List of all items

Structs

• control_types::CartesianPose
• control_types::CartesianVelocities
• control_types::JointPositions
• control_types::JointVelocities
• control_types::Torques
• duration::Duration
• error::ControlException
• error::Record
• error::RobotCommandLog
• errors::Errors
• gripper::Gripper
• gripper::GripperState
• joint_velocity_limits::JointVelocityLimitsConfig
• joint_velocity_limits::PositionBasedJointVelocityLimitConstants
• model::Model
• model::native_backend::NativeBackend
• model::so_backend::SoModelBackend
• network::Network
• network::tcp::TcpSession
• network::udp::UdpChannel
• otg::MultiOtg
• otg::Otg
• otg::OtgLimits
• robot::Robot
• robot::active_control::ActiveMotionGenerator
• robot::active_control::ActiveTorqueControl
• robot::options::RobotOptions
• robot::options::VirtualWallCuboid
• robot::robot_impl::RobotImpl
• robot::target_control::CartesianSent
• robot::target_control::CartesianTargetControl
• robot::target_control::IkOptions
• robot::target_control::ImpedanceGains
• robot::target_control::ImpedanceOptions
• robot::target_control::JointSent
• robot::target_control::JointTargetControl
• robot::target_control::JointTargetControlOptions
• robot::target_control::Leash
• robot::target_control::Settle
• robot::target_control::TargetControlOptions
• robot::target_control::TargetSlot
• robot_state::RobotState
• wire::CommandHeader
• wire::gripper::GraspRequest
• wire::gripper::GripperCommandHeader
• wire::gripper::GripperCommandResponse
• wire::gripper::GripperConnectRequest
• wire::gripper::GripperConnectResponse
• wire::gripper::GripperMoveRequest
• wire::gripper::GripperState
• wire::robot::v10::rbk_types::ControllerCommand
• wire::robot::v10::rbk_types::MotionGeneratorCommand
• wire::robot::v10::rbk_types::RobotCommand
• wire::robot::v10::rbk_types::RobotState
• wire::robot::v10::service_types::messages::AutomaticErrorRecoveryResponse
• wire::robot::v10::service_types::messages::CommandResponse
• wire::robot::v10::service_types::messages::ConnectRequest
• wire::robot::v10::service_types::messages::ConnectResponse
• wire::robot::v10::service_types::messages::Deviation
• wire::robot::v10::service_types::messages::GetterSetterResponse
• wire::robot::v10::service_types::messages::MoveRequest
• wire::robot::v10::service_types::messages::MoveResponse
• wire::robot::v10::service_types::messages::SetCartesianImpedanceRequest
• wire::robot::v10::service_types::messages::SetCollisionBehaviorRequest
• wire::robot::v10::service_types::messages::SetEEToKRequest
• wire::robot::v10::service_types::messages::SetGuidingModeRequest
• wire::robot::v10::service_types::messages::SetJointImpedanceRequest
• wire::robot::v10::service_types::messages::SetLoadRequest
• wire::robot::v10::service_types::messages::SetNEToEERequest
• wire::robot::v10::service_types::messages::StopMoveResponse
• wire::robot::v5::rbk_types::ControllerCommand
• wire::robot::v5::rbk_types::MotionGeneratorCommand
• wire::robot::v5::rbk_types::RobotCommand
• wire::robot::v5::rbk_types::RobotState
• wire::robot::v5::service_types::GetCartesianLimitRequest
• wire::robot::v5::service_types::GetCartesianLimitResponse
• wire::robot::v5::service_types::LoadModelLibraryRequest
• wire::robot::v5::service_types::LoadModelLibraryResponse
• wire::robot::v5::service_types::MoveRequest
• wire::robot::v5::service_types::SetFiltersRequest

Enums

• control_types::ControllerMode
• control_types::MotionGeneratorKind
• error::FrankaError
• error::MoveStatus
• model::Frame
• realtime::RealtimeConfig
• robot::commands::CommandName
• robot::options::VersionPolicy
• robot::target_control::Backend
• robot_state::RobotMode
• wire::HeaderLayout
• wire::gripper::GripperCommand
• wire::gripper::GripperConnectStatus
• wire::gripper::GripperStatus
• wire::robot::codec::FciVersion
• wire::robot::v10::rbk_types::ControllerMode
• wire::robot::v10::rbk_types::MotionGeneratorMode
• wire::robot::v10::rbk_types::RobotMode
• wire::robot::v10::service_types::AutomaticErrorRecoveryStatus
• wire::robot::v10::service_types::Command
• wire::robot::v10::service_types::CommandStatus
• wire::robot::v10::service_types::ConnectStatus
• wire::robot::v10::service_types::GetterSetterStatus
• wire::robot::v10::service_types::MoveControllerMode
• wire::robot::v10::service_types::MoveMotionGeneratorMode
• wire::robot::v10::service_types::StopMoveStatus
• wire::robot::v5::rbk_types::ControllerMode
• wire::robot::v5::rbk_types::MotionGeneratorMode
• wire::robot::v5::rbk_types::RobotMode
• wire::robot::v5::service_types::AutomaticErrorRecoveryStatus
• wire::robot::v5::service_types::Command
• wire::robot::v5::service_types::CommandStatus
• wire::robot::v5::service_types::GetterSetterStatus
• wire::robot::v5::service_types::LoadModelLibraryArchitecture
• wire::robot::v5::service_types::LoadModelLibraryStatus
• wire::robot::v5::service_types::LoadModelLibrarySystem
• wire::robot::v5::service_types::MoveMotionGeneratorMode
• wire::robot::v5::service_types::MoveStatus
• wire::robot::v5::service_types::StopMoveStatus

Traits

• control_types::Finishable
• control_types::MotionGenerator
• model::RobotModelBackend
• robot::active_control::ActiveMotionInput

Functions

• control_types::check_elbow
• control_types::check_finite
• control_types::check_matrix
• control_types::is_homogeneous_transformation
• control_types::is_valid_elbow
• control_types::motion_finished
• lowpass_filter::cartesian_low_pass_filter
• lowpass_filter::low_pass_filter
• model::model_library::load_from_robot
• network::connect_gripper
• network::connect_handshake
• network::connect_robot
• network::udp::loopback
• rate_limiting::compute_lower_limits_joint_velocity
• rate_limiting::compute_upper_limits_joint_velocity
• rate_limiting::limit_rate_cartesian_pose
• rate_limiting::limit_rate_cartesian_velocity
• rate_limiting::limit_rate_joint_position
• rate_limiting::limit_rate_joint_positions
• rate_limiting::limit_rate_joint_velocities
• rate_limiting::limit_rate_joint_velocity
• rate_limiting::limit_rate_torques
• realtime::check_realtime
• realtime::has_realtime_kernel
• realtime::set_current_thread_scheduler_priority
• realtime::set_current_thread_to_highest_scheduler_priority
• robot::target_control::impedance_torques
• robot_state::combine_center_of_mass
• robot_state::combine_inertia_tensor
• wire::accel_to_f64
• wire::f32s_to_f64
• wire::f64s_to_f64
• wire::f64s_to_wire
• wire::message_payload
• wire::parse_response

Type Aliases

• error::FrankaResult
• otg::CartesianOtg
• robot::target_control::CartesianObserver
• robot::target_control::JointObserver

Constants

• errors::ERROR_COUNT
• errors::ERROR_NAMES
• joint_velocity_limits::NUM_JOINTS
• lowpass_filter::DEFAULT_CUTOFF_FREQUENCY
• lowpass_filter::MAX_CUTOFF_FREQUENCY
• model::DEFAULT_GRAVITY_EARTH
• model::FER_URDF
• network::tcp::DEFAULT_CONNECT_TIMEOUT
• network::tcp::POLL_TIMEOUT
• network::udp::DEFAULT_UDP_TIMEOUT
• rate_limiting::DELTA_T
• rate_limiting::FACTOR_CARTESIAN_ROTATION_POSE_INTERFACE
• rate_limiting::JOINT_POSITION_LIMITS
• rate_limiting::JOINT_VELOCITY_LIMITS_TOLERANCE
• rate_limiting::LIMIT_EPS
• rate_limiting::MAX_ELBOW_ACCELERATION
• rate_limiting::MAX_ELBOW_JERK
• rate_limiting::MAX_ELBOW_VELOCITY
• rate_limiting::MAX_JOINT_ACCELERATION
• rate_limiting::MAX_JOINT_JERK
• rate_limiting::MAX_ROTATIONAL_ACCELERATION
• rate_limiting::MAX_ROTATIONAL_JERK
• rate_limiting::MAX_ROTATIONAL_VELOCITY
• rate_limiting::MAX_TORQUE_RATE
• rate_limiting::MAX_TRANSLATIONAL_ACCELERATION
• rate_limiting::MAX_TRANSLATIONAL_JERK
• rate_limiting::MAX_TRANSLATIONAL_VELOCITY
• rate_limiting::MIN_ELBOW_VELOCITY
• rate_limiting::NORM_EPS
• rate_limiting::TOL_NUMBER_PACKETS_LOST
• rate_limiting::fer::DELTA_T
• rate_limiting::fer::FACTOR_CARTESIAN_ROTATION_POSE_INTERFACE
• rate_limiting::fer::JOINT_POSITION_LIMITS
• rate_limiting::fer::LIMIT_EPS
• rate_limiting::fer::MAX_ELBOW_ACCELERATION
• rate_limiting::fer::MAX_ELBOW_JERK
• rate_limiting::fer::MAX_ELBOW_VELOCITY
• rate_limiting::fer::MAX_JOINT_ACCELERATION
• rate_limiting::fer::MAX_JOINT_JERK
• rate_limiting::fer::MAX_JOINT_VELOCITY
• rate_limiting::fer::MAX_ROTATIONAL_ACCELERATION
• rate_limiting::fer::MAX_ROTATIONAL_JERK
• rate_limiting::fer::MAX_ROTATIONAL_VELOCITY
• rate_limiting::fer::MAX_TORQUE_RATE
• rate_limiting::fer::MAX_TRANSLATIONAL_ACCELERATION
• rate_limiting::fer::MAX_TRANSLATIONAL_JERK
• rate_limiting::fer::MAX_TRANSLATIONAL_VELOCITY
• rate_limiting::fer::MIN_ELBOW_VELOCITY
• rate_limiting::fer::MIN_JOINT_VELOCITY
• rate_limiting::fer::NORM_EPS
• rate_limiting::fer::TOL_NUMBER_PACKETS_LOST
• realtime::NO_REALTIME_KERNEL_MESSAGE
• robot::CONTROL_LOCK_MESSAGE
• robot::DEFAULT_LOG_SIZE
• robot::robot_impl::DEFAULT_DEVIATION
• robot::robot_impl::NUM_JOINTS
• robot::target_control::DEFAULT_LIMIT_FRACTION
• robot::target_control::DEVIATION_MESSAGE
• robot::target_control::ENDED_MESSAGE
• robot::target_control::JOINT_LIMIT_INSET
• robot::target_control::MAX_POSTURE_RATE
• robot::target_control::ORTHONORMAL_TOLERANCE
• robot::target_control::RATED_TORQUES
• robot::target_control::REST_ACCELERATION
• robot::target_control::REST_JOINT_VELOCITY
• robot::target_control::REST_VELOCITY
• robot::target_control::STOP_TIMEOUT_CYCLES
• robot::target_control::UNIT_QUATERNION_TOLERANCE
• robot_state::IDENTITY_TRANSFORM
• wire::GRIPPER_HEADER_LEN
• wire::ROBOT_COMMAND_PORT
• wire::ROBOT_HEADER_LEN
• wire::ROBOT_VERSION
• wire::gripper::GRIPPER_COMMAND_PORT
• wire::gripper::GRIPPER_VERSION
• wire::robot::v10::rbk_types::ERROR_COUNT
• wire::robot::v5::ROBOT_VERSION
• wire::robot::v5::rbk_types::ERROR_COUNT