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 |