Struct ActiveTorqueControl 

pub struct ActiveTorqueControl<'a> { /* private fields */ }

An external torque controller driven by the caller (Robot::start_torque_control).

FCI v5

An FER has no torque-only motion generator mode, so the motion is started with a joint velocity generator and every ActiveTorqueControl::write_once sends an all-zero dq_c alongside the torques, ending with motion_generation_finished instead of torque_command_finished. That is exactly what libfranka 0.9.2’s Robot::control(control_callback, ...) does (src/robot.cpp:41-57); the API is unchanged.

Example

let robot = Robot::new("192.168.0.1", RealtimeConfig::Ignore)?;
let mut control = robot.start_torque_control()?;
for _ in 0..1000 {
    let (_state, _period) = control.read_once()?;
    control.write_once(&Torques::new([0.0; 7]))?;
}
control.write_once(&franka::motion_finished(Torques::new([0.0; 7])))?;

Threading

Unlike crate::Robot, which is Send + Sync, this type is !Send: it holds the std::sync::MutexGuard for the robot’s control lock (franka::assertOwningLock) for as long as the motion runs, and a MutexGuard may not cross threads. Read and write the motion from the thread that started it; a crate::Robot::stop from another thread still works, because it goes through the Arc<Robot> and not through this handle.

Implementations

impl<'a> ActiveTorqueControl<'a>

pub fn read_once(&mut self) -> FrankaResult<(RobotState, Duration)>

Waits for the next robot state and returns it together with the time elapsed since the previous read_once (zero on the first call).

Errors

FrankaError::Control if the motion was aborted, FrankaError::Network if the connection was lost.

pub fn write_once(&mut self, control_input: &Torques) -> FrankaResult<()>

Sends the given torques.

Setting motion_finished on control_input ends the control process; the control lock is released and any further call fails.

Errors

FrankaError::Control if the motion has already finished or was aborted, FrankaError::InvalidArgument if a torque is NaN or infinite, FrankaError::Network if the connection was lost.