* @brief Elbow state of the robot. * * This class encapsulates the elbow state of a robot, which comprises the * position of the 3rd joint and the

* @brief Cartesian pose of a robot. * * This class encapsulates the cartesian pose of a robot, which comprises the * end effector pose and the elbo

* @brief Cartesian velocity of a robot. * * This class encapsulates the cartesian velocity of a robot, which comproses * the end effector twist and

* @brief A measure on the robot state. * * This class defines a measure on the robot state, which can be used to define * a condition for a reactio

* @brief Cartesian motion with a single target. */

* @brief A condition on the robot state. * * This class defines a condition on the robot state, which can be used to * define a condition for a rea

* @brief Joint motion with a single target. */

* @brief Twist of a frame. */

* @brief Joint state of a robot. * * This class encapsulates the joint state of a robot, which comprises the joint * positions and the joint veloci

* @brief TwistAcceleration acceleration of a frame (2nd derivative of a pose). */

* @brief Cartesian state of a robot. * * This class encapsulates the cartesian state of a robot, which comprises the * end effector pose and the en

* @brief Cartesian velocity motion with a single target velocity. */

* @brief Cartesian waypoint motion. * * This motion follows multiple consecutive cartesian targets in a time-optimal * way. */

* @brief Exception thrown when an invalid motion type is used. * * This exception is thrown when a motion is asynchronously executed and a new * mo

* @brief Joint velocity motion with a single target. */

* @brief Joint waypoint motion. * * This motion follows multiple joint waypoints in a time-optimal way. */

* @brief Exception thrown if the motion planner fails. */

Buttons on the Franka Desk Pilot interface.

A single Pilot button state change.

* @brief Exception thrown when the reaction recursion limit (8) is reached. */

* @brief Relative dynamics factors * * This class encapsulates the relative dynamics factors, which are used to * scale the maximum velocity, accel

* @brief Cartesian impedance motion. * * This motion is a implements a cartesian impedance controller on the client * side and does not use Franka'

* @brief Cartesian velocity waypoint motion. * * This motion follows multiple consecutive cartesian velocity targets in a * time-optimal way. */

* @brief Type of control signal. */

* @brief Exponential cartesian impedance motion. * * This motion is a implements a exponential cartesian impedance controller on * the client side

* @brief Flip direction of a joint. */

* @brief A wrapper around the franka::Gripper class that adds asynchronous * functionality. */

* @brief Exception thrown by the gripper class. */

* @brief Base class for client-side cartesian impedance motions. * * This motion is a implements a cartesian impedance controller on the client * s

* @brief Joint velocity waypoint motion. * * This motion follows multiple joint waypoints in a time-optimal way. */

* @brief A wrapper around franka::Model that uses Eigen types. * * This class exposes the same functionality as franka::Model, but uses Eigen * typ

* @brief Enum class for reference types. * * This enum class defines the reference types for motions (absolute or * relative). */

* @brief A class representing a Franka robot. * * This class extends the franka::Robot class and adds additional functionality * to it. */

* @brief Full state of the robot * * This class contains all fields of franka::RobotState and some additional * fields. Each additional field ends

* @brief A scope guard that executes a function when it goes out of scope. */