Module franka::robot::control_types [−][src]
Contains helper types for returning motion generation and joint-level torque commands.
Structs
| CartesianPose | Stores values for Cartesian pose motion generation. |
| CartesianVelocities | Stores values for Cartesian velocity motion generation. |
| JointPositions | Stores values for joint position motion generation. |
| JointVelocities | Stores values for joint velocity motion generation. |
| Torques | Stores joint-level torque commands without gravity and friction. |
Enums
| ControllerMode | Available controller modes for a |
| RealtimeConfig | Used to decide whether to enforce realtime mode for a control loop thread.
see |
Traits
| Finishable | Helper type for control and motion generation loops. |
| MotionFinished | A trait for a Finshable control type to finish the motion |