Struct franka::robot::robot_state::RobotState[−][src]

pub struct RobotState {Show fields
    pub O_T_EE: [f64; 16],
    pub O_T_EE_d: [f64; 16],
    pub F_T_EE: [f64; 16],
    pub F_T_NE: [f64; 16],
    pub NE_T_EE: [f64; 16],
    pub EE_T_K: [f64; 16],
    pub m_ee: f64,
    pub I_ee: [f64; 9],
    pub F_x_Cee: [f64; 3],
    pub m_load: f64,
    pub I_load: [f64; 9],
    pub F_x_Cload: [f64; 3],
    pub m_total: f64,
    pub I_total: [f64; 9],
    pub F_x_Ctotal: [f64; 3],
    pub elbow: [f64; 2],
    pub elbow_d: [f64; 2],
    pub elbow_c: [f64; 2],
    pub delbow_c: [f64; 2],
    pub ddelbow_c: [f64; 2],
    pub tau_J: [f64; 7],
    pub tau_J_d: [f64; 7],
    pub dtau_J: [f64; 7],
    pub q: [f64; 7],
    pub q_d: [f64; 7],
    pub dq: [f64; 7],
    pub dq_d: [f64; 7],
    pub ddq_d: [f64; 7],
    pub joint_contact: [f64; 7],
    pub cartesian_contact: [f64; 6],
    pub joint_collision: [f64; 7],
    pub cartesian_collision: [f64; 6],
    pub tau_ext_hat_filtered: [f64; 7],
    pub O_F_ext_hat_K: [f64; 6],
    pub K_F_ext_hat_K: [f64; 6],
    pub O_dP_EE_d: [f64; 6],
    pub O_T_EE_c: [f64; 16],
    pub O_dP_EE_c: [f64; 6],
    pub O_ddP_EE_c: [f64; 6],
    pub theta: [f64; 7],
    pub dtheta: [f64; 7],
    pub current_errors: FrankaErrors,
    pub last_motion_errors: FrankaErrors,
    pub control_command_success_rate: f64,
    pub robot_mode: RobotMode,
    pub time: Duration,
}

Describes the robot state.

Fields

O_T_EE: [f64; 16]

$^{O}T_{EE}$

Measured end effector pose in base frame. Pose is represented as a 4x4 matrix in column-major format.

O_T_EE_d: [f64; 16]

${^OT_{EE}}_{d}$

Last desired end effector pose of motion generation in base frame. Pose is represented as a 4x4 matrix in column-major format.

F_T_EE: [f64; 16]

$^{F}T_{EE}$

End effector frame pose in flange frame. Pose is represented as a 4x4 matrix in column-major format.

See

F_T_NE
NE_T_EE
Robot for an explanation of the NE and EE frames.

F_T_NE: [f64; 16]

$^{F}T_{NE}$

Nominal end effector frame pose in flange frame. Pose is represented as a 4x4 matrix in column-major format.

See

F_T_NE
NE_T_EE
Robot for an explanation of the NE and EE frames.

NE_T_EE: [f64; 16]

$^{NE}T_{EE}$

End effector frame pose in nominal end effector frame. Pose is represented as a 4x4 matrix in column-major format.

See

F_T_NE
NE_T_EE
Robot for an explanation of the NE and EE frames.

EE_T_K: [f64; 16]

$^{EE}T_{K}$

Stiffness frame pose in end effector frame. Pose is represented as a 4x4 matrix in column-major format.

See also K-Frame

m_ee: f64

$m_{EE}$

Configured mass of the end effector.

I_ee: [f64; 9]

$I_{EE}$

Configured rotational inertia matrix of the end effector load with respect to center of mass.

F_x_Cee: [f64; 3]

$^{F}x_{C_{EE}}$

Configured center of mass of the end effector load with respect to flange frame.

m_load: f64

$m_{load}$

Configured mass of the external load.

I_load: [f64; 9]

$I_{load}$

Configured rotational inertia matrix of the external load with respect to center of mass.

F_x_Cload: [f64; 3]

$^{F}x_{C_{load}}$

Configured center of mass of the external load with respect to flange frame.

m_total: f64

$m_{total}$

Sum of the mass of the end effector and the external load.

I_total: [f64; 9]

$I_{total}$

Combined rotational inertia matrix of the end effector load and the external load with respect to the center of mass.

F_x_Ctotal: [f64; 3]

$^{F}x_{C_{total}}$

Combined center of mass of the end effector load and the external load with respect to flange frame.

elbow: [f64; 2]

Elbow configuration.

The values of the array are:

[0] Position of the 3rd joint in [rad].
[1] Sign of the 4th joint. Can be +1 or -1.

elbow_d: [f64; 2]

Desired elbow configuration.

The values of the array are:

[0] Position of the 3rd joint in [rad].
[1] Sign of the 4th joint. Can be +1 or -1.

elbow_c: [f64; 2]

Commanded elbow configuration.

The values of the array are:

[0] Position of the 3rd joint in [rad].
[1] Sign of the 4th joint. Can be +1 or -1.

delbow_c: [f64; 2]

Commanded elbow velocity.

The values of the array are:

[0] Velocity of the 3rd joint in [rad/s].
[1] Sign of the 4th joint. Can be +1 or -1.

ddelbow_c: [f64; 2]

Commanded elbow acceleration.

The values of the array are:

[0] Acceleration of the 3rd joint in [rad/s^2].
[1] Sign of the 4th joint. Can be +1 or -1.

tau_J: [f64; 7]

$\tau_{J}$

Measured link-side joint torque sensor signals. Unit: [Nm]

tau_J_d: [f64; 7]

${\tau_J}_d$

Desired link-side joint torque sensor signals without gravity. Unit: [Nm]

dtau_J: [f64; 7]

$\dot{\tau_{J}}$

Derivative of measured link-side joint torque sensor signals. Unit: [Nm/s]

q: [f64; 7]

$q$

Measured joint position. Unit: [rad]

q_d: [f64; 7]

$q_d$

Desired joint position. Unit: [rad]

dq: [f64; 7]

$\dot{q}$

Measured joint velocity. Unit: [rad/s]

dq_d: [f64; 7]

$\dot{q}_d$

Desired joint velocity. Unit: [rad/s]

ddq_d: [f64; 7]

$\ddot{q}_d$

Desired joint acceleration. Unit: [rad/s^2]

joint_contact: [f64; 7]

Indicates which contact level is activated in which joint. After contact disappears, value turns to zero.

See Robot::set_collision_behavior for setting sensitivity values.

cartesian_contact: [f64; 6]

Indicates which contact level is activated in which Cartesian dimension (x,y,z,R,P,Y). After contact disappears, the value turns to zero.

See Robot::set_collision_behavior for setting sensitivity values.

joint_collision: [f64; 7]

Indicates which contact level is activated in which joint. After contact disappears, the value stays the same until a reset command is sent.

See Robot::set_collision_behavior for setting sensitivity values.

See Robot::automatic_error_recovery for performing a reset after a collision.

cartesian_collision: [f64; 6]

Indicates which contact level is activated in which Cartesian dimension (x,y,z,R,P,Y). After contact disappears, the value stays the same until a reset command is sent.

See Robot::set_collision_behavior for setting sensitivity values.

See Robot::automatic_error_recovery for performing a reset after a collision.

tau_ext_hat_filtered: [f64; 7]

$\hat{\tau}_{\text{ext}}$

External torque, filtered. Unit: [Nm]

O_F_ext_hat_K: [f64; 6]

$^OF_{K,\text{ext}}$

Estimated external wrench (force, torque) acting on stiffness frame, expressed relative to the base frame. See also @ref k-frame “K frame”. Unit: [N,N,N,Nm,Nm,Nm].

K_F_ext_hat_K: [f64; 6]

$^{K}F_{K,\text{ext}}$

Estimated external wrench (force, torque) acting on stiffness frame, expressed relative to the stiffness frame. See also @ref k-frame “K frame”. Unit: [N,N,N,Nm,Nm,Nm].

O_dP_EE_d: [f64; 6]

${^OdP_{EE}}_{d}$

Desired end effector twist in base frame. Unit: [m/s,m/s,m/s,rad/s,rad/s,rad/s]

O_T_EE_c: [f64; 16]

${^OT_{EE}}_{c}$

Last commanded end effector pose of motion generation in base frame. Pose is represented as a 4x4 matrix in column-major format.

O_dP_EE_c: [f64; 6]

${^OdP_{EE}}_{c}$

Last commanded end effector twist in base frame. Unit: [m/s,m/s,m/s,rad/s,rad/s,rad/s]

O_ddP_EE_c: [f64; 6]

${^OddP_{EE}}_{c}$

Last commanded end effector acceleration in base frame. Unit: [m/s^2,m/s^2,m/s^2,rad/s^2,rad/s^2,rad/s^2]

theta: [f64; 7]

$\theta$

Motor position. Unit: [rad]

dtheta: [f64; 7]

$\dot{\theta}$

Motor velocity. Unit: [rad/s]

current_errors: FrankaErrors

Current error state.

last_motion_errors: FrankaErrors

Contains the errors that aborted the previous motion

control_command_success_rate: f64

Percentage of the last 100 control commands that were successfully received by the robot.

Shows a value of zero if no control or motion generator loop is currently running.

Range [0,1]

robot_mode: RobotMode

Current robot mode.

time: Duration

Strictly monotonically increasing timestamp since robot start.

Inside of control loops “time_step” parameter of Robot::control can be used instead

Trait Implementations

`impl Clone for RobotState`[src]

`fn clone(&self) -> RobotState`[src]

`pub fn clone_from(&mut self, source: &Self)`1.0.0 [src]

`impl Debug for RobotState`[src]

`fn fmt(&self, f: &mut Formatter<'_>) -> Result`[src]

`impl Default for RobotState`[src]

`fn default() -> RobotState`[src]

Auto Trait Implementations

`impl RefUnwindSafe for RobotState`

`impl Send for RobotState`

`impl Sync for RobotState`

`impl Unpin for RobotState`

`impl UnwindSafe for RobotState`

Blanket Implementations

`impl<T> Any for T where T: 'static + ?Sized,` [src]

`pub fn type_id(&self) -> TypeId`[src]

`impl<T> Borrow<T> for T where T: ?Sized,` [src]

`pub fn borrow(&self) -> &T`[src]

`impl<T> BorrowMut<T> for T where T: ?Sized,` [src]

`pub fn borrow_mut(&mut self) -> &mut T`[src]

`impl<T> From<T> for T`[src]

`pub fn from(t: T) -> T`[src]

`impl<T, U> Into for T where U: From<T>,` [src]

`pub fn into(self) -> U`[src]

`impl<T> Same<T> for T`

`type Output = T`

Should always be Self

`impl<SS, SP> SupersetOf<SS> for SP where SS: SubsetOf<SP>,`

`pub fn to_subset(&self) -> Option<SS>`

`pub fn is_in_subset(&self) -> bool`

`pub fn to_subset_unchecked(&self) -> SS`

`pub fn from_subset(element: &SS) -> SP`

`impl<T> ToOwned for T where T: Clone,` [src]

`type Owned = T`

The resulting type after obtaining ownership.

`pub fn to_owned(&self) -> T`[src]

`pub fn clone_into(&self, target: &mut T)`[src]

`impl<T, U> TryFrom for T where U: Into<T>,` [src]

`type Error = Infallible`

The type returned in the event of a conversion error.

`pub fn try_from(value: U) -> Result<T, <T as TryFrom>::Error>`[src]

`impl<T, U> TryInto for T where U: TryFrom<T>,` [src]

`type Error = >::Error`

The type returned in the event of a conversion error.

Struct franka::robot::robot_state::RobotState⎘[−][src]

Fields

See

See

See

Trait Implementations

impl Clone for RobotState[src]

fn clone(&self) -> RobotState[src]

pub fn clone_from(&mut self, source: &Self)1.0.0[src]

impl Debug for RobotState[src]

fn fmt(&self, f: &mut Formatter<'_>) -> Result[src]

impl Default for RobotState[src]

fn default() -> RobotState[src]

Auto Trait Implementations

impl RefUnwindSafe for RobotState

impl Send for RobotState

impl Sync for RobotState

impl Unpin for RobotState

impl UnwindSafe for RobotState

Blanket Implementations

impl<T> Any for T where T: 'static + ?Sized, [src]

pub fn type_id(&self) -> TypeId[src]

impl<T> Borrow<T> for T where T: ?Sized, [src]

pub fn borrow(&self) -> &T[src]

impl<T> BorrowMut<T> for T where T: ?Sized, [src]

pub fn borrow_mut(&mut self) -> &mut T[src]

impl<T> From<T> for T[src]

pub fn from(t: T) -> T[src]

impl<T, U> Into<U> for T where U: From<T>, [src]

pub fn into(self) -> U[src]

impl<T> Same<T> for T

type Output = T

impl<SS, SP> SupersetOf<SS> for SP where SS: SubsetOf<SP>,

pub fn to_subset(&self) -> Option<SS>

pub fn is_in_subset(&self) -> bool

pub fn to_subset_unchecked(&self) -> SS

pub fn from_subset(element: &SS) -> SP

impl<T> ToOwned for T where T: Clone, [src]

type Owned = T

pub fn to_owned(&self) -> T[src]

pub fn clone_into(&self, target: &mut T)[src]

impl<T, U> TryFrom<U> for T where U: Into<T>, [src]

type Error = Infallible

pub fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>[src]

impl<T, U> TryInto<U> for T where U: TryFrom<T>, [src]

type Error = <U as TryFrom<T>>::Error

pub fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>[src]

impl<V, T> VZip<V> for T where V: MultiLane<T>,

pub fn vzip(self) -> V

Struct franka::robot::robot_state::RobotState[−][src]

`impl Clone for RobotState`[src]

`fn clone(&self) -> RobotState`[src]

`pub fn clone_from(&mut self, source: &Self)`1.0.0 [src]

`impl Debug for RobotState`[src]

`fn fmt(&self, f: &mut Formatter<'_>) -> Result`[src]

`impl Default for RobotState`[src]

`fn default() -> RobotState`[src]

`impl RefUnwindSafe for RobotState`

`impl Send for RobotState`

`impl Sync for RobotState`

`impl Unpin for RobotState`

`impl UnwindSafe for RobotState`

`impl<T> Any for T where T: 'static + ?Sized,` [src]

`pub fn type_id(&self) -> TypeId`[src]

`impl<T> Borrow<T> for T where T: ?Sized,` [src]

`pub fn borrow(&self) -> &T`[src]

`impl<T> BorrowMut<T> for T where T: ?Sized,` [src]

`pub fn borrow_mut(&mut self) -> &mut T`[src]

`impl<T> From<T> for T`[src]

`pub fn from(t: T) -> T`[src]

`impl<T, U> Into<U> for T where U: From<T>,` [src]

`pub fn into(self) -> U`[src]

`impl<T> Same<T> for T`

`type Output = T`

`impl<SS, SP> SupersetOf<SS> for SP where SS: SubsetOf<SP>,`

`pub fn to_subset(&self) -> Option<SS>`

`pub fn is_in_subset(&self) -> bool`

`pub fn to_subset_unchecked(&self) -> SS`

`pub fn from_subset(element: &SS) -> SP`

`impl<T> ToOwned for T where T: Clone,` [src]

`type Owned = T`

`pub fn to_owned(&self) -> T`[src]

`pub fn clone_into(&self, target: &mut T)`[src]

`impl<T, U> TryFrom<U> for T where U: Into<T>,` [src]

`type Error = Infallible`

`pub fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>`[src]

`impl<T, U> TryInto<U> for T where U: TryFrom<T>,` [src]

`type Error = <U as TryFrom<T>>::Error`

`pub fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>`[src]

`impl<V, T> VZip<V> for T where V: MultiLane<T>,`

`pub fn vzip(self) -> V`