Module control_types 

Command types returned from control callbacks.

Port of libfranka 0.21.2 include/franka/control_types.h / src/control_types.cpp plus the validation helpers of include/franka/control_tools.h (checkFinite, checkMatrix, checkElbow, isValidElbow, isHomogeneousTransformation).

libfranka validates the commanded values inside the control loop (control_loop.cpp / robot_impl.cpp call checkFinite/checkMatrix/checkElbow on the values returned by the user callback) and throws std::invalid_argument. The Rust constructors are infallible; the equivalent checks live in Finishable implementors’ validate methods, which the control loop calls for every command.

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 Robot.

MotionGeneratorKind

Which motion generator a command type drives.

Traits

Finishable

Helper trait for control and motion generation loops.

MotionGenerator

Implemented by the four motion generator command types.

Functions

check_elbow

Checks that the elbow vector is finite and that the elbow configuration is valid.

check_finite

Checks that all elements of the array have a finite value.

check_matrix

Checks that the transformation matrix is finite and a homogeneous transformation.

is_homogeneous_transformation

Determines whether the given array represents a valid homogeneous transformation matrix.

is_valid_elbow

Determines whether the given elbow configuration is valid or not.

motion_finished

Helper method to indicate that a motion should stop after processing the given command.