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libfranka
0.14.1
FCI C++ API
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40 virtual std::pair<RobotState, Duration>
readOnce() = 0;
57 const std::optional<const Torques>& ) = 0;
66 const std::optional<const Torques>& ) = 0;
74 const std::optional<const Torques>& ) = 0;
83 const std::optional<const Torques>& ) = 0;
Stores values for joint velocity motion generation.
Definition: control_types.h:99
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
virtual void writeOnce(const Torques &)=0
Updates torque commands of an active control.
Stores values for Cartesian velocity motion generation.
Definition: control_types.h:211
Stores joint-level torque commands without gravity and friction.
Definition: control_types.h:45
Stores values for joint position motion generation.
Definition: control_types.h:72
Stores values for Cartesian pose motion generation.
Definition: control_types.h:127
virtual std::pair< RobotState, Duration > readOnce()=0
Waits for a robot state update and returns it.