libfranka 0.14.1
FCI C++ API
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MotionGenerator Class Reference

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

#include <examples_common.h>

Public Member Functions

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

Detailed Description

Constructor & Destructor Documentation

◆ MotionGenerator()

MotionGenerator::MotionGenerator ( double speed_factor,
const std::array< double, 7 > q_goal )

Creates a new MotionGenerator instance for a target q.

Parameters
[in]speed_factorGeneral speed factor in range [0, 1].
[in]q_goalTarget joint positions.

Member Function Documentation

◆ operator()()

franka::JointPositions MotionGenerator::operator() ( const franka::RobotState & robot_state,
franka::Duration period )

Sends joint position calculations.

Parameters
[in]robot_stateCurrent state of the robot.
[in]periodDuration of execution.
Returns
Joint positions for use inside a control loop.

The documentation for this class was generated from the following files: