franka::JointPositions Class Reference

Stores values for joint position motion generation. More...

#include <control_types.h>

Inheritance diagram for franka::JointPositions:

Collaboration diagram for franka::JointPositions:

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

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

Detailed Description

Stores values for joint position motion generation.

Examples

generate_joint_position_motion.cpp, and generate_joint_position_motion_external_control_loop.cpp.

Constructor & Destructor Documentation

JointPositions() [1/2]

franka::JointPositions::JointPositions ( const std::array< double, 7 > & joint_positions )

noexcept

Creates a new JointPositions instance.

Parameters

[in]

joint_positions

Desired joint angles in \([rad]\).

JointPositions() [2/2]

franka::JointPositions::JointPositions

(

std::initializer_list< double >

joint_positions

)

Creates a new JointPositions instance.

Parameters

[in]

joint_positions

Desired joint angles in \([rad]\).

Exceptions

std::invalid_argument

if the given initializer list has an invalid number of arguments.

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

• include/franka/control_types.h