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void | writeOnce (const MotionGeneratorType &motion_generator_input, const std::optional< const Torques > &control_input) override |
| Updates the motion generator commands of an active control. More...
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std::pair< RobotState, Duration > | readOnce () override |
| Waits for a robot state update and returns it. More...
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void | writeOnce (const Torques &) override |
| Updates torque commands of an active control. More...
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void | writeOnce (const JointPositions &, const std::optional< const Torques > &) override |
| Updates the joint position and torque commands of an active control. More...
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void | writeOnce (const JointVelocities &, const std::optional< const Torques > &) override |
| Updates the joint velocity and torque commands of an active control. More...
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void | writeOnce (const CartesianPose &, const std::optional< const Torques > &) override |
| Updates the cartesian position and torque commands of an active control. More...
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void | writeOnce (const CartesianVelocities &, const std::optional< const Torques > &) override |
| Updates the cartesian velocity and torque commands of an active control. More...
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void | writeOnce (const JointPositions &motion_generator_input) override |
| Updates the joint position commands of an active control, with internal controller. More...
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void | writeOnce (const JointVelocities &motion_generator_input) override |
| Updates the joint velocity commands of an active control, with internal controller. More...
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void | writeOnce (const CartesianPose &motion_generator_input) override |
| Updates the cartesian pose commands of an active control, with internal controller. More...
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void | writeOnce (const CartesianVelocities &motion_generator_input) override |
| Updates the cartesian velocity commands of an active control, with internal controller. More...
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virtual std::pair< RobotState, Duration > | readOnce ()=0 |
| Waits for a robot state update and returns it. More...
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virtual void | writeOnce (const Torques &)=0 |
| Updates torque commands of an active control. More...
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virtual void | writeOnce (const JointPositions &, const std::optional< const Torques > &)=0 |
| Updates the joint position and torque commands of an active control. More...
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virtual void | writeOnce (const JointVelocities &, const std::optional< const Torques > &)=0 |
| Updates the joint velocity and torque commands of an active control. More...
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virtual void | writeOnce (const CartesianPose &, const std::optional< const Torques > &)=0 |
| Updates the cartesian position and torque commands of an active control. More...
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virtual void | writeOnce (const CartesianVelocities &, const std::optional< const Torques > &)=0 |
| Updates the cartesian velocity and torque commands of an active control. More...
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virtual void | writeOnce (const JointPositions &motion_generator_input)=0 |
| Updates the joint position commands of an active control, with internal controller. More...
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virtual void | writeOnce (const JointVelocities &motion_generator_input)=0 |
| Updates the joint velocity commands of an active control, with internal controller. More...
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virtual void | writeOnce (const CartesianPose &motion_generator_input)=0 |
| Updates the cartesian pose commands of an active control, with internal controller. More...
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virtual void | writeOnce (const CartesianVelocities &motion_generator_input)=0 |
| Updates the cartesian velocity commands of an active control, with internal controller. More...
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| ActiveControl (std::shared_ptr< Robot::Impl > robot_impl, uint32_t motion_id, std::unique_lock< std::mutex > control_lock) |
| Construct a new ActiveControl object. More...
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std::shared_ptr< Robot::Impl > | robot_impl |
| shared pointer to Robot::Impl instance for read and write accesses
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uint32_t | motion_id |
| motion id of running motion
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std::unique_lock< std::mutex > | control_lock |
| control-lock preventing parallel control processes
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bool | control_finished |
| flag indicating if control process is finished
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std::optional< Duration > | last_read_access |
| duration to last read access
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template<typename MotionGeneratorType>
class franka::ActiveMotionGenerator< MotionGeneratorType >
Allows the user to read the state of a Robot and to send new motion generator commands after starting a control process of a Robot.
hint: To create an ActiveMotionGenerator, see franka::Robot