Expand description
Externally driven control: read_once / write_once instead of a callback loop.
Port of franka::ActiveControl, franka::ActiveTorqueControl and
franka::ActiveMotionGenerator (libfranka 0.21.2 src/active_control.cpp,
src/active_torque_control.cpp, src/active_motion_generator.cpp).
Neither rate limiting nor low-pass filtering is applied here — exactly like libfranka, the caller is responsible for sending smooth setpoints.
Both types hold the robot’s control lock for their whole lifetime, so no other control or read operation can run in parallel, and both cancel an unfinished motion when dropped.
Structs§
- Active
Motion Generator - An externally driven motion generator (
Robot::start_*_control). - Active
Torque Control - An external torque controller driven by the caller
(
Robot::start_torque_control).
Traits§
- Active
Motion Input - Motion command types that can drive an
ActiveMotionGenerator.