qlin/sas_robot_driver_franka
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added cartesian interface

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qlin1806
2024-07-19 18:35:17 -07:00
parent a68afa690d
commit 9d65b88cb3
8 changed files with 178 additions and 7 deletions
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10
include/robot_interface_franka.h
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@@ -78,6 +78,13 @@ private:
VectorXd current_joint_forces_;
std::array<double, 7> current_joint_forces_array_;
Vector3d current_cartesian_force_;
Vector3d current_cartesian_torque_;
std::array<double, 6> current_cartesian_force_torque_array_;
VectorXd current_cartesian_pose_;
std::array<double, 16> current_cartesian_pose_array_;
franka::RobotMode robot_mode_;
double time_ = 0;
@@ -187,6 +194,9 @@ public:
VectorXd get_joint_velocities();
VectorXd get_joint_forces();
std::tuple<Vector3d, Vector3d> get_cartesian_force_torque();
DQ get_cartesian_pose();
double get_time();
void set_target_joint_positions(const VectorXd& set_target_joint_positions_rad);