libfranka  0.14.1
FCI C++ API
log.h
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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 
5 #include <vector>
6 
7 #include <franka/control_types.h>
8 #include <franka/robot_state.h>
9 
15 namespace franka {
16 
20 struct RobotCommand {
24  JointPositions joint_positions{0, 0, 0, 0, 0, 0, 0};
28  JointVelocities joint_velocities{0, 0, 0, 0, 0, 0, 0};
32  CartesianPose cartesian_pose{1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1};
40  Torques torques{0, 0, 0, 0, 0, 0, 0};
41 };
42 
48 struct Record {
57 };
58 
69 std::string logToCSV(const std::vector<Record>& log);
70 } // namespace franka
franka::JointVelocities
Stores values for joint velocity motion generation.
Definition: control_types.h:99
franka::RobotCommand::cartesian_velocities
CartesianVelocities cartesian_velocities
sent to the robot.
Definition: log.h:36
franka::CartesianVelocities
Stores values for Cartesian velocity motion generation.
Definition: control_types.h:211
franka::RobotCommand::joint_positions
JointPositions joint_positions
sent to the robot.
Definition: log.h:24
franka::RobotCommand::torques
Torques torques
sent to the robot.
Definition: log.h:40
franka::RobotCommand
Command sent to the robot.
Definition: log.h:20
franka::Torques
Stores joint-level torque commands without gravity and friction.
Definition: control_types.h:45
franka::JointPositions
Stores values for joint position motion generation.
Definition: control_types.h:72
franka::Record
One row of the log contains a robot command of timestamp n and a corresponding robot state of timesta...
Definition: log.h:48
franka::Record::state
RobotState state
Robot state of timestamp n+1.
Definition: log.h:52
franka::CartesianPose
Stores values for Cartesian pose motion generation.
Definition: control_types.h:127
franka::Record::command
RobotCommand command
Robot command of timestamp n, after rate limiting (if activated).
Definition: log.h:56
franka::RobotState
Describes the robot state.
Definition: robot_state.h:34
franka::logToCSV
std::string logToCSV(const std::vector< Record > &log)
Writes the log to a string in CSV format.
control_types.h
franka::RobotCommand::joint_velocities
JointVelocities joint_velocities
sent to the robot.
Definition: log.h:28
robot_state.h
franka::RobotCommand::cartesian_pose
CartesianPose cartesian_pose
sent to the robot.
Definition: log.h:32