Module franka::robot::control_types
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Contains helper types for returning motion generation and joint-level torque commands.
Structs
Stores values for Cartesian pose motion generation.
Stores values for Cartesian velocity motion generation.
Stores values for joint position motion generation.
Stores values for joint velocity motion generation.
Stores joint-level torque commands without gravity and friction.
Enums
Available controller modes for a Robot
Used to decide whether to enforce realtime mode for a control loop thread.
see Robot
Traits
Helper type for control and motion generation loops.
A trait for a Finshable control type to finish the motion