.14.1/tab_b.png b/0.13.5/tab_b.png similarity index 100% rename from 0.14.1/tab_b.png rename to 0.13.5/tab_b.png diff --git a/0.14.1/tab_h.png b/0.13.5/tab_h.png similarity index 100% rename from 0.14.1/tab_h.png rename to 0.13.5/tab_h.png diff --git a/0.14.1/tab_s.png b/0.13.5/tab_s.png similarity index 100% rename from 0.14.1/tab_s.png rename to 0.13.5/tab_s.png diff --git a/0.14.1/tabs.css b/0.13.5/tabs.css similarity index 100% rename from 0.14.1/tabs.css rename to 0.13.5/tabs.css diff --git a/0.14.1/vacuum__gripper_8h.html b/0.13.5/vacuum__gripper_8h.html similarity index 98% rename from 0.14.1/vacuum__gripper_8h.html rename to 0.13.5/vacuum__gripper_8h.html index b992b27b..a9cc91d8 100644 --- a/0.14.1/vacuum__gripper_8h.html +++ b/0.13.5/vacuum__gripper_8h.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/vacuum__gripper_8h__incl.map b/0.13.5/vacuum__gripper_8h__incl.map similarity index 100% rename from 0.14.1/vacuum__gripper_8h__incl.map rename to 0.13.5/vacuum__gripper_8h__incl.map diff --git a/0.14.1/vacuum__gripper_8h__incl.md5 b/0.13.5/vacuum__gripper_8h__incl.md5 similarity index 100% rename from 0.14.1/vacuum__gripper_8h__incl.md5 rename to 0.13.5/vacuum__gripper_8h__incl.md5 diff --git a/0.14.1/vacuum__gripper_8h__incl.png b/0.13.5/vacuum__gripper_8h__incl.png similarity index 100% rename from 0.14.1/vacuum__gripper_8h__incl.png rename to 0.13.5/vacuum__gripper_8h__incl.png diff --git a/0.14.1/vacuum__gripper_8h_source.html b/0.13.5/vacuum__gripper_8h_source.html similarity index 99% rename from 0.14.1/vacuum__gripper_8h_source.html rename to 0.13.5/vacuum__gripper_8h_source.html index 9f9f40a3..69f5e421 100644 --- a/0.14.1/vacuum__gripper_8h_source.html +++ b/0.13.5/vacuum__gripper_8h_source.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/vacuum__gripper__state_8h.html b/0.13.5/vacuum__gripper__state_8h.html similarity index 98% rename from 0.14.1/vacuum__gripper__state_8h.html rename to 0.13.5/vacuum__gripper__state_8h.html index 9a3fe7c1..c8716db9 100644 --- a/0.14.1/vacuum__gripper__state_8h.html +++ b/0.13.5/vacuum__gripper__state_8h.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/vacuum__gripper__state_8h__dep__incl.map b/0.13.5/vacuum__gripper__state_8h__dep__incl.map similarity index 100% rename from 0.14.1/vacuum__gripper__state_8h__dep__incl.map rename to 0.13.5/vacuum__gripper__state_8h__dep__incl.map diff --git a/0.14.1/vacuum__gripper__state_8h__dep__incl.md5 b/0.13.5/vacuum__gripper__state_8h__dep__incl.md5 similarity index 100% rename from 0.14.1/vacuum__gripper__state_8h__dep__incl.md5 rename to 0.13.5/vacuum__gripper__state_8h__dep__incl.md5 diff --git a/0.14.1/vacuum__gripper__state_8h__dep__incl.png b/0.13.5/vacuum__gripper__state_8h__dep__incl.png similarity index 100% rename from 0.14.1/vacuum__gripper__state_8h__dep__incl.png rename to 0.13.5/vacuum__gripper__state_8h__dep__incl.png diff --git a/0.14.1/vacuum__gripper__state_8h__incl.map b/0.13.5/vacuum__gripper__state_8h__incl.map similarity index 100% rename from 0.14.1/vacuum__gripper__state_8h__incl.map rename to 0.13.5/vacuum__gripper__state_8h__incl.map diff --git a/0.14.1/vacuum__gripper__state_8h__incl.md5 b/0.13.5/vacuum__gripper__state_8h__incl.md5 similarity index 100% rename from 0.14.1/vacuum__gripper__state_8h__incl.md5 rename to 0.13.5/vacuum__gripper__state_8h__incl.md5 diff --git a/0.14.1/vacuum__gripper__state_8h__incl.png b/0.13.5/vacuum__gripper__state_8h__incl.png similarity index 100% rename from 0.14.1/vacuum__gripper__state_8h__incl.png rename to 0.13.5/vacuum__gripper__state_8h__incl.png diff --git a/0.14.1/vacuum__gripper__state_8h_source.html b/0.13.5/vacuum__gripper__state_8h_source.html similarity index 99% rename from 0.14.1/vacuum__gripper__state_8h_source.html rename to 0.13.5/vacuum__gripper__state_8h_source.html index da8ef596..8ddc7e77 100644 --- a/0.14.1/vacuum__gripper__state_8h_source.html +++ b/0.13.5/vacuum__gripper__state_8h_source.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/vacuum_object_8cpp-example.html b/0.13.5/vacuum_object_8cpp-example.html similarity index 98% rename from 0.14.1/vacuum_object_8cpp-example.html rename to 0.13.5/vacuum_object_8cpp-example.html index e65dc3ef..3fd11fc0 100644 --- a/0.14.1/vacuum_object_8cpp-example.html +++ b/0.13.5/vacuum_object_8cpp-example.html @@ -27,10 +27,10 @@
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- + diff --git a/0.14.1/active__control_8h__incl.map b/0.14.1/active__control_8h__incl.map deleted file mode 100644 index 5b10d8e2..00000000 --- a/0.14.1/active__control_8h__incl.map +++ /dev/null @@ -1,30 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/0.14.1/active__control_8h__incl.md5 b/0.14.1/active__control_8h__incl.md5 deleted file mode 100644 index b8f86930..00000000 --- a/0.14.1/active__control_8h__incl.md5 +++ /dev/null @@ -1 +0,0 @@ -023ffc9f29468d08c3bc15bf2684a02f \ No newline at end of file diff --git a/0.14.1/active__control_8h__incl.png b/0.14.1/active__control_8h__incl.png deleted file mode 100644 index a2ca9250..00000000 Binary files a/0.14.1/active__control_8h__incl.png and /dev/null differ diff --git a/0.14.1/active__motion__generator_8h__incl.map b/0.14.1/active__motion__generator_8h__incl.map deleted file mode 100644 index 0065912b..00000000 --- a/0.14.1/active__motion__generator_8h__incl.map +++ /dev/null @@ -1,31 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/0.14.1/active__motion__generator_8h__incl.md5 b/0.14.1/active__motion__generator_8h__incl.md5 deleted file mode 100644 index b74f747e..00000000 --- a/0.14.1/active__motion__generator_8h__incl.md5 +++ /dev/null @@ -1 +0,0 @@ -136cc88766ca8f4ab2e394bce22ab51f \ No newline at end of file diff --git a/0.14.1/active__motion__generator_8h__incl.png b/0.14.1/active__motion__generator_8h__incl.png deleted file mode 100644 index 748cb39d..00000000 Binary files a/0.14.1/active__motion__generator_8h__incl.png and /dev/null differ diff --git a/0.14.1/active__torque__control_8h__incl.map b/0.14.1/active__torque__control_8h__incl.map deleted file mode 100644 index 2f24fc60..00000000 --- a/0.14.1/active__torque__control_8h__incl.map +++ /dev/null @@ -1,31 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/0.14.1/active__torque__control_8h__incl.md5 b/0.14.1/active__torque__control_8h__incl.md5 deleted file mode 100644 index 9128abbe..00000000 --- a/0.14.1/active__torque__control_8h__incl.md5 +++ /dev/null @@ -1 +0,0 @@ -b31b574c20f489381f32fd3c62c8b7a4 \ No newline at end of file diff --git a/0.14.1/active__torque__control_8h__incl.png b/0.14.1/active__torque__control_8h__incl.png deleted file mode 100644 index fd37df68..00000000 Binary files a/0.14.1/active__torque__control_8h__incl.png and /dev/null differ diff --git a/0.14.1/classRobotModelBase-members.html b/0.14.1/classRobotModelBase-members.html deleted file mode 100644 index 0aa0a747..00000000 --- a/0.14.1/classRobotModelBase-members.html +++ /dev/null @@ -1,91 +0,0 @@ - - - - - - - -libfranka: Member List - - - - - - - - - - - -
-
-
libfranka -  0.14.1 +  0.13.5
FCI C++ API
- - - - - - -
-
libfranka -  0.14.1 -
-
FCI C++ API
-
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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, std::array< double, 7 > &c_ne)=0RobotModelBasepure virtual
gravity(const std::array< double, 7 > &q, const std::array< double, 3 > &g_earth, double m_total, const std::array< double, 3 > &f_x_ctotal, std::array< double, 7 > &g_ne)=0RobotModelBasepure virtual
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, std::array< double, 49 > &m_ne)=0RobotModelBasepure virtual
~RobotModelBase()=default (defined in RobotModelBase)RobotModelBasevirtual
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RobotModelBase Class Referenceabstract
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Robot dynamic parameters computed from the URDF model with Pinocchio. - More...

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#include <robot_model_base.h>

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virtual void 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, std::array< double, 7 > &c_ne)=0
 Calculates the Coriolis force vector (state-space equation): \( c= C \times dq\), in \([Nm]\). More...
 
virtual void gravity (const std::array< double, 7 > &q, const std::array< double, 3 > &g_earth, double m_total, const std::array< double, 3 > &f_x_ctotal, std::array< double, 7 > &g_ne)=0
 Calculates the gravity vector. More...
 
virtual void 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, std::array< double, 49 > &m_ne)=0
 Calculates the 7x7 mass matrix. More...
 
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Robot dynamic parameters computed from the URDF model with Pinocchio.

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Member Function Documentation

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◆ coriolis()

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virtual void RobotModelBase::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,
std::array< double, 7 > & c_ne 
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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: \([m]\).
[out]c_neCoriolis force vector. Unit: \([Nm]\).
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Implemented in franka::RobotModel.

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◆ gravity()

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virtual void RobotModelBase::gravity (const std::array< double, 7 > & q,
const std::array< double, 3 > & g_earth,
double m_total,
const std::array< double, 3 > & f_x_ctotal,
std::array< double, 7 > & g_ne 
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Calculates the gravity vector.

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Unit: \([Nm]\).

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[in]qJoint position.
[in]gravity_earthEarth's gravity vector. Unit: \(\frac{m}{s^2}\).
[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.
[out]g_neGravity vector. Unit: \([Nm]\).
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◆ mass()

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virtual void RobotModelBase::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,
std::array< double, 49 > & m_ne 
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Calculates the 7x7 mass matrix.

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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: \([m]\).
[out]m_neVectorized 7x7 mass matrix, column-major.
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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, std::array< double, 7 > &c_ne) overridefranka::RobotModelvirtual
gravity(const std::array< double, 7 > &q, const std::array< double, 3 > &g_earth, double m_total, const std::array< double, 3 > &f_x_ctotal, std::array< double, 7 > &g_ne) overridefranka::RobotModelvirtual
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, std::array< double, 49 > &m_ne) overridefranka::RobotModelvirtual
RobotModel(const std::string &urdf) (defined in franka::RobotModel)franka::RobotModel
~RobotModelBase()=default (defined in RobotModelBase)RobotModelBasevirtual
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Implements RobotModelBase using Pinocchio. - More...

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#include <robot_model.h>

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- RobotModel (const std::string &urdf)
 
void 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, std::array< double, 7 > &c_ne) override
 Calculates the Coriolis force vector (state-space equation): \( c= C \times dq\), in \([Nm]\). More...
 
void gravity (const std::array< double, 7 > &q, const std::array< double, 3 > &g_earth, double m_total, const std::array< double, 3 > &f_x_ctotal, std::array< double, 7 > &g_ne) override
 Calculates the gravity vector. More...
 
void 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, std::array< double, 49 > &m_ne) override
 Calculates the 7x7 mass matrix. More...
 
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Implements RobotModelBase using Pinocchio.

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Member Function Documentation

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◆ coriolis()

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void franka::RobotModel::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,
std::array< double, 7 > & c_ne 
)
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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: \([m]\).
[out]c_neCoriolis force vector. Unit: \([Nm]\).
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Implements RobotModelBase.

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◆ gravity()

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void franka::RobotModel::gravity (const std::array< double, 7 > & q,
const std::array< double, 3 > & g_earth,
double m_total,
const std::array< double, 3 > & f_x_ctotal,
std::array< double, 7 > & g_ne 
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Calculates the gravity vector.

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[in]qJoint position.
[in]gravity_earthEarth's gravity vector. Unit: \(\frac{m}{s^2}\).
[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.
[out]g_neGravity vector. Unit: \([Nm]\).
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void franka::RobotModel::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,
std::array< double, 49 > & m_ne 
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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: \([m]\).
[out]m_neVectorized 7x7 mass matrix, column-major.
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Implements RobotModelBase.

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1 // Copyright (c) 2024 Franka Robotics GmbH
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2 // Use of this source code is governed by the Apache-2.0 license, see LICENSE
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3 #pragma once
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4 
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5 #include <pinocchio/algorithm/centroidal.hpp>
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6 #include <pinocchio/algorithm/crba.hpp>
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7 #include <pinocchio/algorithm/rnea.hpp>
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8 #include <pinocchio/multibody/model.hpp>
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9 #include <pinocchio/parsers/urdf.hpp>
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10 #include <string>
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11 
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12 #include "franka/robot_model_base.h"
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13 
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14 namespace franka {
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15 
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19 class RobotModel : public RobotModelBase {
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20  public:
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21  RobotModel(const std::string& urdf);
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22  void coriolis(const std::array<double, 7>& q,
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23  const std::array<double, 7>& dq,
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24  const std::array<double, 9>& i_total,
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25  double m_total,
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26  const std::array<double, 3>& f_x_ctotal,
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27  std::array<double, 7>& c_ne) override;
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28  void gravity(const std::array<double, 7>& q,
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29  const std::array<double, 3>& g_earth,
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30  double m_total,
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31  const std::array<double, 3>& f_x_ctotal,
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32  std::array<double, 7>& g_ne) override;
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33  void mass(const std::array<double, 7>& q,
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34  const std::array<double, 9>& i_total,
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35  double m_total,
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36  const std::array<double, 3>& f_x_ctotal,
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37  std::array<double, 49>& m_ne) override;
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38 
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39  private:
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44  void addInertiaToLastLink(const std::array<double, 9>& i_total,
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45  double m_total,
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46  const std::array<double, 3>& f_x_ctotal);
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51  void computeDynamics(
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52  const std::array<double, 9>& i_total,
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53  double m_total,
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54  const std::array<double, 3>& f_x_ctotal,
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55  pinocchio::Data& data,
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56  const std::function<void(pinocchio::Model&, pinocchio::Data&)>& compute_func);
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57 
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58  pinocchio::Model pinocchio_model_;
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59  pinocchio::Inertia initial_last_link_inertia_;
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60  pinocchio::FrameIndex last_link_frame_index_;
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61  pinocchio::JointIndex last_joint_index_;
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62 };
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63 
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64 } // namespace franka
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RobotModelBase
Robot dynamic parameters computed from the URDF model with Pinocchio.
Definition: robot_model_base.h:10
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franka::RobotModel
Implements RobotModelBase using Pinocchio.
Definition: robot_model.h:19
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franka::RobotModel::gravity
void gravity(const std::array< double, 7 > &q, const std::array< double, 3 > &g_earth, double m_total, const std::array< double, 3 > &f_x_ctotal, std::array< double, 7 > &g_ne) override
Calculates the gravity vector.
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franka::RobotModel::mass
void 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, std::array< double, 49 > &m_ne) override
Calculates the 7x7 mass matrix.
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franka::RobotModel::coriolis
void 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, std::array< double, 7 > &c_ne) override
Calculates the Coriolis force vector (state-space equation): , in .
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libfranka -  0.14.1 -
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FCI C++ API
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robot_model_base.h
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1 // Copyright (c) 2024 Franka Robotics GmbH
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2 // Use of this source code is governed by the Apache-2.0 license, see LICENSE
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3 #pragma once
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4 
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5 #include <array>
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6 
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10 class RobotModelBase {
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11  public:
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12  virtual ~RobotModelBase() = default;
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27  virtual void coriolis(const std::array<double, 7>& q,
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28  const std::array<double, 7>& dq,
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29  const std::array<double, 9>& i_total,
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30  double m_total,
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31  const std::array<double, 3>& f_x_ctotal,
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32  std::array<double, 7>& c_ne) = 0;
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43  virtual void gravity(const std::array<double, 7>& q,
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44  const std::array<double, 3>& g_earth,
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45  double m_total,
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46  const std::array<double, 3>& f_x_ctotal,
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47  std::array<double, 7>& g_ne) = 0;
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48 
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61  virtual void mass(const std::array<double, 7>& q,
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62  const std::array<double, 9>& i_total,
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63  double m_total,
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64  const std::array<double, 3>& f_x_ctotal,
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65  std::array<double, 49>& m_ne) = 0;
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66 };
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RobotModelBase
Robot dynamic parameters computed from the URDF model with Pinocchio.
Definition: robot_model_base.h:10
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RobotModelBase::coriolis
virtual void 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, std::array< double, 7 > &c_ne)=0
Calculates the Coriolis force vector (state-space equation): , in .
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RobotModelBase::gravity
virtual void gravity(const std::array< double, 7 > &q, const std::array< double, 3 > &g_earth, double m_total, const std::array< double, 3 > &f_x_ctotal, std::array< double, 7 > &g_ne)=0
Calculates the gravity vector.
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RobotModelBase::mass
virtual void 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, std::array< double, 49 > &m_ne)=0
Calculates the 7x7 mass matrix.
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