Franka机械臂代码学习——joint_point_to_point_motion.cpp

这这例程算是比较基础的例程，就是你给出机械臂的七个关节角，然后机械臂就会自动运行到那个关节角的姿态。

// Copyright (c) 2017 Franka Emika GmbH
// Use of this source code is governed by the Apache-2.0 license, see LICENSE
#include <cmath>
#include <iostream>

#include <franka/exception.h>
#include <franka/robot.h>

#include "examples_common.h"

/**
 * @example joint_point_to_point_motion.cpp
 * An example that moves the robot to a target position by commanding joint positions.
 *
 * @warning Before executing this example, make sure there is enough space in front of the robot.
 */
// 给定七个关节角让机械臂运动到该姿态
// 输入的十个参数包括[代码文件路径][机械臂hostname][七个关节角][速度因子]
int main(int argc, char** argv) {
  if (argc != 10) {
    std::cerr << "Usage: " << argv[0] << " <robot-hostname> "
              << "<joint0> <joint1> <joint2> <joint3> <joint4> <joint5> <joint6> "
              << "<speed-factor>" << std::endl
              << "joint0 to joint6 are joint angles in [rad]." << std::endl
              << "speed-factor must be between zero and one." << std::endl;
    return -1;
  }
  try {
    franka::Robot robot(argv[1]);  // 创建机器人实例
    setDefaultBehavior(robot);     //  设置机械臂的默认碰撞行为

    std::array<double, 7> q_goal;
    for (size_t i = 0; i < 7; i++) {
      q_goal[i] = std::stod(argv[i + 2]);
    }
    double speed_factor = std::stod(argv[9]);

    // Set additional parameters always before the control loop, NEVER in the control loop!
    //  设置机械臂的默认碰撞行为
    robot.setCollisionBehavior(
        {{20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0}}, {{20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0}},
        {{10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0}}, {{10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0}},
        {{20.0, 20.0, 20.0, 20.0, 20.0, 20.0}}, {{20.0, 20.0, 20.0, 20.0, 20.0, 20.0}},
        {{10.0, 10.0, 10.0, 10.0, 10.0, 10.0}}, {{10.0, 10.0, 10.0, 10.0, 10.0, 10.0}});

    MotionGenerator motion_generator(speed_factor, q_goal);    // 创建一个motion generator,参数包括速度因子，目标关节角
    std::cout << "WARNING: This example will move the robot! "
              << "Please make sure to have the user stop button at hand!" << std::endl
              << "Press Enter to continue..." << std::endl;
    std::cin.ignore();  // 读入回车
    robot.control(motion_generator);     // 让机械臂根据motion generator运动
    std::cout << "Motion finished" << std::endl;
  } catch (const franka::Exception& e) {
    std::cout << e.what() << std::endl;   // 如果有异常则抛出异常
    return -1;
  }

  return 0;
}