From 0c32c1a1d4c65c09d28cf08c2d74abdbc150f4ad Mon Sep 17 00:00:00 2001
From: BarisYazici <BarisYazici@users.noreply.github.com>
Date: Thu, 26 Sep 2024 14:14:35 +0000
Subject: [PATCH] deploy: a6ef9fbe8232573ebd61c18e30d0e68c54b65f7d

---
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 0.13.6/classfranka_1_1Torques-members.html    |   95 +
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 ...r_d28a4824dc47e487b107a5db32ef43c4_dep.map |    5 +
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 0.13.6/doxygen.css                            | 1793 ++++++++++++++++
 0.13.6/doxygen.svg                            |   26 +
 0.13.6/duration_8h.html                       |  194 ++
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 0.13.6/duration_8h__dep__incl.md5             |    1 +
 0.13.6/duration_8h__dep__incl.png             |  Bin 0 -> 65546 bytes
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 0.13.6/errors_8h.html                         |  182 ++
 0.13.6/errors_8h__dep__incl.map               |   13 +
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 0.13.6/errors_8h_source.html                  |  206 ++
 0.13.6/examples.html                          |  128 ++
 0.13.6/examples__common_8h.html               |  173 ++
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 0.13.6/examples__common_8h__incl.png          |  Bin 0 -> 86539 bytes
 0.13.6/examples__common_8h_source.html        |  146 ++
 0.13.6/exception_8h.html                      |  166 ++
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 0.13.6/exception_8h__incl.png                 |  Bin 0 -> 34488 bytes
 0.13.6/exception_8h_source.html               |  156 ++
 0.13.6/files.html                             |  111 +
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 0.13.6/force_control_8cpp-example.html        |  214 ++
 0.13.6/functions.html                         |   93 +
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 0.13.6/functions_c.html                       |  183 ++
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 0.13.6/functions_j.html                       |  135 ++
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 0.13.6/functions_rela.html                    |   86 +
 0.13.6/functions_s.html                       |  155 ++
 0.13.6/functions_t.html                       |  120 ++
 0.13.6/functions_type.html                    |   87 +
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 0.13.6/functions_w.html                       |   93 +
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 0.13.6/functions_~.html                       |   96 +
 ...te_cartesian_pose_motion_8cpp-example.html |  169 ++
 ...on_external_control_loop_8cpp-example.html |  188 ++
 ...artesian_velocity_motion_8cpp-example.html |  179 ++
 ...on_external_control_loop_8cpp-example.html |  199 ++
 ...rate_consecutive_motions_8cpp-example.html |  173 ++
 .../generate_elbow_motion_8cpp-example.html   |  170 ++
 ...te_joint_position_motion_8cpp-example.html |  167 ++
 ...on_external_control_loop_8cpp-example.html |  185 ++
 ...te_joint_velocity_motion_8cpp-example.html |  161 ++
 ...on_external_control_loop_8cpp-example.html |  181 ++
 0.13.6/globals.html                           |   85 +
 0.13.6/globals_func.html                      |   85 +
 0.13.6/graph_legend.html                      |  144 ++
 0.13.6/graph_legend.md5                       |    1 +
 0.13.6/graph_legend.png                       |  Bin 0 -> 20615 bytes
 0.13.6/grasp_object_8cpp-example.html         |  159 ++
 0.13.6/gripper_8h.html                        |  124 ++
 0.13.6/gripper_8h__incl.map                   |   11 +
 0.13.6/gripper_8h__incl.md5                   |    1 +
 0.13.6/gripper_8h__incl.png                   |  Bin 0 -> 24665 bytes
 0.13.6/gripper_8h_source.html                 |  154 ++
 0.13.6/gripper__state_8h.html                 |  175 ++
 0.13.6/gripper__state_8h__dep__incl.map       |    4 +
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 0.13.6/gripper__state_8h__incl.png            |  Bin 0 -> 12351 bytes
 0.13.6/gripper__state_8h_source.html          |  123 ++
 0.13.6/hierarchy.html                         |  122 ++
 0.13.6/index.html                             |   89 +
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 0.13.6/inherit_graph_8.map                    |    3 +
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 0.13.6/inherit_graph_9.md5                    |    1 +
 0.13.6/inherit_graph_9.png                    |  Bin 0 -> 1229 bytes
 0.13.6/inherits.html                          |  180 ++
 .../joint_impedance_control_8cpp-example.html |  322 +++
 ...nt_point_to_point_motion_8cpp-example.html |  145 ++
 0.13.6/jquery.js                              |   35 +
 0.13.6/log_8h.html                            |  182 ++
 0.13.6/log_8h__dep__incl.map                  |    8 +
 0.13.6/log_8h__dep__incl.md5                  |    1 +
 0.13.6/log_8h__dep__incl.png                  |  Bin 0 -> 18098 bytes
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 0.13.6/log_8h_source.html                     |  132 ++
 0.13.6/lowpass__filter_8h.html                |  268 +++
 0.13.6/lowpass__filter_8h__dep__incl.map      |    9 +
 0.13.6/lowpass__filter_8h__dep__incl.md5      |    1 +
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 0.13.6/lowpass__filter_8h__incl.map           |    5 +
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 0.13.6/lowpass__filter_8h__incl.png           |  Bin 0 -> 5987 bytes
 0.13.6/lowpass__filter_8h_source.html         |  109 +
 0.13.6/menu.js                                |   51 +
 0.13.6/menudata.js                            |  107 +
 0.13.6/model_8h.html                          |  209 ++
 0.13.6/model_8h__incl.map                     |   21 +
 0.13.6/model_8h__incl.md5                     |    1 +
 0.13.6/model_8h__incl.png                     |  Bin 0 -> 75754 bytes
 0.13.6/model_8h_source.html                   |  211 ++
 0.13.6/motion_with_control_8cpp-example.html  |  305 +++
 ...ol_external_control_loop_8cpp-example.html |  326 +++
 0.13.6/nav_f.png                              |  Bin 0 -> 153 bytes
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 0.13.6/nav_h.png                              |  Bin 0 -> 98 bytes
 0.13.6/open.png                               |  Bin 0 -> 123 bytes
 0.13.6/print_joint_poses_8cpp-example.html    |  133 ++
 0.13.6/rate__limiting_8h.html                 | 1095 ++++++++++
 0.13.6/rate__limiting_8h__incl.map            |    7 +
 0.13.6/rate__limiting_8h__incl.md5            |    1 +
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 0.13.6/rate__limiting_8h_source.html          |  255 +++
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 0.13.6/robot_8h__dep__incl.map                |    8 +
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 0.13.6/robot_8h_source.html                   |  291 +++
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 0.13.6/robot__state_8h_source.html            |  265 +++
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 0.13.6/search/all_1.js                        |    6 +
 0.13.6/search/all_10.html                     |   37 +
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_5f30c89189ebb3336d6b33aa932838ba.html">franka</a></li>  </ul>
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+<div class="title">active_control.h</div>  </div>
+</div><!--header-->
+<div class="contents">
+<a href="active__control_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// Copyright (c) 2023 Franka Robotics GmbH</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Use of this source code is governed by the Apache-2.0 license, see LICENSE</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160; </div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="active__control__base_8h.html">franka/active_control_base.h</a>&gt;</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="exception_8h.html">franka/exception.h</a>&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="robot_8h.html">robot.h</a>&quot;</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="keyword">namespace </span>franka {</div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160; </div>
+<div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="classfranka_1_1ActiveControl.html">   21</a></span>&#160;<span class="keyword">class </span><a class="code" href="classfranka_1_1ActiveControl.html">ActiveControl</a> : <span class="keyword">public</span> <a class="code" href="classfranka_1_1ActiveControlBase.html">ActiveControlBase</a> {</div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160; <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  ~<a class="code" href="classfranka_1_1ActiveControl.html">ActiveControl</a>() <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160; </div>
+<div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="classfranka_1_1ActiveControl.html#a55f5b94e5ac491e5b2ccc1782a873582">   25</a></span>&#160;  std::pair&lt;RobotState, Duration&gt; <a class="code" href="classfranka_1_1ActiveControl.html#a55f5b94e5ac491e5b2ccc1782a873582">readOnce</a>() <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160; </div>
+<div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="classfranka_1_1ActiveControl.html#a888b87832cd3def156c07a0b57d95663">   27</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classfranka_1_1ActiveControl.html#a888b87832cd3def156c07a0b57d95663">writeOnce</a>(<span class="keyword">const</span> <a class="code" href="classfranka_1_1Torques.html">Torques</a>&amp; <span class="comment">/* control_input */</span>)<span class="keyword"> override </span>{</div>
+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    <span class="keywordflow">throw</span> <a class="code" href="structfranka_1_1ControlException.html">franka::ControlException</a>(wrong_write_once_method_called);</div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;  };</div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160; </div>
+<div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="classfranka_1_1ActiveControl.html#a762615a1a3d5cf18064bfbd0b45effa6">   31</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classfranka_1_1ActiveControl.html#a762615a1a3d5cf18064bfbd0b45effa6">writeOnce</a>(<span class="keyword">const</span> <a class="code" href="classfranka_1_1JointPositions.html">JointPositions</a>&amp; <span class="comment">/* motion_generator_input */</span>,</div>
+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;                 <span class="keyword">const</span> std::optional&lt;const Torques&gt;&amp; <span class="comment">/*control_input*/</span>)<span class="keyword"> override </span>{</div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    <span class="keywordflow">throw</span> <a class="code" href="structfranka_1_1ControlException.html">franka::ControlException</a>(wrong_write_once_method_called);</div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;  };</div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160; </div>
+<div class="line"><a name="l00036"></a><span class="lineno"><a class="line" href="classfranka_1_1ActiveControl.html#a2a27360ae8203fa8a413c47708e03ede">   36</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classfranka_1_1ActiveControl.html#a2a27360ae8203fa8a413c47708e03ede">writeOnce</a>(<span class="keyword">const</span> <a class="code" href="classfranka_1_1JointVelocities.html">JointVelocities</a>&amp; <span class="comment">/* motion_generator_input */</span>,</div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;                 <span class="keyword">const</span> std::optional&lt;const Torques&gt;&amp; <span class="comment">/* control_input */</span>)<span class="keyword"> override </span>{</div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    <span class="keywordflow">throw</span> <a class="code" href="structfranka_1_1ControlException.html">franka::ControlException</a>(wrong_write_once_method_called);</div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  };</div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
+<div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="classfranka_1_1ActiveControl.html#a52f9ce19182359732bddee7b52a87419">   41</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classfranka_1_1ActiveControl.html#a52f9ce19182359732bddee7b52a87419">writeOnce</a>(<span class="keyword">const</span> <a class="code" href="classfranka_1_1CartesianPose.html">CartesianPose</a>&amp; <span class="comment">/* motion_generator_input */</span>,</div>
+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;                 <span class="keyword">const</span> std::optional&lt;const Torques&gt;&amp; <span class="comment">/* control_input */</span>)<span class="keyword"> override </span>{</div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    <span class="keywordflow">throw</span> <a class="code" href="structfranka_1_1ControlException.html">franka::ControlException</a>(wrong_write_once_method_called);</div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  };</div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
+<div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="classfranka_1_1ActiveControl.html#a12c3c6916e26e66dae41eb624daabb4a">   46</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classfranka_1_1ActiveControl.html#a12c3c6916e26e66dae41eb624daabb4a">writeOnce</a>(<span class="keyword">const</span> <a class="code" href="classfranka_1_1CartesianVelocities.html">CartesianVelocities</a>&amp; <span class="comment">/* motion_generator_input */</span>,</div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;                 <span class="keyword">const</span> std::optional&lt;const Torques&gt;&amp; <span class="comment">/* control_input */</span>)<span class="keyword"> override </span>{</div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    <span class="keywordflow">throw</span> <a class="code" href="structfranka_1_1ControlException.html">franka::ControlException</a>(wrong_write_once_method_called);</div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  };</div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; </div>
+<div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="classfranka_1_1ActiveControl.html#a8166a590c84c749cd90c874bd2f1aca4">   51</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classfranka_1_1ActiveControl.html#a8166a590c84c749cd90c874bd2f1aca4">writeOnce</a>(<span class="keyword">const</span> <a class="code" href="classfranka_1_1JointPositions.html">JointPositions</a>&amp; motion_generator_input)<span class="keyword"> override </span>{</div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <a class="code" href="classfranka_1_1ActiveControl.html#a888b87832cd3def156c07a0b57d95663">writeOnce</a>(motion_generator_input, std::optional&lt;const Torques&gt;());</div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  };</div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
+<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="classfranka_1_1ActiveControl.html#a7f54a6bc037fa63f14e1a3f1329d4bf5">   55</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classfranka_1_1ActiveControl.html#a7f54a6bc037fa63f14e1a3f1329d4bf5">writeOnce</a>(<span class="keyword">const</span> <a class="code" href="classfranka_1_1JointVelocities.html">JointVelocities</a>&amp; motion_generator_input)<span class="keyword"> override </span>{</div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    <a class="code" href="classfranka_1_1ActiveControl.html#a888b87832cd3def156c07a0b57d95663">writeOnce</a>(motion_generator_input, std::optional&lt;const Torques&gt;());</div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  };</div>
+<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
+<div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="classfranka_1_1ActiveControl.html#a6b6265ccad26dc2e32c7b6329b74fb80">   59</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classfranka_1_1ActiveControl.html#a6b6265ccad26dc2e32c7b6329b74fb80">writeOnce</a>(<span class="keyword">const</span> <a class="code" href="classfranka_1_1CartesianPose.html">CartesianPose</a>&amp; motion_generator_input)<span class="keyword"> override </span>{</div>
+<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <a class="code" href="classfranka_1_1ActiveControl.html#a888b87832cd3def156c07a0b57d95663">writeOnce</a>(motion_generator_input, std::optional&lt;const Torques&gt;());</div>
+<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  };</div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
+<div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="classfranka_1_1ActiveControl.html#ad4bf06b3e873fd95a2261d67d89a4d1f">   63</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classfranka_1_1ActiveControl.html#ad4bf06b3e873fd95a2261d67d89a4d1f">writeOnce</a>(<span class="keyword">const</span> <a class="code" href="classfranka_1_1CartesianVelocities.html">CartesianVelocities</a>&amp; motion_generator_input)<span class="keyword"> override </span>{</div>
+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <a class="code" href="classfranka_1_1ActiveControl.html#a888b87832cd3def156c07a0b57d95663">writeOnce</a>(motion_generator_input, std::optional&lt;const Torques&gt;());</div>
+<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  };</div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160; </div>
+<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; <span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="classfranka_1_1ActiveControl.html#a4aa09537fddbec6cf1eed05fdc147b30">   76</a></span>&#160;  <a class="code" href="classfranka_1_1ActiveControl.html#a4aa09537fddbec6cf1eed05fdc147b30">ActiveControl</a>(std::shared_ptr&lt;Robot::Impl&gt; <a class="code" href="classfranka_1_1ActiveControl.html#a94e725adb409391547a260f204c74564">robot_impl</a>,</div>
+<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;                uint32_t <a class="code" href="classfranka_1_1ActiveControl.html#a0852a7d4b5a67df218440c2cc629f638">motion_id</a>,</div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;                std::unique_lock&lt;std::mutex&gt; <a class="code" href="classfranka_1_1ActiveControl.html#aed53605877b237435581e36f4c0b34a4">control_lock</a>);</div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
+<div class="line"><a name="l00081"></a><span class="lineno"><a class="line" href="classfranka_1_1ActiveControl.html#a94e725adb409391547a260f204c74564">   81</a></span>&#160;  std::shared_ptr&lt;Robot::Impl&gt; <a class="code" href="classfranka_1_1ActiveControl.html#a94e725adb409391547a260f204c74564">robot_impl</a>;</div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
+<div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="classfranka_1_1ActiveControl.html#a0852a7d4b5a67df218440c2cc629f638">   84</a></span>&#160;  uint32_t <a class="code" href="classfranka_1_1ActiveControl.html#a0852a7d4b5a67df218440c2cc629f638">motion_id</a>;</div>
+<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
+<div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="classfranka_1_1ActiveControl.html#aed53605877b237435581e36f4c0b34a4">   87</a></span>&#160;  std::unique_lock&lt;std::mutex&gt; <a class="code" href="classfranka_1_1ActiveControl.html#aed53605877b237435581e36f4c0b34a4">control_lock</a>;</div>
+<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
+<div class="line"><a name="l00090"></a><span class="lineno"><a class="line" href="classfranka_1_1ActiveControl.html#afa521707548926e9d1e38e4b83496db2">   90</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classfranka_1_1ActiveControl.html#afa521707548926e9d1e38e4b83496db2">control_finished</a>;</div>
+<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
+<div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="classfranka_1_1ActiveControl.html#a226304deac8032ed6c8428caa60c9fb4">   93</a></span>&#160;  std::optional&lt;Duration&gt; <a class="code" href="classfranka_1_1ActiveControl.html#a226304deac8032ed6c8428caa60c9fb4">last_read_access</a>;</div>
+<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
+<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; <span class="keyword">private</span>:</div>
+<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  <span class="keyword">const</span> std::string wrong_write_once_method_called{</div>
+<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      <span class="stringliteral">&quot;Wrong writeOnce method called for currently active control!&quot;</span>};</div>
+<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;};</div>
+<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
+<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;}  <span class="comment">// namespace franka</span></div>
+<div class="ttc" id="aactive__control__base_8h_html"><div class="ttname"><a href="active__control__base_8h.html">active_control_base.h</a></div><div class="ttdoc">Abstract interface class as the base of the active controllers.</div></div>
+<div class="ttc" id="aclassfranka_1_1ActiveControlBase_html"><div class="ttname"><a href="classfranka_1_1ActiveControlBase.html">franka::ActiveControlBase</a></div><div class="ttdoc">Allows the user to read the state of a Robot and to send new control commands after starting a contro...</div><div class="ttdef"><b>Definition:</b> active_control_base.h:27</div></div>
+<div class="ttc" id="aclassfranka_1_1ActiveControl_html"><div class="ttname"><a href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a></div><div class="ttdoc">Documented in ActiveControlBase.</div><div class="ttdef"><b>Definition:</b> active_control.h:21</div></div>
+<div class="ttc" id="aclassfranka_1_1ActiveControl_html_a0852a7d4b5a67df218440c2cc629f638"><div class="ttname"><a href="classfranka_1_1ActiveControl.html#a0852a7d4b5a67df218440c2cc629f638">franka::ActiveControl::motion_id</a></div><div class="ttdeci">uint32_t motion_id</div><div class="ttdoc">motion id of running motion</div><div class="ttdef"><b>Definition:</b> active_control.h:84</div></div>
+<div class="ttc" id="aclassfranka_1_1ActiveControl_html_a12c3c6916e26e66dae41eb624daabb4a"><div class="ttname"><a href="classfranka_1_1ActiveControl.html#a12c3c6916e26e66dae41eb624daabb4a">franka::ActiveControl::writeOnce</a></div><div class="ttdeci">void writeOnce(const CartesianVelocities &amp;, const std::optional&lt; const Torques &gt; &amp;) override</div><div class="ttdoc">Updates the cartesian velocity and torque commands of an active control.</div><div class="ttdef"><b>Definition:</b> active_control.h:46</div></div>
+<div class="ttc" id="aclassfranka_1_1ActiveControl_html_a226304deac8032ed6c8428caa60c9fb4"><div class="ttname"><a href="classfranka_1_1ActiveControl.html#a226304deac8032ed6c8428caa60c9fb4">franka::ActiveControl::last_read_access</a></div><div class="ttdeci">std::optional&lt; Duration &gt; last_read_access</div><div class="ttdoc">duration to last read access</div><div class="ttdef"><b>Definition:</b> active_control.h:93</div></div>
+<div class="ttc" id="aclassfranka_1_1ActiveControl_html_a2a27360ae8203fa8a413c47708e03ede"><div class="ttname"><a href="classfranka_1_1ActiveControl.html#a2a27360ae8203fa8a413c47708e03ede">franka::ActiveControl::writeOnce</a></div><div class="ttdeci">void writeOnce(const JointVelocities &amp;, const std::optional&lt; const Torques &gt; &amp;) override</div><div class="ttdoc">Updates the joint velocity and torque commands of an active control.</div><div class="ttdef"><b>Definition:</b> active_control.h:36</div></div>
+<div class="ttc" id="aclassfranka_1_1ActiveControl_html_a4aa09537fddbec6cf1eed05fdc147b30"><div class="ttname"><a href="classfranka_1_1ActiveControl.html#a4aa09537fddbec6cf1eed05fdc147b30">franka::ActiveControl::ActiveControl</a></div><div class="ttdeci">ActiveControl(std::shared_ptr&lt; Robot::Impl &gt; robot_impl, uint32_t motion_id, std::unique_lock&lt; std::mutex &gt; control_lock)</div><div class="ttdoc">Construct a new ActiveControl object.</div></div>
+<div class="ttc" id="aclassfranka_1_1ActiveControl_html_a52f9ce19182359732bddee7b52a87419"><div class="ttname"><a href="classfranka_1_1ActiveControl.html#a52f9ce19182359732bddee7b52a87419">franka::ActiveControl::writeOnce</a></div><div class="ttdeci">void writeOnce(const CartesianPose &amp;, const std::optional&lt; const Torques &gt; &amp;) override</div><div class="ttdoc">Updates the cartesian position and torque commands of an active control.</div><div class="ttdef"><b>Definition:</b> active_control.h:41</div></div>
+<div class="ttc" id="aclassfranka_1_1ActiveControl_html_a55f5b94e5ac491e5b2ccc1782a873582"><div class="ttname"><a href="classfranka_1_1ActiveControl.html#a55f5b94e5ac491e5b2ccc1782a873582">franka::ActiveControl::readOnce</a></div><div class="ttdeci">std::pair&lt; RobotState, Duration &gt; readOnce() override</div><div class="ttdoc">Waits for a robot state update and returns it.</div></div>
+<div class="ttc" id="aclassfranka_1_1ActiveControl_html_a6b6265ccad26dc2e32c7b6329b74fb80"><div class="ttname"><a href="classfranka_1_1ActiveControl.html#a6b6265ccad26dc2e32c7b6329b74fb80">franka::ActiveControl::writeOnce</a></div><div class="ttdeci">void writeOnce(const CartesianPose &amp;motion_generator_input) override</div><div class="ttdoc">Updates the cartesian pose commands of an active control, with internal controller.</div><div class="ttdef"><b>Definition:</b> active_control.h:59</div></div>
+<div class="ttc" id="aclassfranka_1_1ActiveControl_html_a762615a1a3d5cf18064bfbd0b45effa6"><div class="ttname"><a href="classfranka_1_1ActiveControl.html#a762615a1a3d5cf18064bfbd0b45effa6">franka::ActiveControl::writeOnce</a></div><div class="ttdeci">void writeOnce(const JointPositions &amp;, const std::optional&lt; const Torques &gt; &amp;) override</div><div class="ttdoc">Updates the joint position and torque commands of an active control.</div><div class="ttdef"><b>Definition:</b> active_control.h:31</div></div>
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+<div class="ttc" id="aclassfranka_1_1ActiveControl_html_a8166a590c84c749cd90c874bd2f1aca4"><div class="ttname"><a href="classfranka_1_1ActiveControl.html#a8166a590c84c749cd90c874bd2f1aca4">franka::ActiveControl::writeOnce</a></div><div class="ttdeci">void writeOnce(const JointPositions &amp;motion_generator_input) override</div><div class="ttdoc">Updates the joint position commands of an active control, with internal controller.</div><div class="ttdef"><b>Definition:</b> active_control.h:51</div></div>
+<div class="ttc" id="aclassfranka_1_1ActiveControl_html_a888b87832cd3def156c07a0b57d95663"><div class="ttname"><a href="classfranka_1_1ActiveControl.html#a888b87832cd3def156c07a0b57d95663">franka::ActiveControl::writeOnce</a></div><div class="ttdeci">void writeOnce(const Torques &amp;) override</div><div class="ttdoc">Updates torque commands of an active control.</div><div class="ttdef"><b>Definition:</b> active_control.h:27</div></div>
+<div class="ttc" id="aclassfranka_1_1ActiveControl_html_a94e725adb409391547a260f204c74564"><div class="ttname"><a href="classfranka_1_1ActiveControl.html#a94e725adb409391547a260f204c74564">franka::ActiveControl::robot_impl</a></div><div class="ttdeci">std::shared_ptr&lt; Robot::Impl &gt; robot_impl</div><div class="ttdoc">shared pointer to Robot::Impl instance for read and write accesses</div><div class="ttdef"><b>Definition:</b> active_control.h:81</div></div>
+<div class="ttc" id="aclassfranka_1_1ActiveControl_html_ad4bf06b3e873fd95a2261d67d89a4d1f"><div class="ttname"><a href="classfranka_1_1ActiveControl.html#ad4bf06b3e873fd95a2261d67d89a4d1f">franka::ActiveControl::writeOnce</a></div><div class="ttdeci">void writeOnce(const CartesianVelocities &amp;motion_generator_input) override</div><div class="ttdoc">Updates the cartesian velocity commands of an active control, with internal controller.</div><div class="ttdef"><b>Definition:</b> active_control.h:63</div></div>
+<div class="ttc" id="aclassfranka_1_1ActiveControl_html_aed53605877b237435581e36f4c0b34a4"><div class="ttname"><a href="classfranka_1_1ActiveControl.html#aed53605877b237435581e36f4c0b34a4">franka::ActiveControl::control_lock</a></div><div class="ttdeci">std::unique_lock&lt; std::mutex &gt; control_lock</div><div class="ttdoc">control-lock preventing parallel control processes</div><div class="ttdef"><b>Definition:</b> active_control.h:87</div></div>
+<div class="ttc" id="aclassfranka_1_1ActiveControl_html_afa521707548926e9d1e38e4b83496db2"><div class="ttname"><a href="classfranka_1_1ActiveControl.html#afa521707548926e9d1e38e4b83496db2">franka::ActiveControl::control_finished</a></div><div class="ttdeci">bool control_finished</div><div class="ttdoc">flag indicating if control process is finished</div><div class="ttdef"><b>Definition:</b> active_control.h:90</div></div>
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+<div class="ttc" id="aexception_8h_html"><div class="ttname"><a href="exception_8h.html">exception.h</a></div><div class="ttdoc">Contains exception definitions.</div></div>
+<div class="ttc" id="arobot_8h_html"><div class="ttname"><a href="robot_8h.html">robot.h</a></div><div class="ttdoc">Contains the franka::Robot type.</div></div>
+<div class="ttc" id="astructfranka_1_1ControlException_html"><div class="ttname"><a href="structfranka_1_1ControlException.html">franka::ControlException</a></div><div class="ttdoc">ControlException is thrown if an error occurs during motion generation or torque control.</div><div class="ttdef"><b>Definition:</b> exception.h:73</div></div>
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+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
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+<div class="title">active_control_base.h File Reference</div>  </div>
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+<div class="contents">
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+<p>Abstract interface class as the base of the active controllers.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &lt;<a class="el" href="control__types_8h_source.html">franka/control_types.h</a>&gt;</code><br />
+<code>#include &lt;<a class="el" href="exception_8h_source.html">franka/exception.h</a>&gt;</code><br />
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+<code>#include &lt;memory&gt;</code><br />
+<code>#include &lt;optional&gt;</code><br />
+<code>#include &lt;utility&gt;</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for active_control_base.h:</div>
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+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveControlBase.html">franka::ActiveControlBase</a></td></tr>
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+</div><!--header-->
+<div class="contents">
+<a href="active__control__base_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// Copyright (c) 2023 Franka Robotics GmbH</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Use of this source code is governed by the Apache-2.0 license, see LICENSE</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160; </div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="control__types_8h.html">franka/control_types.h</a>&gt;</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="exception_8h.html">franka/exception.h</a>&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="robot__state_8h.html">franka/robot_state.h</a>&gt;</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;memory&gt;</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;optional&gt;</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;utility&gt;</span></div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160; </div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="keyword">namespace </span>franka {</div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160; </div>
+<div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="classfranka_1_1ActiveControlBase.html">   27</a></span>&#160;<span class="keyword">class </span><a class="code" href="classfranka_1_1ActiveControlBase.html">ActiveControlBase</a> {</div>
+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160; <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;  <span class="keyword">virtual</span> ~<a class="code" href="classfranka_1_1ActiveControlBase.html">ActiveControlBase</a>() = <span class="keywordflow">default</span>;</div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160; </div>
+<div class="line"><a name="l00040"></a><span class="lineno"><a class="line" href="classfranka_1_1ActiveControlBase.html#ae99dac6dae3b0dcd79104a1a404e42d0">   40</a></span>&#160;  <span class="keyword">virtual</span> std::pair&lt;RobotState, Duration&gt; <a class="code" href="classfranka_1_1ActiveControlBase.html#ae99dac6dae3b0dcd79104a1a404e42d0">readOnce</a>() = 0;</div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
+<div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="classfranka_1_1ActiveControlBase.html#a070846c3bd259aa703848d984a82e43d">   48</a></span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classfranka_1_1ActiveControlBase.html#a070846c3bd259aa703848d984a82e43d">writeOnce</a>(<span class="keyword">const</span> <a class="code" href="classfranka_1_1Torques.html">Torques</a>&amp; <span class="comment">/* control_input */</span>) = 0;</div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
+<div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="classfranka_1_1ActiveControlBase.html#ab0b5421122071fa0d578dcd0f4cabc36">   56</a></span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classfranka_1_1ActiveControlBase.html#ab0b5421122071fa0d578dcd0f4cabc36">writeOnce</a>(<span class="keyword">const</span> <a class="code" href="classfranka_1_1JointPositions.html">JointPositions</a>&amp; <span class="comment">/* motion_generator_input */</span>,</div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;                         <span class="keyword">const</span> std::optional&lt;const Torques&gt;&amp; <span class="comment">/*control_input*/</span>) = 0;</div>
+<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
+<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="classfranka_1_1ActiveControlBase.html#a46f54e3366ad083c9dedf62b9f4e1fea">   65</a></span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classfranka_1_1ActiveControlBase.html#a46f54e3366ad083c9dedf62b9f4e1fea">writeOnce</a>(<span class="keyword">const</span> <a class="code" href="classfranka_1_1JointVelocities.html">JointVelocities</a>&amp; <span class="comment">/* motion_generator_input */</span>,</div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;                         <span class="keyword">const</span> std::optional&lt;const Torques&gt;&amp; <span class="comment">/* control_input */</span>) = 0;</div>
+<div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="classfranka_1_1ActiveControlBase.html#a61ffd2a40b082e275784175f7a38aa08">   73</a></span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classfranka_1_1ActiveControlBase.html#a61ffd2a40b082e275784175f7a38aa08">writeOnce</a>(<span class="keyword">const</span> <a class="code" href="classfranka_1_1CartesianPose.html">CartesianPose</a>&amp; <span class="comment">/* motion_generator_input */</span>,</div>
+<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;                         <span class="keyword">const</span> std::optional&lt;const Torques&gt;&amp; <span class="comment">/* control_input */</span>) = 0;</div>
+<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
+<div class="line"><a name="l00082"></a><span class="lineno"><a class="line" href="classfranka_1_1ActiveControlBase.html#ac94d472225bbe8b6322b9f3cbf98bd3b">   82</a></span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classfranka_1_1ActiveControlBase.html#ac94d472225bbe8b6322b9f3cbf98bd3b">writeOnce</a>(<span class="keyword">const</span> <a class="code" href="classfranka_1_1CartesianVelocities.html">CartesianVelocities</a>&amp; <span class="comment">/* motion_generator_input */</span>,</div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;                         <span class="keyword">const</span> std::optional&lt;const Torques&gt;&amp; <span class="comment">/* control_input */</span>) = 0;</div>
+<div class="line"><a name="l00090"></a><span class="lineno"><a class="line" href="classfranka_1_1ActiveControlBase.html#a800a13f3d6d12408dbff3afc8d072af2">   90</a></span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classfranka_1_1ActiveControlBase.html#a800a13f3d6d12408dbff3afc8d072af2">writeOnce</a>(<span class="keyword">const</span> <a class="code" href="classfranka_1_1JointPositions.html">JointPositions</a>&amp; motion_generator_input) = 0;</div>
+<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
+<div class="line"><a name="l00098"></a><span class="lineno"><a class="line" href="classfranka_1_1ActiveControlBase.html#ae00c5b9387e21b76443ddfd173f7d01e">   98</a></span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classfranka_1_1ActiveControlBase.html#ae00c5b9387e21b76443ddfd173f7d01e">writeOnce</a>(<span class="keyword">const</span> <a class="code" href="classfranka_1_1JointVelocities.html">JointVelocities</a>&amp; motion_generator_input) = 0;</div>
+<div class="line"><a name="l00105"></a><span class="lineno"><a class="line" href="classfranka_1_1ActiveControlBase.html#a9b05a521b8ab9d1af6c58b3d1fbcf12f">  105</a></span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classfranka_1_1ActiveControlBase.html#a9b05a521b8ab9d1af6c58b3d1fbcf12f">writeOnce</a>(<span class="keyword">const</span> <a class="code" href="classfranka_1_1CartesianPose.html">CartesianPose</a>&amp; motion_generator_input) = 0;</div>
+<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160; </div>
+<div class="line"><a name="l00113"></a><span class="lineno"><a class="line" href="classfranka_1_1ActiveControlBase.html#a35ad38e4c512e34b0c82b081cefe4020">  113</a></span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classfranka_1_1ActiveControlBase.html#a35ad38e4c512e34b0c82b081cefe4020">writeOnce</a>(<span class="keyword">const</span> <a class="code" href="classfranka_1_1CartesianVelocities.html">CartesianVelocities</a>&amp; motion_generator_input) = 0;</div>
+<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
+<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; <span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  <a class="code" href="classfranka_1_1ActiveControlBase.html">ActiveControlBase</a>() = <span class="keywordflow">default</span>;</div>
+<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;};</div>
+<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
+<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;}  <span class="comment">// namespace franka</span></div>
+<div class="ttc" id="aclassfranka_1_1ActiveControlBase_html"><div class="ttname"><a href="classfranka_1_1ActiveControlBase.html">franka::ActiveControlBase</a></div><div class="ttdoc">Allows the user to read the state of a Robot and to send new control commands after starting a contro...</div><div class="ttdef"><b>Definition:</b> active_control_base.h:27</div></div>
+<div class="ttc" id="aclassfranka_1_1ActiveControlBase_html_a070846c3bd259aa703848d984a82e43d"><div class="ttname"><a href="classfranka_1_1ActiveControlBase.html#a070846c3bd259aa703848d984a82e43d">franka::ActiveControlBase::writeOnce</a></div><div class="ttdeci">virtual void writeOnce(const Torques &amp;)=0</div><div class="ttdoc">Updates torque commands of an active control.</div></div>
+<div class="ttc" id="aclassfranka_1_1ActiveControlBase_html_a35ad38e4c512e34b0c82b081cefe4020"><div class="ttname"><a href="classfranka_1_1ActiveControlBase.html#a35ad38e4c512e34b0c82b081cefe4020">franka::ActiveControlBase::writeOnce</a></div><div class="ttdeci">virtual void writeOnce(const CartesianVelocities &amp;motion_generator_input)=0</div><div class="ttdoc">Updates the cartesian velocity commands of an active control, with internal controller.</div></div>
+<div class="ttc" id="aclassfranka_1_1ActiveControlBase_html_a46f54e3366ad083c9dedf62b9f4e1fea"><div class="ttname"><a href="classfranka_1_1ActiveControlBase.html#a46f54e3366ad083c9dedf62b9f4e1fea">franka::ActiveControlBase::writeOnce</a></div><div class="ttdeci">virtual void writeOnce(const JointVelocities &amp;, const std::optional&lt; const Torques &gt; &amp;)=0</div><div class="ttdoc">Updates the joint velocity and torque commands of an active control.</div></div>
+<div class="ttc" id="aclassfranka_1_1ActiveControlBase_html_a61ffd2a40b082e275784175f7a38aa08"><div class="ttname"><a href="classfranka_1_1ActiveControlBase.html#a61ffd2a40b082e275784175f7a38aa08">franka::ActiveControlBase::writeOnce</a></div><div class="ttdeci">virtual void writeOnce(const CartesianPose &amp;, const std::optional&lt; const Torques &gt; &amp;)=0</div><div class="ttdoc">Updates the cartesian position and torque commands of an active control.</div></div>
+<div class="ttc" id="aclassfranka_1_1ActiveControlBase_html_a800a13f3d6d12408dbff3afc8d072af2"><div class="ttname"><a href="classfranka_1_1ActiveControlBase.html#a800a13f3d6d12408dbff3afc8d072af2">franka::ActiveControlBase::writeOnce</a></div><div class="ttdeci">virtual void writeOnce(const JointPositions &amp;motion_generator_input)=0</div><div class="ttdoc">Updates the joint position commands of an active control, with internal controller.</div></div>
+<div class="ttc" id="aclassfranka_1_1ActiveControlBase_html_a9b05a521b8ab9d1af6c58b3d1fbcf12f"><div class="ttname"><a href="classfranka_1_1ActiveControlBase.html#a9b05a521b8ab9d1af6c58b3d1fbcf12f">franka::ActiveControlBase::writeOnce</a></div><div class="ttdeci">virtual void writeOnce(const CartesianPose &amp;motion_generator_input)=0</div><div class="ttdoc">Updates the cartesian pose commands of an active control, with internal controller.</div></div>
+<div class="ttc" id="aclassfranka_1_1ActiveControlBase_html_ab0b5421122071fa0d578dcd0f4cabc36"><div class="ttname"><a href="classfranka_1_1ActiveControlBase.html#ab0b5421122071fa0d578dcd0f4cabc36">franka::ActiveControlBase::writeOnce</a></div><div class="ttdeci">virtual void writeOnce(const JointPositions &amp;, const std::optional&lt; const Torques &gt; &amp;)=0</div><div class="ttdoc">Updates the joint position and torque commands of an active control.</div></div>
+<div class="ttc" id="aclassfranka_1_1ActiveControlBase_html_ac94d472225bbe8b6322b9f3cbf98bd3b"><div class="ttname"><a href="classfranka_1_1ActiveControlBase.html#ac94d472225bbe8b6322b9f3cbf98bd3b">franka::ActiveControlBase::writeOnce</a></div><div class="ttdeci">virtual void writeOnce(const CartesianVelocities &amp;, const std::optional&lt; const Torques &gt; &amp;)=0</div><div class="ttdoc">Updates the cartesian velocity and torque commands of an active control.</div></div>
+<div class="ttc" id="aclassfranka_1_1ActiveControlBase_html_ae00c5b9387e21b76443ddfd173f7d01e"><div class="ttname"><a href="classfranka_1_1ActiveControlBase.html#ae00c5b9387e21b76443ddfd173f7d01e">franka::ActiveControlBase::writeOnce</a></div><div class="ttdeci">virtual void writeOnce(const JointVelocities &amp;motion_generator_input)=0</div><div class="ttdoc">Updates the joint velocity commands of an active control, with internal controller.</div></div>
+<div class="ttc" id="aclassfranka_1_1ActiveControlBase_html_ae99dac6dae3b0dcd79104a1a404e42d0"><div class="ttname"><a href="classfranka_1_1ActiveControlBase.html#ae99dac6dae3b0dcd79104a1a404e42d0">franka::ActiveControlBase::readOnce</a></div><div class="ttdeci">virtual std::pair&lt; RobotState, Duration &gt; readOnce()=0</div><div class="ttdoc">Waits for a robot state update and returns it.</div></div>
+<div class="ttc" id="aclassfranka_1_1CartesianPose_html"><div class="ttname"><a href="classfranka_1_1CartesianPose.html">franka::CartesianPose</a></div><div class="ttdoc">Stores values for Cartesian pose motion generation.</div><div class="ttdef"><b>Definition:</b> control_types.h:127</div></div>
+<div class="ttc" id="aclassfranka_1_1CartesianVelocities_html"><div class="ttname"><a href="classfranka_1_1CartesianVelocities.html">franka::CartesianVelocities</a></div><div class="ttdoc">Stores values for Cartesian velocity motion generation.</div><div class="ttdef"><b>Definition:</b> control_types.h:211</div></div>
+<div class="ttc" id="aclassfranka_1_1JointPositions_html"><div class="ttname"><a href="classfranka_1_1JointPositions.html">franka::JointPositions</a></div><div class="ttdoc">Stores values for joint position motion generation.</div><div class="ttdef"><b>Definition:</b> control_types.h:72</div></div>
+<div class="ttc" id="aclassfranka_1_1JointVelocities_html"><div class="ttname"><a href="classfranka_1_1JointVelocities.html">franka::JointVelocities</a></div><div class="ttdoc">Stores values for joint velocity motion generation.</div><div class="ttdef"><b>Definition:</b> control_types.h:99</div></div>
+<div class="ttc" id="aclassfranka_1_1Torques_html"><div class="ttname"><a href="classfranka_1_1Torques.html">franka::Torques</a></div><div class="ttdoc">Stores joint-level torque commands without gravity and friction.</div><div class="ttdef"><b>Definition:</b> control_types.h:45</div></div>
+<div class="ttc" id="acontrol__types_8h_html"><div class="ttname"><a href="control__types_8h.html">control_types.h</a></div><div class="ttdoc">Contains helper types for returning motion generation and joint-level torque commands.</div></div>
+<div class="ttc" id="aexception_8h_html"><div class="ttname"><a href="exception_8h.html">exception.h</a></div><div class="ttdoc">Contains exception definitions.</div></div>
+<div class="ttc" id="arobot__state_8h_html"><div class="ttname"><a href="robot__state_8h.html">robot_state.h</a></div><div class="ttdoc">Contains the franka::RobotState types.</div></div>
+</div><!-- fragment --></div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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diff --git a/0.13.6/active__motion__generator_8h.html b/0.13.6/active__motion__generator_8h.html
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+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
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+<!-- Generated by Doxygen 1.9.1 -->
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_5f30c89189ebb3336d6b33aa932838ba.html">franka</a></li>  </ul>
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+  <div class="headertitle">
+<div class="title">active_motion_generator.h File Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Contains the <code><a class="el" href="classfranka_1_1ActiveMotionGenerator.html" title="Allows the user to read the state of a Robot and to send new motion generator commands after starting...">franka::ActiveMotionGenerator</a></code> type.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &quot;<a class="el" href="active__control_8h_source.html">active_control.h</a>&quot;</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for active_motion_generator.h:</div>
+<div class="dyncontent">
+<div class="center"><img src="active__motion__generator_8h__incl.png" border="0" usemap="#ainclude_2franka_2active__motion__generator_8h" alt=""/></div>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_5f30c89189ebb3336d6b33aa932838ba.html">franka</a></li>  </ul>
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+<div class="title">active_motion_generator.h</div>  </div>
+</div><!--header-->
+<div class="contents">
+<a href="active__motion__generator_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// Copyright (c) 2023 Franka Robotics GmbH</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Use of this source code is governed by the Apache-2.0 license, see LICENSE</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160; </div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="active__control_8h.html">active_control.h</a>&quot;</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160; </div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="keyword">namespace </span>franka {</div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160; </div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> MotionGeneratorType&gt;</div>
+<div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="classfranka_1_1ActiveMotionGenerator.html">   22</a></span>&#160;<span class="keyword">class </span><a class="code" href="classfranka_1_1ActiveMotionGenerator.html">ActiveMotionGenerator</a> : <span class="keyword">public</span> <a class="code" href="classfranka_1_1ActiveControl.html">ActiveControl</a> {</div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160; <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00036"></a><span class="lineno"><a class="line" href="classfranka_1_1ActiveMotionGenerator.html#aae24c0819a0bd0996657063832245d69">   36</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classfranka_1_1ActiveMotionGenerator.html#aae24c0819a0bd0996657063832245d69">writeOnce</a>(<span class="keyword">const</span> MotionGeneratorType&amp; motion_generator_input,</div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;                 <span class="keyword">const</span> std::optional&lt;const Torques&gt;&amp; control_input) <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00043"></a><span class="lineno"><a class="line" href="classfranka_1_1ActiveMotionGenerator.html#a9f34d4a840b0d3e73fc3185af5fed175">   43</a></span>&#160;  <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classfranka_1_1Robot.html">Robot</a>;</div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; <span class="keyword">private</span>:</div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <a class="code" href="classfranka_1_1ActiveMotionGenerator.html">ActiveMotionGenerator</a>(std::shared_ptr&lt;Robot::Impl&gt; <a class="code" href="classfranka_1_1ActiveControl.html#a94e725adb409391547a260f204c74564">robot_impl</a>,</div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;                        uint32_t <a class="code" href="classfranka_1_1ActiveControl.html#a0852a7d4b5a67df218440c2cc629f638">motion_id</a>,</div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;                        std::unique_lock&lt;std::mutex&gt; <a class="code" href="classfranka_1_1ActiveControl.html#aed53605877b237435581e36f4c0b34a4">control_lock</a>,</div>
+<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;                        research_interface::robot::Move::ControllerMode controller_type)</div>
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+<p>Contains the <code><a class="el" href="classfranka_1_1ActiveTorqueControl.html" title="Allows the user to read the state of a Robot and to send new torque control commands after starting a...">franka::ActiveTorqueControl</a></code> type.  
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+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveTorqueControl.html">franka::ActiveTorqueControl</a></td></tr>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_5f30c89189ebb3336d6b33aa932838ba.html">franka</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">active_torque_control.h</div>  </div>
+</div><!--header-->
+<div class="contents">
+<a href="active__torque__control_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// Copyright (c) 2023 Franka Robotics GmbH</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Use of this source code is governed by the Apache-2.0 license, see LICENSE</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160; </div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="active__control_8h.html">active_control.h</a>&quot;</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160; </div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="keyword">namespace </span>franka {</div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160; </div>
+<div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="classfranka_1_1ActiveTorqueControl.html">   21</a></span>&#160;<span class="keyword">class </span><a class="code" href="classfranka_1_1ActiveTorqueControl.html">ActiveTorqueControl</a> : <span class="keyword">public</span> <a class="code" href="classfranka_1_1ActiveControl.html">ActiveControl</a> {</div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160; <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00032"></a><span class="lineno"><a class="line" href="classfranka_1_1ActiveTorqueControl.html#acc3b1d8c41cd191786e384887adf5da2">   32</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classfranka_1_1ActiveTorqueControl.html#acc3b1d8c41cd191786e384887adf5da2">writeOnce</a>(<span class="keyword">const</span> <a class="code" href="classfranka_1_1Torques.html">Torques</a>&amp; control_input) <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160; </div>
+<div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="classfranka_1_1ActiveTorqueControl.html#a9f34d4a840b0d3e73fc3185af5fed175">   39</a></span>&#160;  <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classfranka_1_1Robot.html">Robot</a>;</div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; <span class="keyword">private</span>:</div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  <a class="code" href="classfranka_1_1ActiveTorqueControl.html">ActiveTorqueControl</a>(std::shared_ptr&lt;Robot::Impl&gt; <a class="code" href="classfranka_1_1ActiveControl.html#a94e725adb409391547a260f204c74564">robot_impl</a>,</div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;                      uint32_t <a class="code" href="classfranka_1_1ActiveControl.html#a0852a7d4b5a67df218440c2cc629f638">motion_id</a>,</div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;                      std::unique_lock&lt;std::mutex&gt; <a class="code" href="classfranka_1_1ActiveControl.html#aed53605877b237435581e36f4c0b34a4">control_lock</a>)</div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;      : <a class="code" href="classfranka_1_1ActiveControl.html">ActiveControl</a>(std::move(<a class="code" href="classfranka_1_1ActiveControl.html#a94e725adb409391547a260f204c74564">robot_impl</a>), <a class="code" href="classfranka_1_1ActiveControl.html#a0852a7d4b5a67df218440c2cc629f638">motion_id</a>, std::move(<a class="code" href="classfranka_1_1ActiveControl.html#aed53605877b237435581e36f4c0b34a4">control_lock</a>)){};</div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;};</div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160; </div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;}  <span class="comment">// namespace franka</span></div>
+<div class="ttc" id="aactive__control_8h_html"><div class="ttname"><a href="active__control_8h.html">active_control.h</a></div><div class="ttdoc">Implements the ActiveControlBase abstract class.</div></div>
+<div class="ttc" id="aclassfranka_1_1ActiveControl_html"><div class="ttname"><a href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a></div><div class="ttdoc">Documented in ActiveControlBase.</div><div class="ttdef"><b>Definition:</b> active_control.h:21</div></div>
+<div class="ttc" id="aclassfranka_1_1ActiveControl_html_a0852a7d4b5a67df218440c2cc629f638"><div class="ttname"><a href="classfranka_1_1ActiveControl.html#a0852a7d4b5a67df218440c2cc629f638">franka::ActiveControl::motion_id</a></div><div class="ttdeci">uint32_t motion_id</div><div class="ttdoc">motion id of running motion</div><div class="ttdef"><b>Definition:</b> active_control.h:84</div></div>
+<div class="ttc" id="aclassfranka_1_1ActiveControl_html_a94e725adb409391547a260f204c74564"><div class="ttname"><a href="classfranka_1_1ActiveControl.html#a94e725adb409391547a260f204c74564">franka::ActiveControl::robot_impl</a></div><div class="ttdeci">std::shared_ptr&lt; Robot::Impl &gt; robot_impl</div><div class="ttdoc">shared pointer to Robot::Impl instance for read and write accesses</div><div class="ttdef"><b>Definition:</b> active_control.h:81</div></div>
+<div class="ttc" id="aclassfranka_1_1ActiveControl_html_aed53605877b237435581e36f4c0b34a4"><div class="ttname"><a href="classfranka_1_1ActiveControl.html#aed53605877b237435581e36f4c0b34a4">franka::ActiveControl::control_lock</a></div><div class="ttdeci">std::unique_lock&lt; std::mutex &gt; control_lock</div><div class="ttdoc">control-lock preventing parallel control processes</div><div class="ttdef"><b>Definition:</b> active_control.h:87</div></div>
+<div class="ttc" id="aclassfranka_1_1ActiveTorqueControl_html"><div class="ttname"><a href="classfranka_1_1ActiveTorqueControl.html">franka::ActiveTorqueControl</a></div><div class="ttdoc">Allows the user to read the state of a Robot and to send new torque control commands after starting a...</div><div class="ttdef"><b>Definition:</b> active_torque_control.h:21</div></div>
+<div class="ttc" id="aclassfranka_1_1ActiveTorqueControl_html_acc3b1d8c41cd191786e384887adf5da2"><div class="ttname"><a href="classfranka_1_1ActiveTorqueControl.html#acc3b1d8c41cd191786e384887adf5da2">franka::ActiveTorqueControl::writeOnce</a></div><div class="ttdeci">void writeOnce(const Torques &amp;control_input) override</div><div class="ttdoc">Updates the joint-level based torque commands of an active joint effort control.</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html"><div class="ttname"><a href="classfranka_1_1Robot.html">franka::Robot</a></div><div class="ttdoc">Maintains a network connection to the robot, provides the current robot state, gives access to the mo...</div><div class="ttdef"><b>Definition:</b> robot.h:67</div></div>
+<div class="ttc" id="aclassfranka_1_1Torques_html"><div class="ttname"><a href="classfranka_1_1Torques.html">franka::Torques</a></div><div class="ttdoc">Stores joint-level torque commands without gravity and friction.</div><div class="ttdef"><b>Definition:</b> control_types.h:45</div></div>
+</div><!-- fragment --></div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
+  </td>
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+<!-- end header part -->
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+<div class="header">
+  <div class="headertitle">
+<div class="title">Class List</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock">Here are the classes, structs, unions and interfaces with brief descriptions:</div><div class="directory">
+<div class="levels">[detail level <span onclick="javascript:toggleLevel(1);">1</span><span onclick="javascript:toggleLevel(2);">2</span>]</div><table class="directory">
+<tr id="row_0_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_0_" class="arrow" onclick="toggleFolder('0_')">&#9660;</span><span class="icona"><span class="icon">N</span></span><b>franka</b></td><td class="desc"></td></tr>
+<tr id="row_0_0_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classfranka_1_1ActiveControl.html" target="_self">ActiveControl</a></td><td class="desc">Documented in <a class="el" href="classfranka_1_1ActiveControlBase.html" title="Allows the user to read the state of a Robot and to send new control commands after starting a contro...">ActiveControlBase</a> </td></tr>
+<tr id="row_0_1_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classfranka_1_1ActiveControlBase.html" target="_self">ActiveControlBase</a></td><td class="desc">Allows the user to read the state of a <a class="el" href="classfranka_1_1Robot.html" title="Maintains a network connection to the robot, provides the current robot state, gives access to the mo...">Robot</a> and to send new control commands after starting a control process of a <a class="el" href="classfranka_1_1Robot.html" title="Maintains a network connection to the robot, provides the current robot state, gives access to the mo...">Robot</a> </td></tr>
+<tr id="row_0_2_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classfranka_1_1ActiveMotionGenerator.html" target="_self">ActiveMotionGenerator</a></td><td class="desc">Allows the user to read the state of a <a class="el" href="classfranka_1_1Robot.html" title="Maintains a network connection to the robot, provides the current robot state, gives access to the mo...">Robot</a> and to send new motion generator commands after starting a control process of a <a class="el" href="classfranka_1_1Robot.html" title="Maintains a network connection to the robot, provides the current robot state, gives access to the mo...">Robot</a> </td></tr>
+<tr id="row_0_3_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classfranka_1_1ActiveTorqueControl.html" target="_self">ActiveTorqueControl</a></td><td class="desc">Allows the user to read the state of a <a class="el" href="classfranka_1_1Robot.html" title="Maintains a network connection to the robot, provides the current robot state, gives access to the mo...">Robot</a> and to send new torque control commands after starting a control process of a <a class="el" href="classfranka_1_1Robot.html" title="Maintains a network connection to the robot, provides the current robot state, gives access to the mo...">Robot</a> </td></tr>
+<tr id="row_0_4_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structfranka_1_1Finishable.html" target="_self">Finishable</a></td><td class="desc">Helper type for control and motion generation loops </td></tr>
+<tr id="row_0_5_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classfranka_1_1Torques.html" target="_self">Torques</a></td><td class="desc">Stores joint-level torque commands without gravity and friction </td></tr>
+<tr id="row_0_6_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classfranka_1_1JointPositions.html" target="_self">JointPositions</a></td><td class="desc">Stores values for joint position motion generation </td></tr>
+<tr id="row_0_7_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classfranka_1_1JointVelocities.html" target="_self">JointVelocities</a></td><td class="desc">Stores values for joint velocity motion generation </td></tr>
+<tr id="row_0_8_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classfranka_1_1CartesianPose.html" target="_self">CartesianPose</a></td><td class="desc">Stores values for Cartesian pose motion generation </td></tr>
+<tr id="row_0_9_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classfranka_1_1CartesianVelocities.html" target="_self">CartesianVelocities</a></td><td class="desc">Stores values for Cartesian velocity motion generation </td></tr>
+<tr id="row_0_10_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classfranka_1_1Duration.html" target="_self">Duration</a></td><td class="desc">Represents a duration with millisecond resolution </td></tr>
+<tr id="row_0_11_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structfranka_1_1Errors.html" target="_self">Errors</a></td><td class="desc">Enumerates errors that can occur while controlling a <a class="el" href="classfranka_1_1Robot.html" title="Maintains a network connection to the robot, provides the current robot state, gives access to the mo...">franka::Robot</a> </td></tr>
+<tr id="row_0_12_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structfranka_1_1Exception.html" target="_self">Exception</a></td><td class="desc">Base class for all exceptions used by <code>libfranka</code> </td></tr>
+<tr id="row_0_13_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structfranka_1_1ModelException.html" target="_self">ModelException</a></td><td class="desc"><a class="el" href="structfranka_1_1ModelException.html" title="ModelException is thrown if an error occurs when loading the model library.">ModelException</a> is thrown if an error occurs when loading the model library </td></tr>
+<tr id="row_0_14_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structfranka_1_1NetworkException.html" target="_self">NetworkException</a></td><td class="desc"><a class="el" href="structfranka_1_1NetworkException.html" title="NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occu...">NetworkException</a> is thrown if a connection to the robot cannot be established, or when a timeout occurs </td></tr>
+<tr id="row_0_15_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structfranka_1_1ProtocolException.html" target="_self">ProtocolException</a></td><td class="desc"><a class="el" href="structfranka_1_1ProtocolException.html" title="ProtocolException is thrown if the robot returns an incorrect message.">ProtocolException</a> is thrown if the robot returns an incorrect message </td></tr>
+<tr id="row_0_16_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structfranka_1_1IncompatibleVersionException.html" target="_self">IncompatibleVersionException</a></td><td class="desc"><a class="el" href="structfranka_1_1IncompatibleVersionException.html" title="IncompatibleVersionException is thrown if the robot does not support this version of libfranka.">IncompatibleVersionException</a> is thrown if the robot does not support this version of libfranka </td></tr>
+<tr id="row_0_17_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structfranka_1_1ControlException.html" target="_self">ControlException</a></td><td class="desc"><a class="el" href="structfranka_1_1ControlException.html" title="ControlException is thrown if an error occurs during motion generation or torque control.">ControlException</a> is thrown if an error occurs during motion generation or torque control </td></tr>
+<tr id="row_0_18_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structfranka_1_1CommandException.html" target="_self">CommandException</a></td><td class="desc"><a class="el" href="structfranka_1_1CommandException.html" title="CommandException is thrown if an error occurs during command execution.">CommandException</a> is thrown if an error occurs during command execution </td></tr>
+<tr id="row_0_19_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structfranka_1_1RealtimeException.html" target="_self">RealtimeException</a></td><td class="desc"><a class="el" href="structfranka_1_1RealtimeException.html" title="RealtimeException is thrown if realtime priority cannot be set.">RealtimeException</a> is thrown if realtime priority cannot be set </td></tr>
+<tr id="row_0_20_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structfranka_1_1InvalidOperationException.html" target="_self">InvalidOperationException</a></td><td class="desc"><a class="el" href="structfranka_1_1InvalidOperationException.html" title="InvalidOperationException is thrown if an operation cannot be performed.">InvalidOperationException</a> is thrown if an operation cannot be performed </td></tr>
+<tr id="row_0_21_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classfranka_1_1Gripper.html" target="_self">Gripper</a></td><td class="desc">Maintains a network connection to the gripper, provides the current gripper state, and allows the execution of commands </td></tr>
+<tr id="row_0_22_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structfranka_1_1GripperState.html" target="_self">GripperState</a></td><td class="desc">Describes the gripper state </td></tr>
+<tr id="row_0_23_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structfranka_1_1RobotCommand.html" target="_self">RobotCommand</a></td><td class="desc">Command sent to the robot </td></tr>
+<tr id="row_0_24_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structfranka_1_1Record.html" target="_self">Record</a></td><td class="desc">One row of the log contains a robot command of timestamp n and a corresponding robot state of timestamp n+1 </td></tr>
+<tr id="row_0_25_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classfranka_1_1Model.html" target="_self">Model</a></td><td class="desc">Calculates poses of joints and dynamic properties of the robot </td></tr>
+<tr id="row_0_26_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classfranka_1_1Robot.html" target="_self">Robot</a></td><td class="desc">Maintains a network connection to the robot, provides the current robot state, gives access to the model library and allows to control the robot </td></tr>
+<tr id="row_0_27_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structfranka_1_1RobotState.html" target="_self">RobotState</a></td><td class="desc">Describes the robot state </td></tr>
+<tr id="row_0_28_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classfranka_1_1VacuumGripper.html" target="_self">VacuumGripper</a></td><td class="desc">Maintains a network connection to the vacuum gripper, provides the current vacuum gripper state, and allows the execution of commands </td></tr>
+<tr id="row_0_29_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structfranka_1_1VacuumGripperState.html" target="_self">VacuumGripperState</a></td><td class="desc">Describes the vacuum gripper state </td></tr>
+<tr id="row_1_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classMotionGenerator.html" target="_self">MotionGenerator</a></td><td class="desc">An example showing how to generate a joint pose motion to a goal position </td></tr>
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+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
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+  <div class="headertitle">
+<div class="title">cartesian_impedance_control.cpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<p>An example showing a simple cartesian impedance controller without inertia shaping that renders a spring damper system where the equilibrium is the initial configuration.After starting the controller try to push the robot around and try different stiffness levels.</p>
+<dl class="section warning"><dt>Warning</dt><dd>collision thresholds are set to high values. Make sure you have the user stop at hand!</dd></dl>
+<div class="fragment"><div class="line"><span class="comment">// Copyright (c) 2023 Franka Robotics GmbH</span></div>
+<div class="line"><span class="comment">// Use of this source code is governed by the Apache-2.0 license, see LICENSE</span></div>
+<div class="line"><span class="preprocessor">#include &lt;array&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;cmath&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;functional&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;iostream&gt;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="preprocessor">#include &lt;Eigen/Dense&gt;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="duration_8h.html">franka/duration.h</a>&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="exception_8h.html">franka/exception.h</a>&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="model_8h.html">franka/model.h</a>&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="robot_8h.html">franka/robot.h</a>&gt;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="preprocessor">#include &quot;<a class="code" href="examples__common_8h.html">examples_common.h</a>&quot;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="keywordtype">int</span> main(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span>** argv) {</div>
+<div class="line">  <span class="comment">// Check whether the required arguments were passed</span></div>
+<div class="line">  <span class="keywordflow">if</span> (argc != 2) {</div>
+<div class="line">    std::cerr &lt;&lt; <span class="stringliteral">&quot;Usage: &quot;</span> &lt;&lt; argv[0] &lt;&lt; <span class="stringliteral">&quot; &lt;robot-hostname&gt;&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">    <span class="keywordflow">return</span> -1;</div>
+<div class="line">  }</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">// Compliance parameters</span></div>
+<div class="line">  <span class="keyword">const</span> <span class="keywordtype">double</span> translational_stiffness{150.0};</div>
+<div class="line">  <span class="keyword">const</span> <span class="keywordtype">double</span> rotational_stiffness{10.0};</div>
+<div class="line">  Eigen::MatrixXd stiffness(6, 6), damping(6, 6);</div>
+<div class="line">  stiffness.setZero();</div>
+<div class="line">  stiffness.topLeftCorner(3, 3) &lt;&lt; translational_stiffness * Eigen::MatrixXd::Identity(3, 3);</div>
+<div class="line">  stiffness.bottomRightCorner(3, 3) &lt;&lt; rotational_stiffness * Eigen::MatrixXd::Identity(3, 3);</div>
+<div class="line">  damping.setZero();</div>
+<div class="line">  damping.topLeftCorner(3, 3) &lt;&lt; 2.0 * sqrt(translational_stiffness) *</div>
+<div class="line">                                     Eigen::MatrixXd::Identity(3, 3);</div>
+<div class="line">  damping.bottomRightCorner(3, 3) &lt;&lt; 2.0 * sqrt(rotational_stiffness) *</div>
+<div class="line">                                         Eigen::MatrixXd::Identity(3, 3);</div>
+<div class="line"> </div>
+<div class="line">  <span class="keywordflow">try</span> {</div>
+<div class="line">    <span class="comment">// connect to robot</span></div>
+<div class="line">    <a name="_a0"></a><a class="code" href="classfranka_1_1Robot.html">franka::Robot</a> robot(argv[1]);</div>
+<div class="line">    <a name="a1"></a><a class="code" href="examples__common_8h.html#ad0c6e1cb044845ee8a01b5aa1e801a45">setDefaultBehavior</a>(robot);</div>
+<div class="line">    <span class="comment">// load the kinematics and dynamics model</span></div>
+<div class="line">    <a name="_a2"></a><a class="code" href="classfranka_1_1Model.html">franka::Model</a> model = robot.<a name="a3"></a><a class="code" href="classfranka_1_1Robot.html#a2da598c539469827409ac7e3bb61d5da">loadModel</a>();</div>
+<div class="line"> </div>
+<div class="line">    <a name="_a4"></a><a class="code" href="structfranka_1_1RobotState.html">franka::RobotState</a> initial_state = robot.<a name="a5"></a><a class="code" href="classfranka_1_1Robot.html#ae3c3d7c5c4491a1e96a0a543931e899a">readOnce</a>();</div>
+<div class="line"> </div>
+<div class="line">    <span class="comment">// equilibrium point is the initial position</span></div>
+<div class="line">    Eigen::Affine3d initial_transform(Eigen::Matrix4d::Map(initial_state.<a name="a6"></a><a class="code" href="structfranka_1_1RobotState.html#a193781d47722b32925e0ea7ac415f442">O_T_EE</a>.data()));</div>
+<div class="line">    Eigen::Vector3d position_d(initial_transform.translation());</div>
+<div class="line">    Eigen::Quaterniond orientation_d(initial_transform.rotation());</div>
+<div class="line"> </div>
+<div class="line">    <span class="comment">// set collision behavior</span></div>
+<div class="line">    robot.<a name="a7"></a><a class="code" href="classfranka_1_1Robot.html#a168e1214ac36d74ac64f894332b84534">setCollisionBehavior</a>({{100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0}},</div>
+<div class="line">                               {{100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0}},</div>
+<div class="line">                               {{100.0, 100.0, 100.0, 100.0, 100.0, 100.0}},</div>
+<div class="line">                               {{100.0, 100.0, 100.0, 100.0, 100.0, 100.0}});</div>
+<div class="line"> </div>
+<div class="line">    <span class="comment">// define callback for the torque control loop</span></div>
+<div class="line">    std::function&lt;<a name="_a8"></a><a class="code" href="classfranka_1_1Torques.html">franka::Torques</a>(<span class="keyword">const</span> <a class="code" href="structfranka_1_1RobotState.html">franka::RobotState</a>&amp;, <a name="_a9"></a><a class="code" href="classfranka_1_1Duration.html">franka::Duration</a>)&gt;</div>
+<div class="line">        impedance_control_callback = [&amp;](<span class="keyword">const</span> <a class="code" href="structfranka_1_1RobotState.html">franka::RobotState</a>&amp; robot_state,</div>
+<div class="line">                                         <a class="code" href="classfranka_1_1Duration.html">franka::Duration</a> <span class="comment">/*duration*/</span>) -&gt; <a class="code" href="classfranka_1_1Torques.html">franka::Torques</a> {</div>
+<div class="line">      <span class="comment">// get state variables</span></div>
+<div class="line">      std::array&lt;double, 7&gt; coriolis_array = model.<a name="a10"></a><a class="code" href="classfranka_1_1Model.html#a91424f181a93bb47bda6af2d3567c65c">coriolis</a>(robot_state);</div>
+<div class="line">      std::array&lt;double, 42&gt; jacobian_array =</div>
+<div class="line">          model.<a name="a11"></a><a class="code" href="classfranka_1_1Model.html#a6fb6347b571a6759bad10b3a9e28a28f">zeroJacobian</a>(franka::Frame::kEndEffector, robot_state);</div>
+<div class="line"> </div>
+<div class="line">      <span class="comment">// convert to Eigen</span></div>
+<div class="line">      Eigen::Map&lt;const Eigen::Matrix&lt;double, 7, 1&gt;&gt; coriolis(coriolis_array.data());</div>
+<div class="line">      Eigen::Map&lt;const Eigen::Matrix&lt;double, 6, 7&gt;&gt; jacobian(jacobian_array.data());</div>
+<div class="line">      Eigen::Map&lt;const Eigen::Matrix&lt;double, 7, 1&gt;&gt; q(robot_state.<a name="a12"></a><a class="code" href="structfranka_1_1RobotState.html#ade3335d1ac2f6c44741a916d565f7091">q</a>.data());</div>
+<div class="line">      Eigen::Map&lt;const Eigen::Matrix&lt;double, 7, 1&gt;&gt; dq(robot_state.<a name="a13"></a><a class="code" href="structfranka_1_1RobotState.html#af372a0081d72bc7b4fe873f99c7b2d8c">dq</a>.data());</div>
+<div class="line">      Eigen::Affine3d transform(Eigen::Matrix4d::Map(robot_state.<a class="code" href="structfranka_1_1RobotState.html#a193781d47722b32925e0ea7ac415f442">O_T_EE</a>.data()));</div>
+<div class="line">      Eigen::Vector3d position(transform.translation());</div>
+<div class="line">      Eigen::Quaterniond orientation(transform.rotation());</div>
+<div class="line"> </div>
+<div class="line">      <span class="comment">// compute error to desired equilibrium pose</span></div>
+<div class="line">      <span class="comment">// position error</span></div>
+<div class="line">      Eigen::Matrix&lt;double, 6, 1&gt; error;</div>
+<div class="line">      error.head(3) &lt;&lt; position - position_d;</div>
+<div class="line"> </div>
+<div class="line">      <span class="comment">// orientation error</span></div>
+<div class="line">      <span class="comment">// &quot;difference&quot; quaternion</span></div>
+<div class="line">      <span class="keywordflow">if</span> (orientation_d.coeffs().dot(orientation.coeffs()) &lt; 0.0) {</div>
+<div class="line">        orientation.coeffs() &lt;&lt; -orientation.coeffs();</div>
+<div class="line">      }</div>
+<div class="line">      <span class="comment">// &quot;difference&quot; quaternion</span></div>
+<div class="line">      Eigen::Quaterniond error_quaternion(orientation.inverse() * orientation_d);</div>
+<div class="line">      error.tail(3) &lt;&lt; error_quaternion.x(), error_quaternion.y(), error_quaternion.z();</div>
+<div class="line">      <span class="comment">// Transform to base frame</span></div>
+<div class="line">      error.tail(3) &lt;&lt; -transform.rotation() * error.tail(3);</div>
+<div class="line"> </div>
+<div class="line">      <span class="comment">// compute control</span></div>
+<div class="line">      Eigen::VectorXd tau_task(7), tau_d(7);</div>
+<div class="line"> </div>
+<div class="line">      <span class="comment">// Spring damper system with damping ratio=1</span></div>
+<div class="line">      tau_task &lt;&lt; jacobian.transpose() * (-stiffness * error - damping * (jacobian * dq));</div>
+<div class="line">      tau_d &lt;&lt; tau_task + coriolis;</div>
+<div class="line"> </div>
+<div class="line">      std::array&lt;double, 7&gt; tau_d_array{};</div>
+<div class="line">      Eigen::VectorXd::Map(&amp;tau_d_array[0], 7) = tau_d;</div>
+<div class="line">      <span class="keywordflow">return</span> tau_d_array;</div>
+<div class="line">    };</div>
+<div class="line"> </div>
+<div class="line">    <span class="comment">// start real-time control loop</span></div>
+<div class="line">    std::cout &lt;&lt; <span class="stringliteral">&quot;WARNING: Collision thresholds are set to high values. &quot;</span></div>
+<div class="line">              &lt;&lt; <span class="stringliteral">&quot;Make sure you have the user stop at hand!&quot;</span> &lt;&lt; std::endl</div>
+<div class="line">              &lt;&lt; <span class="stringliteral">&quot;After starting try to push the robot and see how it reacts.&quot;</span> &lt;&lt; std::endl</div>
+<div class="line">              &lt;&lt; <span class="stringliteral">&quot;Press Enter to continue...&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">    std::cin.ignore();</div>
+<div class="line">    robot.<a name="a14"></a><a class="code" href="classfranka_1_1Robot.html#a0d5effba5daff2fee123802bbd5f95d1">control</a>(impedance_control_callback);</div>
+<div class="line"> </div>
+<div class="line">  } <span class="keywordflow">catch</span> (<span class="keyword">const</span> <a name="_a15"></a><a class="code" href="structfranka_1_1Exception.html">franka::Exception</a>&amp; ex) {</div>
+<div class="line">    <span class="comment">// print exception</span></div>
+<div class="line">    std::cout &lt;&lt; ex.what() &lt;&lt; std::endl;</div>
+<div class="line">  }</div>
+<div class="line"> </div>
+<div class="line">  <span class="keywordflow">return</span> 0;</div>
+<div class="line">}</div>
+<div class="ttc" id="aclassfranka_1_1Duration_html"><div class="ttname"><a href="classfranka_1_1Duration.html">franka::Duration</a></div><div class="ttdoc">Represents a duration with millisecond resolution.</div><div class="ttdef"><b>Definition:</b> duration.h:19</div></div>
+<div class="ttc" id="aclassfranka_1_1Model_html"><div class="ttname"><a href="classfranka_1_1Model.html">franka::Model</a></div><div class="ttdoc">Calculates poses of joints and dynamic properties of the robot.</div><div class="ttdef"><b>Definition:</b> model.h:51</div></div>
+<div class="ttc" id="aclassfranka_1_1Model_html_a6fb6347b571a6759bad10b3a9e28a28f"><div class="ttname"><a href="classfranka_1_1Model.html#a6fb6347b571a6759bad10b3a9e28a28f">franka::Model::zeroJacobian</a></div><div class="ttdeci">std::array&lt; double, 42 &gt; zeroJacobian(Frame frame, const franka::RobotState &amp;robot_state) const</div><div class="ttdoc">Gets the 6x7 Jacobian for the given joint relative to the base frame.</div></div>
+<div class="ttc" id="aclassfranka_1_1Model_html_a91424f181a93bb47bda6af2d3567c65c"><div class="ttname"><a href="classfranka_1_1Model.html#a91424f181a93bb47bda6af2d3567c65c">franka::Model::coriolis</a></div><div class="ttdeci">std::array&lt; double, 7 &gt; coriolis(const franka::RobotState &amp;robot_state) const noexcept</div><div class="ttdoc">Calculates the Coriolis force vector (state-space equation): , in .</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html"><div class="ttname"><a href="classfranka_1_1Robot.html">franka::Robot</a></div><div class="ttdoc">Maintains a network connection to the robot, provides the current robot state, gives access to the mo...</div><div class="ttdef"><b>Definition:</b> robot.h:67</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_a0d5effba5daff2fee123802bbd5f95d1"><div class="ttname"><a href="classfranka_1_1Robot.html#a0d5effba5daff2fee123802bbd5f95d1">franka::Robot::control</a></div><div class="ttdeci">void control(std::function&lt; Torques(const RobotState &amp;, franka::Duration)&gt; control_callback, bool limit_rate=false, double cutoff_frequency=kDefaultCutoffFrequency)</div><div class="ttdoc">Starts a control loop for sending joint-level torque commands.</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_a168e1214ac36d74ac64f894332b84534"><div class="ttname"><a href="classfranka_1_1Robot.html#a168e1214ac36d74ac64f894332b84534">franka::Robot::setCollisionBehavior</a></div><div class="ttdeci">void setCollisionBehavior(const std::array&lt; double, 7 &gt; &amp;lower_torque_thresholds_acceleration, const std::array&lt; double, 7 &gt; &amp;upper_torque_thresholds_acceleration, const std::array&lt; double, 7 &gt; &amp;lower_torque_thresholds_nominal, const std::array&lt; double, 7 &gt; &amp;upper_torque_thresholds_nominal, const std::array&lt; double, 6 &gt; &amp;lower_force_thresholds_acceleration, const std::array&lt; double, 6 &gt; &amp;upper_force_thresholds_acceleration, const std::array&lt; double, 6 &gt; &amp;lower_force_thresholds_nominal, const std::array&lt; double, 6 &gt; &amp;upper_force_thresholds_nominal)</div><div class="ttdoc">Changes the collision behavior.</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_a2da598c539469827409ac7e3bb61d5da"><div class="ttname"><a href="classfranka_1_1Robot.html#a2da598c539469827409ac7e3bb61d5da">franka::Robot::loadModel</a></div><div class="ttdeci">Model loadModel()</div><div class="ttdoc">Loads the model library from the robot.</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_ae3c3d7c5c4491a1e96a0a543931e899a"><div class="ttname"><a href="classfranka_1_1Robot.html#ae3c3d7c5c4491a1e96a0a543931e899a">franka::Robot::readOnce</a></div><div class="ttdeci">virtual RobotState readOnce()</div><div class="ttdoc">Waits for a robot state update and returns it.</div></div>
+<div class="ttc" id="aclassfranka_1_1Torques_html"><div class="ttname"><a href="classfranka_1_1Torques.html">franka::Torques</a></div><div class="ttdoc">Stores joint-level torque commands without gravity and friction.</div><div class="ttdef"><b>Definition:</b> control_types.h:45</div></div>
+<div class="ttc" id="aduration_8h_html"><div class="ttname"><a href="duration_8h.html">duration.h</a></div><div class="ttdoc">Contains the franka::Duration type.</div></div>
+<div class="ttc" id="aexamples__common_8h_html"><div class="ttname"><a href="examples__common_8h.html">examples_common.h</a></div><div class="ttdoc">Contains common types and functions for the examples.</div></div>
+<div class="ttc" id="aexamples__common_8h_html_ad0c6e1cb044845ee8a01b5aa1e801a45"><div class="ttname"><a href="examples__common_8h.html#ad0c6e1cb044845ee8a01b5aa1e801a45">setDefaultBehavior</a></div><div class="ttdeci">void setDefaultBehavior(franka::Robot &amp;robot)</div><div class="ttdoc">Sets a default collision behavior, joint impedance and Cartesian impedance.</div><div class="ttdef"><b>Definition:</b> examples_common.cpp:12</div></div>
+<div class="ttc" id="aexception_8h_html"><div class="ttname"><a href="exception_8h.html">exception.h</a></div><div class="ttdoc">Contains exception definitions.</div></div>
+<div class="ttc" id="amodel_8h_html"><div class="ttname"><a href="model_8h.html">model.h</a></div><div class="ttdoc">Contains model library types.</div></div>
+<div class="ttc" id="arobot_8h_html"><div class="ttname"><a href="robot_8h.html">robot.h</a></div><div class="ttdoc">Contains the franka::Robot type.</div></div>
+<div class="ttc" id="astructfranka_1_1Exception_html"><div class="ttname"><a href="structfranka_1_1Exception.html">franka::Exception</a></div><div class="ttdoc">Base class for all exceptions used by libfranka.</div><div class="ttdef"><b>Definition:</b> exception.h:20</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html"><div class="ttname"><a href="structfranka_1_1RobotState.html">franka::RobotState</a></div><div class="ttdoc">Describes the robot state.</div><div class="ttdef"><b>Definition:</b> robot_state.h:34</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_a193781d47722b32925e0ea7ac415f442"><div class="ttname"><a href="structfranka_1_1RobotState.html#a193781d47722b32925e0ea7ac415f442">franka::RobotState::O_T_EE</a></div><div class="ttdeci">std::array&lt; double, 16 &gt; O_T_EE</div><div class="ttdoc">Measured end effector pose in base frame.</div><div class="ttdef"><b>Definition:</b> robot_state.h:40</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_ade3335d1ac2f6c44741a916d565f7091"><div class="ttname"><a href="structfranka_1_1RobotState.html#ade3335d1ac2f6c44741a916d565f7091">franka::RobotState::q</a></div><div class="ttdeci">std::array&lt; double, 7 &gt; q</div><div class="ttdoc">Measured joint position.</div><div class="ttdef"><b>Definition:</b> robot_state.h:233</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_af372a0081d72bc7b4fe873f99c7b2d8c"><div class="ttname"><a href="structfranka_1_1RobotState.html#af372a0081d72bc7b4fe873f99c7b2d8c">franka::RobotState::dq</a></div><div class="ttdeci">std::array&lt; double, 7 &gt; dq</div><div class="ttdoc">Measured joint velocity.</div><div class="ttdef"><b>Definition:</b> robot_state.h:245</div></div>
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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diff --git a/0.13.6/classMotionGenerator-members.html b/0.13.6/classMotionGenerator-members.html
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+<script type="text/javascript" src="search/search.js"></script>
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+    jax: ["input/TeX","output/SVG"],
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+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
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+     onmouseover="return searchBox.OnSearchSelectShow()"
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+
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">MotionGenerator Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classMotionGenerator.html">MotionGenerator</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classMotionGenerator.html#a23dd564a60401c539fb7f1bf63470894">MotionGenerator</a>(double speed_factor, const std::array&lt; double, 7 &gt; q_goal)</td><td class="entry"><a class="el" href="classMotionGenerator.html">MotionGenerator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classMotionGenerator.html#aefd763e7c31c54b56404f33d2295fda9">operator()</a>(const franka::RobotState &amp;robot_state, franka::Duration period)</td><td class="entry"><a class="el" href="classMotionGenerator.html">MotionGenerator</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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diff --git a/0.13.6/classMotionGenerator.html b/0.13.6/classMotionGenerator.html
new file mode 100644
index 00000000..03e27188
--- /dev/null
+++ b/0.13.6/classMotionGenerator.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
+  </td>
+ </tr>
+ </tbody>
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+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classMotionGenerator-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">MotionGenerator Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>An example showing how to generate a joint pose motion to a goal position.  
+ <a href="classMotionGenerator.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="examples__common_8h_source.html">examples_common.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a23dd564a60401c539fb7f1bf63470894"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classMotionGenerator.html#a23dd564a60401c539fb7f1bf63470894">MotionGenerator</a> (double speed_factor, const std::array&lt; double, 7 &gt; q_goal)</td></tr>
+<tr class="memdesc:a23dd564a60401c539fb7f1bf63470894"><td class="mdescLeft">&#160;</td><td class="mdescRight">Creates a new <a class="el" href="classMotionGenerator.html" title="An example showing how to generate a joint pose motion to a goal position.">MotionGenerator</a> instance for a target q.  <a href="classMotionGenerator.html#a23dd564a60401c539fb7f1bf63470894">More...</a><br /></td></tr>
+<tr class="separator:a23dd564a60401c539fb7f1bf63470894"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aefd763e7c31c54b56404f33d2295fda9"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classfranka_1_1JointPositions.html">franka::JointPositions</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classMotionGenerator.html#aefd763e7c31c54b56404f33d2295fda9">operator()</a> (const <a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a> &amp;robot_state, <a class="el" href="classfranka_1_1Duration.html">franka::Duration</a> period)</td></tr>
+<tr class="memdesc:aefd763e7c31c54b56404f33d2295fda9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sends joint position calculations.  <a href="classMotionGenerator.html#aefd763e7c31c54b56404f33d2295fda9">More...</a><br /></td></tr>
+<tr class="separator:aefd763e7c31c54b56404f33d2295fda9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>An example showing how to generate a joint pose motion to a goal position. </p>
+<p>Adapted from: Wisama Khalil and Etienne Dombre. 2002. Modeling, Identification and Control of Robots (Kogan Page Science Paper edition). </p>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="communication_test_8cpp-example.html#_a2">communication_test.cpp</a>, <a class="el" href="generate_cartesian_pose_motion_8cpp-example.html#_a2">generate_cartesian_pose_motion.cpp</a>, <a class="el" href="generate_cartesian_pose_motion_external_control_loop_8cpp-example.html#_a2">generate_cartesian_pose_motion_external_control_loop.cpp</a>, <a class="el" href="generate_cartesian_velocity_motion_8cpp-example.html#_a2">generate_cartesian_velocity_motion.cpp</a>, <a class="el" href="generate_cartesian_velocity_motion_external_control_loop_8cpp-example.html#_a2">generate_cartesian_velocity_motion_external_control_loop.cpp</a>, <a class="el" href="generate_consecutive_motions_8cpp-example.html#_a2">generate_consecutive_motions.cpp</a>, <a class="el" href="generate_elbow_motion_8cpp-example.html#_a2">generate_elbow_motion.cpp</a>, <a class="el" href="generate_joint_position_motion_8cpp-example.html#_a2">generate_joint_position_motion.cpp</a>, <a class="el" href="generate_joint_position_motion_external_control_loop_8cpp-example.html#_a2">generate_joint_position_motion_external_control_loop.cpp</a>, <a class="el" href="generate_joint_velocity_motion_8cpp-example.html#_a2">generate_joint_velocity_motion.cpp</a>, <a class="el" href="generate_joint_velocity_motion_external_control_loop_8cpp-example.html#_a2">generate_joint_velocity_motion_external_control_loop.cpp</a>, <a class="el" href="joint_impedance_control_8cpp-example.html#_a4">joint_impedance_control.cpp</a>, <a class="el" href="joint_point_to_point_motion_8cpp-example.html#_a3">joint_point_to_point_motion.cpp</a>, <a class="el" href="motion_with_control_8cpp-example.html#_a7">motion_with_control.cpp</a>, and <a class="el" href="motion_with_control_external_control_loop_8cpp-example.html#_a7">motion_with_control_external_control_loop.cpp</a>.</dd>
+</dl>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a23dd564a60401c539fb7f1bf63470894"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a23dd564a60401c539fb7f1bf63470894">&#9670;&nbsp;</a></span>MotionGenerator()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">MotionGenerator::MotionGenerator </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>speed_factor</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::array&lt; double, 7 &gt;&#160;</td>
+          <td class="paramname"><em>q_goal</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Creates a new <a class="el" href="classMotionGenerator.html" title="An example showing how to generate a joint pose motion to a goal position.">MotionGenerator</a> instance for a target q. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">speed_factor</td><td>General speed factor in range [0, 1]. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">q_goal</td><td>Target joint positions. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="aefd763e7c31c54b56404f33d2295fda9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aefd763e7c31c54b56404f33d2295fda9">&#9670;&nbsp;</a></span>operator()()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classfranka_1_1JointPositions.html">franka::JointPositions</a> MotionGenerator::operator() </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a> &amp;&#160;</td>
+          <td class="paramname"><em>robot_state</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classfranka_1_1Duration.html">franka::Duration</a>&#160;</td>
+          <td class="paramname"><em>period</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Sends joint position calculations. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">robot_state</td><td>Current state of the robot. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">period</td><td>Duration of execution.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Joint positions for use inside a control loop. </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>examples/<a class="el" href="examples__common_8h_source.html">examples_common.h</a></li>
+<li>examples/examples_common.cpp</li>
+</ul>
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+<div class="classindex">
+<dl class="classindex even">
+<dt class="alphachar"><a name="letter_A">A</a></dt>
+<dd><a class="el" href="classfranka_1_1ActiveControl.html">ActiveControl</a> (franka)</dd><dd><a class="el" href="classfranka_1_1ActiveControlBase.html">ActiveControlBase</a> (franka)</dd><dd><a class="el" href="classfranka_1_1ActiveMotionGenerator.html">ActiveMotionGenerator</a> (franka)</dd><dd><a class="el" href="classfranka_1_1ActiveTorqueControl.html">ActiveTorqueControl</a> (franka)</dd></dl>
+<dl class="classindex odd">
+<dt class="alphachar"><a name="letter_C">C</a></dt>
+<dd><a class="el" href="classfranka_1_1CartesianPose.html">CartesianPose</a> (franka)</dd><dd><a class="el" href="classfranka_1_1CartesianVelocities.html">CartesianVelocities</a> (franka)</dd><dd><a class="el" href="structfranka_1_1CommandException.html">CommandException</a> (franka)</dd><dd><a class="el" href="structfranka_1_1ControlException.html">ControlException</a> (franka)</dd></dl>
+<dl class="classindex even">
+<dt class="alphachar"><a name="letter_D">D</a></dt>
+<dd><a class="el" href="classfranka_1_1Duration.html">Duration</a> (franka)</dd></dl>
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+<dt class="alphachar"><a name="letter_E">E</a></dt>
+<dd><a class="el" href="structfranka_1_1Errors.html">Errors</a> (franka)</dd><dd><a class="el" href="structfranka_1_1Exception.html">Exception</a> (franka)</dd></dl>
+<dl class="classindex even">
+<dt class="alphachar"><a name="letter_F">F</a></dt>
+<dd><a class="el" href="structfranka_1_1Finishable.html">Finishable</a> (franka)</dd></dl>
+<dl class="classindex odd">
+<dt class="alphachar"><a name="letter_G">G</a></dt>
+<dd><a class="el" href="classfranka_1_1Gripper.html">Gripper</a> (franka)</dd><dd><a class="el" href="structfranka_1_1GripperState.html">GripperState</a> (franka)</dd></dl>
+<dl class="classindex even">
+<dt class="alphachar"><a name="letter_I">I</a></dt>
+<dd><a class="el" href="structfranka_1_1IncompatibleVersionException.html">IncompatibleVersionException</a> (franka)</dd><dd><a class="el" href="structfranka_1_1InvalidOperationException.html">InvalidOperationException</a> (franka)</dd></dl>
+<dl class="classindex odd">
+<dt class="alphachar"><a name="letter_J">J</a></dt>
+<dd><a class="el" href="classfranka_1_1JointPositions.html">JointPositions</a> (franka)</dd><dd><a class="el" href="classfranka_1_1JointVelocities.html">JointVelocities</a> (franka)</dd></dl>
+<dl class="classindex even">
+<dt class="alphachar"><a name="letter_M">M</a></dt>
+<dd><a class="el" href="classfranka_1_1Model.html">Model</a> (franka)</dd><dd><a class="el" href="structfranka_1_1ModelException.html">ModelException</a> (franka)</dd><dd><a class="el" href="classMotionGenerator.html">MotionGenerator</a></dd></dl>
+<dl class="classindex odd">
+<dt class="alphachar"><a name="letter_N">N</a></dt>
+<dd><a class="el" href="structfranka_1_1NetworkException.html">NetworkException</a> (franka)</dd></dl>
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+<dt class="alphachar"><a name="letter_P">P</a></dt>
+<dd><a class="el" href="structfranka_1_1ProtocolException.html">ProtocolException</a> (franka)</dd></dl>
+<dl class="classindex odd">
+<dt class="alphachar"><a name="letter_R">R</a></dt>
+<dd><a class="el" href="structfranka_1_1RealtimeException.html">RealtimeException</a> (franka)</dd><dd><a class="el" href="structfranka_1_1Record.html">Record</a> (franka)</dd><dd><a class="el" href="classfranka_1_1Robot.html">Robot</a> (franka)</dd><dd><a class="el" href="structfranka_1_1RobotCommand.html">RobotCommand</a> (franka)</dd><dd><a class="el" href="structfranka_1_1RobotState.html">RobotState</a> (franka)</dd></dl>
+<dl class="classindex even">
+<dt class="alphachar"><a name="letter_T">T</a></dt>
+<dd><a class="el" href="classfranka_1_1Torques.html">Torques</a> (franka)</dd></dl>
+<dl class="classindex odd">
+<dt class="alphachar"><a name="letter_V">V</a></dt>
+<dd><a class="el" href="classfranka_1_1VacuumGripper.html">VacuumGripper</a> (franka)</dd><dd><a class="el" href="structfranka_1_1VacuumGripperState.html">VacuumGripperState</a> (franka)</dd></dl>
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+   &#160;<span id="projectnumber">0.13.6</span>
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+<div class="title">franka::ActiveControl Member List</div>  </div>
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+
+<p>This is the complete list of members for <a class="el" href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html#a4aa09537fddbec6cf1eed05fdc147b30">ActiveControl</a>(std::shared_ptr&lt; Robot::Impl &gt; robot_impl, uint32_t motion_id, std::unique_lock&lt; std::mutex &gt; control_lock)</td><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>ActiveControlBase</b>()=default (defined in <a class="el" href="classfranka_1_1ActiveControlBase.html">franka::ActiveControlBase</a>)</td><td class="entry"><a class="el" href="classfranka_1_1ActiveControlBase.html">franka::ActiveControlBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html#afa521707548926e9d1e38e4b83496db2">control_finished</a></td><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html#aed53605877b237435581e36f4c0b34a4">control_lock</a></td><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html#a226304deac8032ed6c8428caa60c9fb4">last_read_access</a></td><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html#a0852a7d4b5a67df218440c2cc629f638">motion_id</a></td><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html#a55f5b94e5ac491e5b2ccc1782a873582">readOnce</a>() override</td><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html#a94e725adb409391547a260f204c74564">robot_impl</a></td><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html#a888b87832cd3def156c07a0b57d95663">writeOnce</a>(const Torques &amp;) override</td><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html#a762615a1a3d5cf18064bfbd0b45effa6">writeOnce</a>(const JointPositions &amp;, const std::optional&lt; const Torques &gt; &amp;) override</td><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html#a2a27360ae8203fa8a413c47708e03ede">writeOnce</a>(const JointVelocities &amp;, const std::optional&lt; const Torques &gt; &amp;) override</td><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html#a52f9ce19182359732bddee7b52a87419">writeOnce</a>(const CartesianPose &amp;, const std::optional&lt; const Torques &gt; &amp;) override</td><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html#a12c3c6916e26e66dae41eb624daabb4a">writeOnce</a>(const CartesianVelocities &amp;, const std::optional&lt; const Torques &gt; &amp;) override</td><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html#a8166a590c84c749cd90c874bd2f1aca4">writeOnce</a>(const JointPositions &amp;motion_generator_input) override</td><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html#a7f54a6bc037fa63f14e1a3f1329d4bf5">writeOnce</a>(const JointVelocities &amp;motion_generator_input) override</td><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html#a6b6265ccad26dc2e32c7b6329b74fb80">writeOnce</a>(const CartesianPose &amp;motion_generator_input) override</td><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html#ad4bf06b3e873fd95a2261d67d89a4d1f">writeOnce</a>(const CartesianVelocities &amp;motion_generator_input) override</td><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>~ActiveControl</b>() override (defined in <a class="el" href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a>)</td><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>~ActiveControlBase</b>()=default (defined in <a class="el" href="classfranka_1_1ActiveControlBase.html">franka::ActiveControlBase</a>)</td><td class="entry"><a class="el" href="classfranka_1_1ActiveControlBase.html">franka::ActiveControlBase</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+</table></div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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diff --git a/0.13.6/classfranka_1_1ActiveControl.html b/0.13.6/classfranka_1_1ActiveControl.html
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+<title>libfranka: franka::ActiveControl Class Reference</title>
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+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
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+  <ul>
+<li class="navelem"><b>franka</b></li><li class="navelem"><a class="el" href="classfranka_1_1ActiveControl.html">ActiveControl</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pro-methods">Protected Member Functions</a> &#124;
+<a href="#pro-attribs">Protected Attributes</a> &#124;
+<a href="classfranka_1_1ActiveControl-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">franka::ActiveControl Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Documented in <a class="el" href="classfranka_1_1ActiveControlBase.html" title="Allows the user to read the state of a Robot and to send new control commands after starting a contro...">ActiveControlBase</a>.  
+ <a href="classfranka_1_1ActiveControl.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="active__control_8h_source.html">active_control.h</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for franka::ActiveControl:</div>
+<div class="dyncontent">
+<div class="center"><img src="classfranka_1_1ActiveControl__inherit__graph.png" border="0" usemap="#afranka_1_1ActiveControl_inherit__map" alt="Inheritance graph"/></div>
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+<area shape="rect" title="Documented in ActiveControlBase." alt="" coords="156,80,315,107"/>
+<area shape="rect" href="classfranka_1_1ActiveMotionGenerator.html" title="Allows the user to read the state of a Robot and to send new motion generator commands after starting..." alt="" coords="5,155,228,196"/>
+<area shape="rect" href="classfranka_1_1ActiveTorqueControl.html" title="Allows the user to read the state of a Robot and to send new torque control commands after starting a..." alt="" coords="253,162,455,189"/>
+<area shape="rect" href="classfranka_1_1ActiveControlBase.html" title="Allows the user to read the state of a Robot and to send new control commands after starting a contro..." alt="" coords="140,5,331,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for franka::ActiveControl:</div>
+<div class="dyncontent">
+<div class="center"><img src="classfranka_1_1ActiveControl__coll__graph.png" border="0" usemap="#afranka_1_1ActiveControl_coll__map" alt="Collaboration graph"/></div>
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+<area shape="rect" href="classfranka_1_1ActiveControlBase.html" title="Allows the user to read the state of a Robot and to send new control commands after starting a contro..." alt="" coords="5,5,196,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a55f5b94e5ac491e5b2ccc1782a873582"><td class="memItemLeft" align="right" valign="top">std::pair&lt; <a class="el" href="structfranka_1_1RobotState.html">RobotState</a>, <a class="el" href="classfranka_1_1Duration.html">Duration</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveControl.html#a55f5b94e5ac491e5b2ccc1782a873582">readOnce</a> () override</td></tr>
+<tr class="memdesc:a55f5b94e5ac491e5b2ccc1782a873582"><td class="mdescLeft">&#160;</td><td class="mdescRight">Waits for a robot state update and returns it.  <a href="classfranka_1_1ActiveControl.html#a55f5b94e5ac491e5b2ccc1782a873582">More...</a><br /></td></tr>
+<tr class="separator:a55f5b94e5ac491e5b2ccc1782a873582"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a888b87832cd3def156c07a0b57d95663"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveControl.html#a888b87832cd3def156c07a0b57d95663">writeOnce</a> (const <a class="el" href="classfranka_1_1Torques.html">Torques</a> &amp;) override</td></tr>
+<tr class="memdesc:a888b87832cd3def156c07a0b57d95663"><td class="mdescLeft">&#160;</td><td class="mdescRight">Updates torque commands of an active control.  <a href="classfranka_1_1ActiveControl.html#a888b87832cd3def156c07a0b57d95663">More...</a><br /></td></tr>
+<tr class="separator:a888b87832cd3def156c07a0b57d95663"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a762615a1a3d5cf18064bfbd0b45effa6"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveControl.html#a762615a1a3d5cf18064bfbd0b45effa6">writeOnce</a> (const <a class="el" href="classfranka_1_1JointPositions.html">JointPositions</a> &amp;, const std::optional&lt; const <a class="el" href="classfranka_1_1Torques.html">Torques</a> &gt; &amp;) override</td></tr>
+<tr class="memdesc:a762615a1a3d5cf18064bfbd0b45effa6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Updates the joint position and torque commands of an active control.  <a href="classfranka_1_1ActiveControl.html#a762615a1a3d5cf18064bfbd0b45effa6">More...</a><br /></td></tr>
+<tr class="separator:a762615a1a3d5cf18064bfbd0b45effa6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2a27360ae8203fa8a413c47708e03ede"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveControl.html#a2a27360ae8203fa8a413c47708e03ede">writeOnce</a> (const <a class="el" href="classfranka_1_1JointVelocities.html">JointVelocities</a> &amp;, const std::optional&lt; const <a class="el" href="classfranka_1_1Torques.html">Torques</a> &gt; &amp;) override</td></tr>
+<tr class="memdesc:a2a27360ae8203fa8a413c47708e03ede"><td class="mdescLeft">&#160;</td><td class="mdescRight">Updates the joint velocity and torque commands of an active control.  <a href="classfranka_1_1ActiveControl.html#a2a27360ae8203fa8a413c47708e03ede">More...</a><br /></td></tr>
+<tr class="separator:a2a27360ae8203fa8a413c47708e03ede"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a52f9ce19182359732bddee7b52a87419"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveControl.html#a52f9ce19182359732bddee7b52a87419">writeOnce</a> (const <a class="el" href="classfranka_1_1CartesianPose.html">CartesianPose</a> &amp;, const std::optional&lt; const <a class="el" href="classfranka_1_1Torques.html">Torques</a> &gt; &amp;) override</td></tr>
+<tr class="memdesc:a52f9ce19182359732bddee7b52a87419"><td class="mdescLeft">&#160;</td><td class="mdescRight">Updates the cartesian position and torque commands of an active control.  <a href="classfranka_1_1ActiveControl.html#a52f9ce19182359732bddee7b52a87419">More...</a><br /></td></tr>
+<tr class="separator:a52f9ce19182359732bddee7b52a87419"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a12c3c6916e26e66dae41eb624daabb4a"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveControl.html#a12c3c6916e26e66dae41eb624daabb4a">writeOnce</a> (const <a class="el" href="classfranka_1_1CartesianVelocities.html">CartesianVelocities</a> &amp;, const std::optional&lt; const <a class="el" href="classfranka_1_1Torques.html">Torques</a> &gt; &amp;) override</td></tr>
+<tr class="memdesc:a12c3c6916e26e66dae41eb624daabb4a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Updates the cartesian velocity and torque commands of an active control.  <a href="classfranka_1_1ActiveControl.html#a12c3c6916e26e66dae41eb624daabb4a">More...</a><br /></td></tr>
+<tr class="separator:a12c3c6916e26e66dae41eb624daabb4a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8166a590c84c749cd90c874bd2f1aca4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveControl.html#a8166a590c84c749cd90c874bd2f1aca4">writeOnce</a> (const <a class="el" href="classfranka_1_1JointPositions.html">JointPositions</a> &amp;motion_generator_input) override</td></tr>
+<tr class="memdesc:a8166a590c84c749cd90c874bd2f1aca4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Updates the joint position commands of an active control, with internal controller.  <a href="classfranka_1_1ActiveControl.html#a8166a590c84c749cd90c874bd2f1aca4">More...</a><br /></td></tr>
+<tr class="separator:a8166a590c84c749cd90c874bd2f1aca4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7f54a6bc037fa63f14e1a3f1329d4bf5"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveControl.html#a7f54a6bc037fa63f14e1a3f1329d4bf5">writeOnce</a> (const <a class="el" href="classfranka_1_1JointVelocities.html">JointVelocities</a> &amp;motion_generator_input) override</td></tr>
+<tr class="memdesc:a7f54a6bc037fa63f14e1a3f1329d4bf5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Updates the joint velocity commands of an active control, with internal controller.  <a href="classfranka_1_1ActiveControl.html#a7f54a6bc037fa63f14e1a3f1329d4bf5">More...</a><br /></td></tr>
+<tr class="separator:a7f54a6bc037fa63f14e1a3f1329d4bf5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6b6265ccad26dc2e32c7b6329b74fb80"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveControl.html#a6b6265ccad26dc2e32c7b6329b74fb80">writeOnce</a> (const <a class="el" href="classfranka_1_1CartesianPose.html">CartesianPose</a> &amp;motion_generator_input) override</td></tr>
+<tr class="memdesc:a6b6265ccad26dc2e32c7b6329b74fb80"><td class="mdescLeft">&#160;</td><td class="mdescRight">Updates the cartesian pose commands of an active control, with internal controller.  <a href="classfranka_1_1ActiveControl.html#a6b6265ccad26dc2e32c7b6329b74fb80">More...</a><br /></td></tr>
+<tr class="separator:a6b6265ccad26dc2e32c7b6329b74fb80"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad4bf06b3e873fd95a2261d67d89a4d1f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveControl.html#ad4bf06b3e873fd95a2261d67d89a4d1f">writeOnce</a> (const <a class="el" href="classfranka_1_1CartesianVelocities.html">CartesianVelocities</a> &amp;motion_generator_input) override</td></tr>
+<tr class="memdesc:ad4bf06b3e873fd95a2261d67d89a4d1f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Updates the cartesian velocity commands of an active control, with internal controller.  <a href="classfranka_1_1ActiveControl.html#ad4bf06b3e873fd95a2261d67d89a4d1f">More...</a><br /></td></tr>
+<tr class="separator:ad4bf06b3e873fd95a2261d67d89a4d1f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
+Protected Member Functions</h2></td></tr>
+<tr class="memitem:a4aa09537fddbec6cf1eed05fdc147b30"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveControl.html#a4aa09537fddbec6cf1eed05fdc147b30">ActiveControl</a> (std::shared_ptr&lt; Robot::Impl &gt; <a class="el" href="classfranka_1_1ActiveControl.html#a94e725adb409391547a260f204c74564">robot_impl</a>, uint32_t <a class="el" href="classfranka_1_1ActiveControl.html#a0852a7d4b5a67df218440c2cc629f638">motion_id</a>, std::unique_lock&lt; std::mutex &gt; <a class="el" href="classfranka_1_1ActiveControl.html#aed53605877b237435581e36f4c0b34a4">control_lock</a>)</td></tr>
+<tr class="memdesc:a4aa09537fddbec6cf1eed05fdc147b30"><td class="mdescLeft">&#160;</td><td class="mdescRight">Construct a new <a class="el" href="classfranka_1_1ActiveControl.html" title="Documented in ActiveControlBase.">ActiveControl</a> object.  <a href="classfranka_1_1ActiveControl.html#a4aa09537fddbec6cf1eed05fdc147b30">More...</a><br /></td></tr>
+<tr class="separator:a4aa09537fddbec6cf1eed05fdc147b30"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
+Protected Attributes</h2></td></tr>
+<tr class="memitem:a94e725adb409391547a260f204c74564"><td class="memItemLeft" align="right" valign="top"><a id="a94e725adb409391547a260f204c74564"></a>
+std::shared_ptr&lt; Robot::Impl &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveControl.html#a94e725adb409391547a260f204c74564">robot_impl</a></td></tr>
+<tr class="memdesc:a94e725adb409391547a260f204c74564"><td class="mdescLeft">&#160;</td><td class="mdescRight">shared pointer to Robot::Impl instance for read and write accesses <br /></td></tr>
+<tr class="separator:a94e725adb409391547a260f204c74564"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0852a7d4b5a67df218440c2cc629f638"><td class="memItemLeft" align="right" valign="top"><a id="a0852a7d4b5a67df218440c2cc629f638"></a>
+uint32_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveControl.html#a0852a7d4b5a67df218440c2cc629f638">motion_id</a></td></tr>
+<tr class="memdesc:a0852a7d4b5a67df218440c2cc629f638"><td class="mdescLeft">&#160;</td><td class="mdescRight">motion id of running motion <br /></td></tr>
+<tr class="separator:a0852a7d4b5a67df218440c2cc629f638"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aed53605877b237435581e36f4c0b34a4"><td class="memItemLeft" align="right" valign="top"><a id="aed53605877b237435581e36f4c0b34a4"></a>
+std::unique_lock&lt; std::mutex &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveControl.html#aed53605877b237435581e36f4c0b34a4">control_lock</a></td></tr>
+<tr class="memdesc:aed53605877b237435581e36f4c0b34a4"><td class="mdescLeft">&#160;</td><td class="mdescRight">control-lock preventing parallel control processes <br /></td></tr>
+<tr class="separator:aed53605877b237435581e36f4c0b34a4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afa521707548926e9d1e38e4b83496db2"><td class="memItemLeft" align="right" valign="top"><a id="afa521707548926e9d1e38e4b83496db2"></a>
+bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveControl.html#afa521707548926e9d1e38e4b83496db2">control_finished</a></td></tr>
+<tr class="memdesc:afa521707548926e9d1e38e4b83496db2"><td class="mdescLeft">&#160;</td><td class="mdescRight">flag indicating if control process is finished <br /></td></tr>
+<tr class="separator:afa521707548926e9d1e38e4b83496db2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a226304deac8032ed6c8428caa60c9fb4"><td class="memItemLeft" align="right" valign="top"><a id="a226304deac8032ed6c8428caa60c9fb4"></a>
+std::optional&lt; <a class="el" href="classfranka_1_1Duration.html">Duration</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveControl.html#a226304deac8032ed6c8428caa60c9fb4">last_read_access</a></td></tr>
+<tr class="memdesc:a226304deac8032ed6c8428caa60c9fb4"><td class="mdescLeft">&#160;</td><td class="mdescRight">duration to last read access <br /></td></tr>
+<tr class="separator:a226304deac8032ed6c8428caa60c9fb4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Documented in <a class="el" href="classfranka_1_1ActiveControlBase.html" title="Allows the user to read the state of a Robot and to send new control commands after starting a contro...">ActiveControlBase</a>. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a4aa09537fddbec6cf1eed05fdc147b30"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4aa09537fddbec6cf1eed05fdc147b30">&#9670;&nbsp;</a></span>ActiveControl()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">franka::ActiveControl::ActiveControl </td>
+          <td>(</td>
+          <td class="paramtype">std::shared_ptr&lt; Robot::Impl &gt;&#160;</td>
+          <td class="paramname"><em>robot_impl</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">uint32_t&#160;</td>
+          <td class="paramname"><em>motion_id</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::unique_lock&lt; std::mutex &gt;&#160;</td>
+          <td class="paramname"><em>control_lock</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Construct a new <a class="el" href="classfranka_1_1ActiveControl.html" title="Documented in ActiveControlBase.">ActiveControl</a> object. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">robot_impl</td><td>shared_ptr to the Robot::Impl in the <a class="el" href="classfranka_1_1Robot.html" title="Maintains a network connection to the robot, provides the current robot state, gives access to the mo...">Robot</a> </td></tr>
+    <tr><td class="paramname">motion_id</td><td>id of the managed motion </td></tr>
+    <tr><td class="paramname">control_lock</td><td>of the <a class="el" href="classfranka_1_1Robot.html" title="Maintains a network connection to the robot, provides the current robot state, gives access to the mo...">Robot</a>, preventing other read and write accesses during the active control </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a55f5b94e5ac491e5b2ccc1782a873582"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a55f5b94e5ac491e5b2ccc1782a873582">&#9670;&nbsp;</a></span>readOnce()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::pair&lt;<a class="el" href="structfranka_1_1RobotState.html">RobotState</a>, <a class="el" href="classfranka_1_1Duration.html">Duration</a>&gt; franka::ActiveControl::readOnce </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Waits for a robot state update and returns it. </p>
+<dl class="section return"><dt>Returns</dt><dd>Current robot state &amp; time since last read operation</dd></dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1NetworkException.html" title="NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occu...">NetworkException</a></td><td>if the connection is lost, e.g. after a timeout. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1ProtocolException.html" title="ProtocolException is thrown if the robot returns an incorrect message.">ProtocolException</a></td><td>if robot returns an unexpected message. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1ControlException.html" title="ControlException is thrown if an error occurs during motion generation or torque control.">ControlException</a></td><td>if robot is in an error state. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Implements <a class="el" href="classfranka_1_1ActiveControlBase.html#ae99dac6dae3b0dcd79104a1a404e42d0">franka::ActiveControlBase</a>.</p>
+
+</div>
+</div>
+<a id="a52f9ce19182359732bddee7b52a87419"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a52f9ce19182359732bddee7b52a87419">&#9670;&nbsp;</a></span>writeOnce() <span class="overload">[1/9]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void franka::ActiveControl::writeOnce </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classfranka_1_1CartesianPose.html">CartesianPose</a> &amp;&#160;</td>
+          <td class="paramname">, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::optional&lt; const <a class="el" href="classfranka_1_1Torques.html">Torques</a> &gt; &amp;&#160;</td>
+          <td class="paramname">&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Updates the cartesian position and torque commands of an active control. </p>
+<p>hint: implemented in ActiveMotionGenerator&lt;CartesianPose&gt; </p>
+
+<p>Implements <a class="el" href="classfranka_1_1ActiveControlBase.html#a61ffd2a40b082e275784175f7a38aa08">franka::ActiveControlBase</a>.</p>
+
+</div>
+</div>
+<a id="a6b6265ccad26dc2e32c7b6329b74fb80"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6b6265ccad26dc2e32c7b6329b74fb80">&#9670;&nbsp;</a></span>writeOnce() <span class="overload">[2/9]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void franka::ActiveControl::writeOnce </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classfranka_1_1CartesianPose.html">CartesianPose</a> &amp;&#160;</td>
+          <td class="paramname"><em>motion_generator_input</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Updates the cartesian pose commands of an active control, with internal controller. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">motion_generator_input</td><td>the new motion generator input </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Implements <a class="el" href="classfranka_1_1ActiveControlBase.html#a9b05a521b8ab9d1af6c58b3d1fbcf12f">franka::ActiveControlBase</a>.</p>
+
+</div>
+</div>
+<a id="a12c3c6916e26e66dae41eb624daabb4a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a12c3c6916e26e66dae41eb624daabb4a">&#9670;&nbsp;</a></span>writeOnce() <span class="overload">[3/9]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void franka::ActiveControl::writeOnce </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classfranka_1_1CartesianVelocities.html">CartesianVelocities</a> &amp;&#160;</td>
+          <td class="paramname">, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::optional&lt; const <a class="el" href="classfranka_1_1Torques.html">Torques</a> &gt; &amp;&#160;</td>
+          <td class="paramname">&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Updates the cartesian velocity and torque commands of an active control. </p>
+<p>hint: implemented in ActiveMotionGenerator&lt;CartesianVelocities&gt; </p>
+
+<p>Implements <a class="el" href="classfranka_1_1ActiveControlBase.html#ac94d472225bbe8b6322b9f3cbf98bd3b">franka::ActiveControlBase</a>.</p>
+
+</div>
+</div>
+<a id="ad4bf06b3e873fd95a2261d67d89a4d1f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad4bf06b3e873fd95a2261d67d89a4d1f">&#9670;&nbsp;</a></span>writeOnce() <span class="overload">[4/9]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void franka::ActiveControl::writeOnce </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classfranka_1_1CartesianVelocities.html">CartesianVelocities</a> &amp;&#160;</td>
+          <td class="paramname"><em>motion_generator_input</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Updates the cartesian velocity commands of an active control, with internal controller. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">motion_generator_input</td><td>the new motion generator input </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Implements <a class="el" href="classfranka_1_1ActiveControlBase.html#a35ad38e4c512e34b0c82b081cefe4020">franka::ActiveControlBase</a>.</p>
+
+</div>
+</div>
+<a id="a762615a1a3d5cf18064bfbd0b45effa6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a762615a1a3d5cf18064bfbd0b45effa6">&#9670;&nbsp;</a></span>writeOnce() <span class="overload">[5/9]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void franka::ActiveControl::writeOnce </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classfranka_1_1JointPositions.html">JointPositions</a> &amp;&#160;</td>
+          <td class="paramname">, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::optional&lt; const <a class="el" href="classfranka_1_1Torques.html">Torques</a> &gt; &amp;&#160;</td>
+          <td class="paramname">&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Updates the joint position and torque commands of an active control. </p>
+<p>hint: implemented in ActiveMotionGenerator&lt;JointPositions&gt; </p>
+
+<p>Implements <a class="el" href="classfranka_1_1ActiveControlBase.html#ab0b5421122071fa0d578dcd0f4cabc36">franka::ActiveControlBase</a>.</p>
+
+</div>
+</div>
+<a id="a8166a590c84c749cd90c874bd2f1aca4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8166a590c84c749cd90c874bd2f1aca4">&#9670;&nbsp;</a></span>writeOnce() <span class="overload">[6/9]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void franka::ActiveControl::writeOnce </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classfranka_1_1JointPositions.html">JointPositions</a> &amp;&#160;</td>
+          <td class="paramname"><em>motion_generator_input</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Updates the joint position commands of an active control, with internal controller. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">motion_generator_input</td><td>the new motion generator input </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Implements <a class="el" href="classfranka_1_1ActiveControlBase.html#a800a13f3d6d12408dbff3afc8d072af2">franka::ActiveControlBase</a>.</p>
+
+</div>
+</div>
+<a id="a2a27360ae8203fa8a413c47708e03ede"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2a27360ae8203fa8a413c47708e03ede">&#9670;&nbsp;</a></span>writeOnce() <span class="overload">[7/9]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void franka::ActiveControl::writeOnce </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classfranka_1_1JointVelocities.html">JointVelocities</a> &amp;&#160;</td>
+          <td class="paramname">, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::optional&lt; const <a class="el" href="classfranka_1_1Torques.html">Torques</a> &gt; &amp;&#160;</td>
+          <td class="paramname">&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Updates the joint velocity and torque commands of an active control. </p>
+<p>hint: implemented in ActiveMotionGenerator&lt;JointVelocities&gt; </p>
+
+<p>Implements <a class="el" href="classfranka_1_1ActiveControlBase.html#a46f54e3366ad083c9dedf62b9f4e1fea">franka::ActiveControlBase</a>.</p>
+
+</div>
+</div>
+<a id="a7f54a6bc037fa63f14e1a3f1329d4bf5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7f54a6bc037fa63f14e1a3f1329d4bf5">&#9670;&nbsp;</a></span>writeOnce() <span class="overload">[8/9]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void franka::ActiveControl::writeOnce </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classfranka_1_1JointVelocities.html">JointVelocities</a> &amp;&#160;</td>
+          <td class="paramname"><em>motion_generator_input</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Updates the joint velocity commands of an active control, with internal controller. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">motion_generator_input</td><td>the new motion generator input </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Implements <a class="el" href="classfranka_1_1ActiveControlBase.html#ae00c5b9387e21b76443ddfd173f7d01e">franka::ActiveControlBase</a>.</p>
+
+</div>
+</div>
+<a id="a888b87832cd3def156c07a0b57d95663"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a888b87832cd3def156c07a0b57d95663">&#9670;&nbsp;</a></span>writeOnce() <span class="overload">[9/9]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void franka::ActiveControl::writeOnce </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classfranka_1_1Torques.html">Torques</a> &amp;&#160;</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Updates torque commands of an active control. </p>
+<p>hint: implemented in <a class="el" href="classfranka_1_1ActiveTorqueControl.html" title="Allows the user to read the state of a Robot and to send new torque control commands after starting a...">ActiveTorqueControl</a> </p>
+
+<p>Implements <a class="el" href="classfranka_1_1ActiveControlBase.html#a070846c3bd259aa703848d984a82e43d">franka::ActiveControlBase</a>.</p>
+
+<p>Reimplemented in <a class="el" href="classfranka_1_1ActiveTorqueControl.html#acc3b1d8c41cd191786e384887adf5da2">franka::ActiveTorqueControl</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>include/franka/<a class="el" href="active__control_8h_source.html">active_control.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/0.13.6/classfranka_1_1ActiveControlBase-members.html b/0.13.6/classfranka_1_1ActiveControlBase-members.html
new file mode 100644
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+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
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+/* @license-end */
+</script>
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+<script type="text/javascript" src="menu.js"></script>
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+        name="MSearchResults" id="MSearchResults">
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+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>franka</b></li><li class="navelem"><a class="el" href="classfranka_1_1ActiveControlBase.html">ActiveControlBase</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">franka::ActiveControlBase Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classfranka_1_1ActiveControlBase.html">franka::ActiveControlBase</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>ActiveControlBase</b>()=default (defined in <a class="el" href="classfranka_1_1ActiveControlBase.html">franka::ActiveControlBase</a>)</td><td class="entry"><a class="el" href="classfranka_1_1ActiveControlBase.html">franka::ActiveControlBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1ActiveControlBase.html#ae99dac6dae3b0dcd79104a1a404e42d0">readOnce</a>()=0</td><td class="entry"><a class="el" href="classfranka_1_1ActiveControlBase.html">franka::ActiveControlBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1ActiveControlBase.html#a070846c3bd259aa703848d984a82e43d">writeOnce</a>(const Torques &amp;)=0</td><td class="entry"><a class="el" href="classfranka_1_1ActiveControlBase.html">franka::ActiveControlBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1ActiveControlBase.html#ab0b5421122071fa0d578dcd0f4cabc36">writeOnce</a>(const JointPositions &amp;, const std::optional&lt; const Torques &gt; &amp;)=0</td><td class="entry"><a class="el" href="classfranka_1_1ActiveControlBase.html">franka::ActiveControlBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1ActiveControlBase.html#a46f54e3366ad083c9dedf62b9f4e1fea">writeOnce</a>(const JointVelocities &amp;, const std::optional&lt; const Torques &gt; &amp;)=0</td><td class="entry"><a class="el" href="classfranka_1_1ActiveControlBase.html">franka::ActiveControlBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1ActiveControlBase.html#a61ffd2a40b082e275784175f7a38aa08">writeOnce</a>(const CartesianPose &amp;, const std::optional&lt; const Torques &gt; &amp;)=0</td><td class="entry"><a class="el" href="classfranka_1_1ActiveControlBase.html">franka::ActiveControlBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1ActiveControlBase.html#ac94d472225bbe8b6322b9f3cbf98bd3b">writeOnce</a>(const CartesianVelocities &amp;, const std::optional&lt; const Torques &gt; &amp;)=0</td><td class="entry"><a class="el" href="classfranka_1_1ActiveControlBase.html">franka::ActiveControlBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1ActiveControlBase.html#a800a13f3d6d12408dbff3afc8d072af2">writeOnce</a>(const JointPositions &amp;motion_generator_input)=0</td><td class="entry"><a class="el" href="classfranka_1_1ActiveControlBase.html">franka::ActiveControlBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1ActiveControlBase.html#ae00c5b9387e21b76443ddfd173f7d01e">writeOnce</a>(const JointVelocities &amp;motion_generator_input)=0</td><td class="entry"><a class="el" href="classfranka_1_1ActiveControlBase.html">franka::ActiveControlBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1ActiveControlBase.html#a9b05a521b8ab9d1af6c58b3d1fbcf12f">writeOnce</a>(const CartesianPose &amp;motion_generator_input)=0</td><td class="entry"><a class="el" href="classfranka_1_1ActiveControlBase.html">franka::ActiveControlBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1ActiveControlBase.html#a35ad38e4c512e34b0c82b081cefe4020">writeOnce</a>(const CartesianVelocities &amp;motion_generator_input)=0</td><td class="entry"><a class="el" href="classfranka_1_1ActiveControlBase.html">franka::ActiveControlBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>~ActiveControlBase</b>()=default (defined in <a class="el" href="classfranka_1_1ActiveControlBase.html">franka::ActiveControlBase</a>)</td><td class="entry"><a class="el" href="classfranka_1_1ActiveControlBase.html">franka::ActiveControlBase</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+</table></div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
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+</html>
diff --git a/0.13.6/classfranka_1_1ActiveControlBase.html b/0.13.6/classfranka_1_1ActiveControlBase.html
new file mode 100644
index 00000000..559d2daf
--- /dev/null
+++ b/0.13.6/classfranka_1_1ActiveControlBase.html
@@ -0,0 +1,525 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
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+<title>libfranka: franka::ActiveControlBase Class Reference</title>
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+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
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+<!-- Generated by Doxygen 1.9.1 -->
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+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
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+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>franka</b></li><li class="navelem"><a class="el" href="classfranka_1_1ActiveControlBase.html">ActiveControlBase</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classfranka_1_1ActiveControlBase-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">franka::ActiveControlBase Class Reference<span class="mlabels"><span class="mlabel">abstract</span></span></div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Allows the user to read the state of a <a class="el" href="classfranka_1_1Robot.html" title="Maintains a network connection to the robot, provides the current robot state, gives access to the mo...">Robot</a> and to send new control commands after starting a control process of a <a class="el" href="classfranka_1_1Robot.html" title="Maintains a network connection to the robot, provides the current robot state, gives access to the mo...">Robot</a>.  
+ <a href="classfranka_1_1ActiveControlBase.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="active__control__base_8h_source.html">active_control_base.h</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for franka::ActiveControlBase:</div>
+<div class="dyncontent">
+<div class="center"><img src="classfranka_1_1ActiveControlBase__inherit__graph.png" border="0" usemap="#afranka_1_1ActiveControlBase_inherit__map" alt="Inheritance graph"/></div>
+<map name="afranka_1_1ActiveControlBase_inherit__map" id="afranka_1_1ActiveControlBase_inherit__map">
+<area shape="rect" title="Allows the user to read the state of a Robot and to send new control commands after starting a contro..." alt="" coords="140,5,331,32"/>
+<area shape="rect" href="classfranka_1_1ActiveControl.html" title="Documented in ActiveControlBase." alt="" coords="156,80,315,107"/>
+<area shape="rect" href="classfranka_1_1ActiveMotionGenerator.html" title="Allows the user to read the state of a Robot and to send new motion generator commands after starting..." alt="" coords="5,155,228,196"/>
+<area shape="rect" href="classfranka_1_1ActiveTorqueControl.html" title="Allows the user to read the state of a Robot and to send new torque control commands after starting a..." alt="" coords="253,162,455,189"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:ae99dac6dae3b0dcd79104a1a404e42d0"><td class="memItemLeft" align="right" valign="top">virtual std::pair&lt; <a class="el" href="structfranka_1_1RobotState.html">RobotState</a>, <a class="el" href="classfranka_1_1Duration.html">Duration</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveControlBase.html#ae99dac6dae3b0dcd79104a1a404e42d0">readOnce</a> ()=0</td></tr>
+<tr class="memdesc:ae99dac6dae3b0dcd79104a1a404e42d0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Waits for a robot state update and returns it.  <a href="classfranka_1_1ActiveControlBase.html#ae99dac6dae3b0dcd79104a1a404e42d0">More...</a><br /></td></tr>
+<tr class="separator:ae99dac6dae3b0dcd79104a1a404e42d0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a070846c3bd259aa703848d984a82e43d"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveControlBase.html#a070846c3bd259aa703848d984a82e43d">writeOnce</a> (const <a class="el" href="classfranka_1_1Torques.html">Torques</a> &amp;)=0</td></tr>
+<tr class="memdesc:a070846c3bd259aa703848d984a82e43d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Updates torque commands of an active control.  <a href="classfranka_1_1ActiveControlBase.html#a070846c3bd259aa703848d984a82e43d">More...</a><br /></td></tr>
+<tr class="separator:a070846c3bd259aa703848d984a82e43d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab0b5421122071fa0d578dcd0f4cabc36"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveControlBase.html#ab0b5421122071fa0d578dcd0f4cabc36">writeOnce</a> (const <a class="el" href="classfranka_1_1JointPositions.html">JointPositions</a> &amp;, const std::optional&lt; const <a class="el" href="classfranka_1_1Torques.html">Torques</a> &gt; &amp;)=0</td></tr>
+<tr class="memdesc:ab0b5421122071fa0d578dcd0f4cabc36"><td class="mdescLeft">&#160;</td><td class="mdescRight">Updates the joint position and torque commands of an active control.  <a href="classfranka_1_1ActiveControlBase.html#ab0b5421122071fa0d578dcd0f4cabc36">More...</a><br /></td></tr>
+<tr class="separator:ab0b5421122071fa0d578dcd0f4cabc36"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a46f54e3366ad083c9dedf62b9f4e1fea"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveControlBase.html#a46f54e3366ad083c9dedf62b9f4e1fea">writeOnce</a> (const <a class="el" href="classfranka_1_1JointVelocities.html">JointVelocities</a> &amp;, const std::optional&lt; const <a class="el" href="classfranka_1_1Torques.html">Torques</a> &gt; &amp;)=0</td></tr>
+<tr class="memdesc:a46f54e3366ad083c9dedf62b9f4e1fea"><td class="mdescLeft">&#160;</td><td class="mdescRight">Updates the joint velocity and torque commands of an active control.  <a href="classfranka_1_1ActiveControlBase.html#a46f54e3366ad083c9dedf62b9f4e1fea">More...</a><br /></td></tr>
+<tr class="separator:a46f54e3366ad083c9dedf62b9f4e1fea"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a61ffd2a40b082e275784175f7a38aa08"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveControlBase.html#a61ffd2a40b082e275784175f7a38aa08">writeOnce</a> (const <a class="el" href="classfranka_1_1CartesianPose.html">CartesianPose</a> &amp;, const std::optional&lt; const <a class="el" href="classfranka_1_1Torques.html">Torques</a> &gt; &amp;)=0</td></tr>
+<tr class="memdesc:a61ffd2a40b082e275784175f7a38aa08"><td class="mdescLeft">&#160;</td><td class="mdescRight">Updates the cartesian position and torque commands of an active control.  <a href="classfranka_1_1ActiveControlBase.html#a61ffd2a40b082e275784175f7a38aa08">More...</a><br /></td></tr>
+<tr class="separator:a61ffd2a40b082e275784175f7a38aa08"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac94d472225bbe8b6322b9f3cbf98bd3b"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveControlBase.html#ac94d472225bbe8b6322b9f3cbf98bd3b">writeOnce</a> (const <a class="el" href="classfranka_1_1CartesianVelocities.html">CartesianVelocities</a> &amp;, const std::optional&lt; const <a class="el" href="classfranka_1_1Torques.html">Torques</a> &gt; &amp;)=0</td></tr>
+<tr class="memdesc:ac94d472225bbe8b6322b9f3cbf98bd3b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Updates the cartesian velocity and torque commands of an active control.  <a href="classfranka_1_1ActiveControlBase.html#ac94d472225bbe8b6322b9f3cbf98bd3b">More...</a><br /></td></tr>
+<tr class="separator:ac94d472225bbe8b6322b9f3cbf98bd3b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a800a13f3d6d12408dbff3afc8d072af2"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveControlBase.html#a800a13f3d6d12408dbff3afc8d072af2">writeOnce</a> (const <a class="el" href="classfranka_1_1JointPositions.html">JointPositions</a> &amp;motion_generator_input)=0</td></tr>
+<tr class="memdesc:a800a13f3d6d12408dbff3afc8d072af2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Updates the joint position commands of an active control, with internal controller.  <a href="classfranka_1_1ActiveControlBase.html#a800a13f3d6d12408dbff3afc8d072af2">More...</a><br /></td></tr>
+<tr class="separator:a800a13f3d6d12408dbff3afc8d072af2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae00c5b9387e21b76443ddfd173f7d01e"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveControlBase.html#ae00c5b9387e21b76443ddfd173f7d01e">writeOnce</a> (const <a class="el" href="classfranka_1_1JointVelocities.html">JointVelocities</a> &amp;motion_generator_input)=0</td></tr>
+<tr class="memdesc:ae00c5b9387e21b76443ddfd173f7d01e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Updates the joint velocity commands of an active control, with internal controller.  <a href="classfranka_1_1ActiveControlBase.html#ae00c5b9387e21b76443ddfd173f7d01e">More...</a><br /></td></tr>
+<tr class="separator:ae00c5b9387e21b76443ddfd173f7d01e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9b05a521b8ab9d1af6c58b3d1fbcf12f"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveControlBase.html#a9b05a521b8ab9d1af6c58b3d1fbcf12f">writeOnce</a> (const <a class="el" href="classfranka_1_1CartesianPose.html">CartesianPose</a> &amp;motion_generator_input)=0</td></tr>
+<tr class="memdesc:a9b05a521b8ab9d1af6c58b3d1fbcf12f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Updates the cartesian pose commands of an active control, with internal controller.  <a href="classfranka_1_1ActiveControlBase.html#a9b05a521b8ab9d1af6c58b3d1fbcf12f">More...</a><br /></td></tr>
+<tr class="separator:a9b05a521b8ab9d1af6c58b3d1fbcf12f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a35ad38e4c512e34b0c82b081cefe4020"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveControlBase.html#a35ad38e4c512e34b0c82b081cefe4020">writeOnce</a> (const <a class="el" href="classfranka_1_1CartesianVelocities.html">CartesianVelocities</a> &amp;motion_generator_input)=0</td></tr>
+<tr class="memdesc:a35ad38e4c512e34b0c82b081cefe4020"><td class="mdescLeft">&#160;</td><td class="mdescRight">Updates the cartesian velocity commands of an active control, with internal controller.  <a href="classfranka_1_1ActiveControlBase.html#a35ad38e4c512e34b0c82b081cefe4020">More...</a><br /></td></tr>
+<tr class="separator:a35ad38e4c512e34b0c82b081cefe4020"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Allows the user to read the state of a <a class="el" href="classfranka_1_1Robot.html" title="Maintains a network connection to the robot, provides the current robot state, gives access to the mo...">Robot</a> and to send new control commands after starting a control process of a <a class="el" href="classfranka_1_1Robot.html" title="Maintains a network connection to the robot, provides the current robot state, gives access to the mo...">Robot</a>. </p>
+<p>hint: To create an <a class="el" href="classfranka_1_1ActiveControlBase.html" title="Allows the user to read the state of a Robot and to send new control commands after starting a contro...">ActiveControlBase</a>, see <a class="el" href="classfranka_1_1ActiveTorqueControl.html" title="Allows the user to read the state of a Robot and to send new torque control commands after starting a...">franka::ActiveTorqueControl</a> or <a class="el" href="classfranka_1_1ActiveMotionGenerator.html" title="Allows the user to read the state of a Robot and to send new motion generator commands after starting...">franka::ActiveMotionGenerator</a> </p>
+</div><h2 class="groupheader">Member Function Documentation</h2>
+<a id="ae99dac6dae3b0dcd79104a1a404e42d0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae99dac6dae3b0dcd79104a1a404e42d0">&#9670;&nbsp;</a></span>readOnce()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual std::pair&lt;<a class="el" href="structfranka_1_1RobotState.html">RobotState</a>, <a class="el" href="classfranka_1_1Duration.html">Duration</a>&gt; franka::ActiveControlBase::readOnce </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Waits for a robot state update and returns it. </p>
+<dl class="section return"><dt>Returns</dt><dd>Current robot state &amp; time since last read operation</dd></dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1NetworkException.html" title="NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occu...">NetworkException</a></td><td>if the connection is lost, e.g. after a timeout. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1ProtocolException.html" title="ProtocolException is thrown if the robot returns an incorrect message.">ProtocolException</a></td><td>if robot returns an unexpected message. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1ControlException.html" title="ControlException is thrown if an error occurs during motion generation or torque control.">ControlException</a></td><td>if robot is in an error state. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Implemented in <a class="el" href="classfranka_1_1ActiveControl.html#a55f5b94e5ac491e5b2ccc1782a873582">franka::ActiveControl</a>.</p>
+
+</div>
+</div>
+<a id="a61ffd2a40b082e275784175f7a38aa08"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a61ffd2a40b082e275784175f7a38aa08">&#9670;&nbsp;</a></span>writeOnce() <span class="overload">[1/9]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void franka::ActiveControlBase::writeOnce </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classfranka_1_1CartesianPose.html">CartesianPose</a> &amp;&#160;</td>
+          <td class="paramname">, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::optional&lt; const <a class="el" href="classfranka_1_1Torques.html">Torques</a> &gt; &amp;&#160;</td>
+          <td class="paramname">&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Updates the cartesian position and torque commands of an active control. </p>
+<p>hint: implemented in ActiveMotionGenerator&lt;CartesianPose&gt; </p>
+
+<p>Implemented in <a class="el" href="classfranka_1_1ActiveControl.html#a52f9ce19182359732bddee7b52a87419">franka::ActiveControl</a>.</p>
+
+</div>
+</div>
+<a id="a9b05a521b8ab9d1af6c58b3d1fbcf12f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9b05a521b8ab9d1af6c58b3d1fbcf12f">&#9670;&nbsp;</a></span>writeOnce() <span class="overload">[2/9]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void franka::ActiveControlBase::writeOnce </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classfranka_1_1CartesianPose.html">CartesianPose</a> &amp;&#160;</td>
+          <td class="paramname"><em>motion_generator_input</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Updates the cartesian pose commands of an active control, with internal controller. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">motion_generator_input</td><td>the new motion generator input </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Implemented in <a class="el" href="classfranka_1_1ActiveControl.html#a6b6265ccad26dc2e32c7b6329b74fb80">franka::ActiveControl</a>.</p>
+
+</div>
+</div>
+<a id="ac94d472225bbe8b6322b9f3cbf98bd3b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac94d472225bbe8b6322b9f3cbf98bd3b">&#9670;&nbsp;</a></span>writeOnce() <span class="overload">[3/9]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void franka::ActiveControlBase::writeOnce </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classfranka_1_1CartesianVelocities.html">CartesianVelocities</a> &amp;&#160;</td>
+          <td class="paramname">, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::optional&lt; const <a class="el" href="classfranka_1_1Torques.html">Torques</a> &gt; &amp;&#160;</td>
+          <td class="paramname">&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Updates the cartesian velocity and torque commands of an active control. </p>
+<p>hint: implemented in ActiveMotionGenerator&lt;CartesianVelocities&gt; </p>
+
+<p>Implemented in <a class="el" href="classfranka_1_1ActiveControl.html#a12c3c6916e26e66dae41eb624daabb4a">franka::ActiveControl</a>.</p>
+
+</div>
+</div>
+<a id="a35ad38e4c512e34b0c82b081cefe4020"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a35ad38e4c512e34b0c82b081cefe4020">&#9670;&nbsp;</a></span>writeOnce() <span class="overload">[4/9]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void franka::ActiveControlBase::writeOnce </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classfranka_1_1CartesianVelocities.html">CartesianVelocities</a> &amp;&#160;</td>
+          <td class="paramname"><em>motion_generator_input</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Updates the cartesian velocity commands of an active control, with internal controller. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">motion_generator_input</td><td>the new motion generator input </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Implemented in <a class="el" href="classfranka_1_1ActiveControl.html#ad4bf06b3e873fd95a2261d67d89a4d1f">franka::ActiveControl</a>.</p>
+
+</div>
+</div>
+<a id="ab0b5421122071fa0d578dcd0f4cabc36"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab0b5421122071fa0d578dcd0f4cabc36">&#9670;&nbsp;</a></span>writeOnce() <span class="overload">[5/9]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void franka::ActiveControlBase::writeOnce </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classfranka_1_1JointPositions.html">JointPositions</a> &amp;&#160;</td>
+          <td class="paramname">, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::optional&lt; const <a class="el" href="classfranka_1_1Torques.html">Torques</a> &gt; &amp;&#160;</td>
+          <td class="paramname">&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Updates the joint position and torque commands of an active control. </p>
+<p>hint: implemented in ActiveMotionGenerator&lt;JointPositions&gt; </p>
+
+<p>Implemented in <a class="el" href="classfranka_1_1ActiveControl.html#a762615a1a3d5cf18064bfbd0b45effa6">franka::ActiveControl</a>.</p>
+
+</div>
+</div>
+<a id="a800a13f3d6d12408dbff3afc8d072af2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a800a13f3d6d12408dbff3afc8d072af2">&#9670;&nbsp;</a></span>writeOnce() <span class="overload">[6/9]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void franka::ActiveControlBase::writeOnce </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classfranka_1_1JointPositions.html">JointPositions</a> &amp;&#160;</td>
+          <td class="paramname"><em>motion_generator_input</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Updates the joint position commands of an active control, with internal controller. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">motion_generator_input</td><td>the new motion generator input </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Implemented in <a class="el" href="classfranka_1_1ActiveControl.html#a8166a590c84c749cd90c874bd2f1aca4">franka::ActiveControl</a>.</p>
+
+</div>
+</div>
+<a id="a46f54e3366ad083c9dedf62b9f4e1fea"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a46f54e3366ad083c9dedf62b9f4e1fea">&#9670;&nbsp;</a></span>writeOnce() <span class="overload">[7/9]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void franka::ActiveControlBase::writeOnce </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classfranka_1_1JointVelocities.html">JointVelocities</a> &amp;&#160;</td>
+          <td class="paramname">, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::optional&lt; const <a class="el" href="classfranka_1_1Torques.html">Torques</a> &gt; &amp;&#160;</td>
+          <td class="paramname">&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Updates the joint velocity and torque commands of an active control. </p>
+<p>hint: implemented in ActiveMotionGenerator&lt;JointVelocities&gt; </p>
+
+<p>Implemented in <a class="el" href="classfranka_1_1ActiveControl.html#a2a27360ae8203fa8a413c47708e03ede">franka::ActiveControl</a>.</p>
+
+</div>
+</div>
+<a id="ae00c5b9387e21b76443ddfd173f7d01e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae00c5b9387e21b76443ddfd173f7d01e">&#9670;&nbsp;</a></span>writeOnce() <span class="overload">[8/9]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void franka::ActiveControlBase::writeOnce </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classfranka_1_1JointVelocities.html">JointVelocities</a> &amp;&#160;</td>
+          <td class="paramname"><em>motion_generator_input</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Updates the joint velocity commands of an active control, with internal controller. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">motion_generator_input</td><td>the new motion generator input </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Implemented in <a class="el" href="classfranka_1_1ActiveControl.html#a7f54a6bc037fa63f14e1a3f1329d4bf5">franka::ActiveControl</a>.</p>
+
+</div>
+</div>
+<a id="a070846c3bd259aa703848d984a82e43d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a070846c3bd259aa703848d984a82e43d">&#9670;&nbsp;</a></span>writeOnce() <span class="overload">[9/9]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void franka::ActiveControlBase::writeOnce </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classfranka_1_1Torques.html">Torques</a> &amp;&#160;</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Updates torque commands of an active control. </p>
+<p>hint: implemented in <a class="el" href="classfranka_1_1ActiveTorqueControl.html" title="Allows the user to read the state of a Robot and to send new torque control commands after starting a...">ActiveTorqueControl</a> </p>
+
+<p>Implemented in <a class="el" href="classfranka_1_1ActiveTorqueControl.html#acc3b1d8c41cd191786e384887adf5da2">franka::ActiveTorqueControl</a>, and <a class="el" href="classfranka_1_1ActiveControl.html#a888b87832cd3def156c07a0b57d95663">franka::ActiveControl</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>include/franka/<a class="el" href="active__control__base_8h_source.html">active_control_base.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/0.13.6/classfranka_1_1ActiveControlBase__inherit__graph.map b/0.13.6/classfranka_1_1ActiveControlBase__inherit__graph.map
new file mode 100644
index 00000000..002eb182
--- /dev/null
+++ b/0.13.6/classfranka_1_1ActiveControlBase__inherit__graph.map
@@ -0,0 +1,6 @@
+<map id="franka::ActiveControlBase" name="franka::ActiveControlBase">
+<area shape="rect" id="node1" title="Allows the user to read the state of a Robot and to send new control commands after starting a contro..." alt="" coords="140,5,331,32"/>
+<area shape="rect" id="node2" href="$classfranka_1_1ActiveControl.html" title="Documented in ActiveControlBase." alt="" coords="156,80,315,107"/>
+<area shape="rect" id="node3" href="$classfranka_1_1ActiveMotionGenerator.html" title="Allows the user to read the state of a Robot and to send new motion generator commands after starting..." alt="" coords="5,155,228,196"/>
+<area shape="rect" id="node4" href="$classfranka_1_1ActiveTorqueControl.html" title="Allows the user to read the state of a Robot and to send new torque control commands after starting a..." alt="" coords="253,162,455,189"/>
+</map>
diff --git a/0.13.6/classfranka_1_1ActiveControlBase__inherit__graph.md5 b/0.13.6/classfranka_1_1ActiveControlBase__inherit__graph.md5
new file mode 100644
index 00000000..7ba6e473
--- /dev/null
+++ b/0.13.6/classfranka_1_1ActiveControlBase__inherit__graph.md5
@@ -0,0 +1 @@
+aa03fd1901c28b61a439fe458b0e5614
\ No newline at end of file
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new file mode 100644
index 00000000..dd4e764f
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diff --git a/0.13.6/classfranka_1_1ActiveControl__coll__graph.md5 b/0.13.6/classfranka_1_1ActiveControl__coll__graph.md5
new file mode 100644
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new file mode 100644
index 00000000..ac16dbee
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new file mode 100644
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+        name="MSearchResults" id="MSearchResults">
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+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>franka</b></li><li class="navelem"><a class="el" href="classfranka_1_1ActiveMotionGenerator.html">ActiveMotionGenerator</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">franka::ActiveMotionGenerator&lt; MotionGeneratorType &gt; Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classfranka_1_1ActiveMotionGenerator.html">franka::ActiveMotionGenerator&lt; MotionGeneratorType &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html#a4aa09537fddbec6cf1eed05fdc147b30">ActiveControl</a>(std::shared_ptr&lt; Robot::Impl &gt; robot_impl, uint32_t motion_id, std::unique_lock&lt; std::mutex &gt; control_lock)</td><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>ActiveControlBase</b>()=default (defined in <a class="el" href="classfranka_1_1ActiveControlBase.html">franka::ActiveControlBase</a>)</td><td class="entry"><a class="el" href="classfranka_1_1ActiveControlBase.html">franka::ActiveControlBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html#afa521707548926e9d1e38e4b83496db2">control_finished</a></td><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html#aed53605877b237435581e36f4c0b34a4">control_lock</a></td><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html#a226304deac8032ed6c8428caa60c9fb4">last_read_access</a></td><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html#a0852a7d4b5a67df218440c2cc629f638">motion_id</a></td><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html#a55f5b94e5ac491e5b2ccc1782a873582">readOnce</a>() override</td><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1ActiveMotionGenerator.html#a9f34d4a840b0d3e73fc3185af5fed175">Robot</a> class</td><td class="entry"><a class="el" href="classfranka_1_1ActiveMotionGenerator.html">franka::ActiveMotionGenerator&lt; MotionGeneratorType &gt;</a></td><td class="entry"><span class="mlabel">friend</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html#a94e725adb409391547a260f204c74564">robot_impl</a></td><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1ActiveMotionGenerator.html#aae24c0819a0bd0996657063832245d69">writeOnce</a>(const MotionGeneratorType &amp;motion_generator_input, const std::optional&lt; const Torques &gt; &amp;control_input) override</td><td class="entry"><a class="el" href="classfranka_1_1ActiveMotionGenerator.html">franka::ActiveMotionGenerator&lt; MotionGeneratorType &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html#a888b87832cd3def156c07a0b57d95663">franka::ActiveControl::writeOnce</a>(const Torques &amp;) override</td><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html#a762615a1a3d5cf18064bfbd0b45effa6">franka::ActiveControl::writeOnce</a>(const JointPositions &amp;, const std::optional&lt; const Torques &gt; &amp;) override</td><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html#a2a27360ae8203fa8a413c47708e03ede">franka::ActiveControl::writeOnce</a>(const JointVelocities &amp;, const std::optional&lt; const Torques &gt; &amp;) override</td><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html#a52f9ce19182359732bddee7b52a87419">franka::ActiveControl::writeOnce</a>(const CartesianPose &amp;, const std::optional&lt; const Torques &gt; &amp;) override</td><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html#a12c3c6916e26e66dae41eb624daabb4a">franka::ActiveControl::writeOnce</a>(const CartesianVelocities &amp;, const std::optional&lt; const Torques &gt; &amp;) override</td><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html#a8166a590c84c749cd90c874bd2f1aca4">franka::ActiveControl::writeOnce</a>(const JointPositions &amp;motion_generator_input) override</td><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html#a7f54a6bc037fa63f14e1a3f1329d4bf5">franka::ActiveControl::writeOnce</a>(const JointVelocities &amp;motion_generator_input) override</td><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html#a6b6265ccad26dc2e32c7b6329b74fb80">franka::ActiveControl::writeOnce</a>(const CartesianPose &amp;motion_generator_input) override</td><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html#ad4bf06b3e873fd95a2261d67d89a4d1f">franka::ActiveControl::writeOnce</a>(const CartesianVelocities &amp;motion_generator_input) override</td><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>~ActiveControl</b>() override (defined in <a class="el" href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a>)</td><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>~ActiveControlBase</b>()=default (defined in <a class="el" href="classfranka_1_1ActiveControlBase.html">franka::ActiveControlBase</a>)</td><td class="entry"><a class="el" href="classfranka_1_1ActiveControlBase.html">franka::ActiveControlBase</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/0.13.6/classfranka_1_1ActiveMotionGenerator.html b/0.13.6/classfranka_1_1ActiveMotionGenerator.html
new file mode 100644
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--- /dev/null
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+<title>libfranka: franka::ActiveMotionGenerator&lt; MotionGeneratorType &gt; Class Template Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
+  </td>
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+        name="MSearchResults" id="MSearchResults">
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+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>franka</b></li><li class="navelem"><a class="el" href="classfranka_1_1ActiveMotionGenerator.html">ActiveMotionGenerator</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#friends">Friends</a> &#124;
+<a href="classfranka_1_1ActiveMotionGenerator-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">franka::ActiveMotionGenerator&lt; MotionGeneratorType &gt; Class Template Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Allows the user to read the state of a <a class="el" href="classfranka_1_1Robot.html" title="Maintains a network connection to the robot, provides the current robot state, gives access to the mo...">Robot</a> and to send new motion generator commands after starting a control process of a <a class="el" href="classfranka_1_1Robot.html" title="Maintains a network connection to the robot, provides the current robot state, gives access to the mo...">Robot</a>.  
+ <a href="classfranka_1_1ActiveMotionGenerator.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="active__motion__generator_8h_source.html">active_motion_generator.h</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for franka::ActiveMotionGenerator&lt; MotionGeneratorType &gt;:</div>
+<div class="dyncontent">
+<div class="center"><img src="classfranka_1_1ActiveMotionGenerator__inherit__graph.png" border="0" usemap="#afranka_1_1ActiveMotionGenerator_3_01MotionGeneratorType_01_4_inherit__map" alt="Inheritance graph"/></div>
+<map name="afranka_1_1ActiveMotionGenerator_3_01MotionGeneratorType_01_4_inherit__map" id="afranka_1_1ActiveMotionGenerator_3_01MotionGeneratorType_01_4_inherit__map">
+<area shape="rect" title="Allows the user to read the state of a Robot and to send new motion generator commands after starting..." alt="" coords="5,155,228,196"/>
+<area shape="rect" href="classfranka_1_1ActiveControl.html" title="Documented in ActiveControlBase." alt="" coords="37,80,196,107"/>
+<area shape="rect" href="classfranka_1_1ActiveControlBase.html" title="Allows the user to read the state of a Robot and to send new control commands after starting a contro..." alt="" coords="21,5,212,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for franka::ActiveMotionGenerator&lt; MotionGeneratorType &gt;:</div>
+<div class="dyncontent">
+<div class="center"><img src="classfranka_1_1ActiveMotionGenerator__coll__graph.png" border="0" usemap="#afranka_1_1ActiveMotionGenerator_3_01MotionGeneratorType_01_4_coll__map" alt="Collaboration graph"/></div>
+<map name="afranka_1_1ActiveMotionGenerator_3_01MotionGeneratorType_01_4_coll__map" id="afranka_1_1ActiveMotionGenerator_3_01MotionGeneratorType_01_4_coll__map">
+<area shape="rect" title="Allows the user to read the state of a Robot and to send new motion generator commands after starting..." alt="" coords="5,155,228,196"/>
+<area shape="rect" href="classfranka_1_1ActiveControl.html" title="Documented in ActiveControlBase." alt="" coords="37,80,196,107"/>
+<area shape="rect" href="classfranka_1_1ActiveControlBase.html" title="Allows the user to read the state of a Robot and to send new control commands after starting a contro..." alt="" coords="21,5,212,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:aae24c0819a0bd0996657063832245d69"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveMotionGenerator.html#aae24c0819a0bd0996657063832245d69">writeOnce</a> (const MotionGeneratorType &amp;motion_generator_input, const std::optional&lt; const <a class="el" href="classfranka_1_1Torques.html">Torques</a> &gt; &amp;control_input) override</td></tr>
+<tr class="memdesc:aae24c0819a0bd0996657063832245d69"><td class="mdescLeft">&#160;</td><td class="mdescRight">Updates the motion generator commands of an active control.  <a href="classfranka_1_1ActiveMotionGenerator.html#aae24c0819a0bd0996657063832245d69">More...</a><br /></td></tr>
+<tr class="separator:aae24c0819a0bd0996657063832245d69"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classfranka_1_1ActiveControl"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classfranka_1_1ActiveControl')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a></td></tr>
+<tr class="memitem:a55f5b94e5ac491e5b2ccc1782a873582 inherit pub_methods_classfranka_1_1ActiveControl"><td class="memItemLeft" align="right" valign="top">std::pair&lt; <a class="el" href="structfranka_1_1RobotState.html">RobotState</a>, <a class="el" href="classfranka_1_1Duration.html">Duration</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveControl.html#a55f5b94e5ac491e5b2ccc1782a873582">readOnce</a> () override</td></tr>
+<tr class="memdesc:a55f5b94e5ac491e5b2ccc1782a873582 inherit pub_methods_classfranka_1_1ActiveControl"><td class="mdescLeft">&#160;</td><td class="mdescRight">Waits for a robot state update and returns it.  <a href="classfranka_1_1ActiveControl.html#a55f5b94e5ac491e5b2ccc1782a873582">More...</a><br /></td></tr>
+<tr class="separator:a55f5b94e5ac491e5b2ccc1782a873582 inherit pub_methods_classfranka_1_1ActiveControl"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a888b87832cd3def156c07a0b57d95663 inherit pub_methods_classfranka_1_1ActiveControl"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveControl.html#a888b87832cd3def156c07a0b57d95663">writeOnce</a> (const <a class="el" href="classfranka_1_1Torques.html">Torques</a> &amp;) override</td></tr>
+<tr class="memdesc:a888b87832cd3def156c07a0b57d95663 inherit pub_methods_classfranka_1_1ActiveControl"><td class="mdescLeft">&#160;</td><td class="mdescRight">Updates torque commands of an active control.  <a href="classfranka_1_1ActiveControl.html#a888b87832cd3def156c07a0b57d95663">More...</a><br /></td></tr>
+<tr class="separator:a888b87832cd3def156c07a0b57d95663 inherit pub_methods_classfranka_1_1ActiveControl"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a762615a1a3d5cf18064bfbd0b45effa6 inherit pub_methods_classfranka_1_1ActiveControl"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveControl.html#a762615a1a3d5cf18064bfbd0b45effa6">writeOnce</a> (const <a class="el" href="classfranka_1_1JointPositions.html">JointPositions</a> &amp;, const std::optional&lt; const <a class="el" href="classfranka_1_1Torques.html">Torques</a> &gt; &amp;) override</td></tr>
+<tr class="memdesc:a762615a1a3d5cf18064bfbd0b45effa6 inherit pub_methods_classfranka_1_1ActiveControl"><td class="mdescLeft">&#160;</td><td class="mdescRight">Updates the joint position and torque commands of an active control.  <a href="classfranka_1_1ActiveControl.html#a762615a1a3d5cf18064bfbd0b45effa6">More...</a><br /></td></tr>
+<tr class="separator:a762615a1a3d5cf18064bfbd0b45effa6 inherit pub_methods_classfranka_1_1ActiveControl"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2a27360ae8203fa8a413c47708e03ede inherit pub_methods_classfranka_1_1ActiveControl"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveControl.html#a2a27360ae8203fa8a413c47708e03ede">writeOnce</a> (const <a class="el" href="classfranka_1_1JointVelocities.html">JointVelocities</a> &amp;, const std::optional&lt; const <a class="el" href="classfranka_1_1Torques.html">Torques</a> &gt; &amp;) override</td></tr>
+<tr class="memdesc:a2a27360ae8203fa8a413c47708e03ede inherit pub_methods_classfranka_1_1ActiveControl"><td class="mdescLeft">&#160;</td><td class="mdescRight">Updates the joint velocity and torque commands of an active control.  <a href="classfranka_1_1ActiveControl.html#a2a27360ae8203fa8a413c47708e03ede">More...</a><br /></td></tr>
+<tr class="separator:a2a27360ae8203fa8a413c47708e03ede inherit pub_methods_classfranka_1_1ActiveControl"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a52f9ce19182359732bddee7b52a87419 inherit pub_methods_classfranka_1_1ActiveControl"><td class="mdescLeft">&#160;</td><td class="mdescRight">Updates the cartesian position and torque commands of an active control.  <a href="classfranka_1_1ActiveControl.html#a52f9ce19182359732bddee7b52a87419">More...</a><br /></td></tr>
+<tr class="separator:a52f9ce19182359732bddee7b52a87419 inherit pub_methods_classfranka_1_1ActiveControl"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a12c3c6916e26e66dae41eb624daabb4a inherit pub_methods_classfranka_1_1ActiveControl"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveControl.html#a12c3c6916e26e66dae41eb624daabb4a">writeOnce</a> (const <a class="el" href="classfranka_1_1CartesianVelocities.html">CartesianVelocities</a> &amp;, const std::optional&lt; const <a class="el" href="classfranka_1_1Torques.html">Torques</a> &gt; &amp;) override</td></tr>
+<tr class="memdesc:a12c3c6916e26e66dae41eb624daabb4a inherit pub_methods_classfranka_1_1ActiveControl"><td class="mdescLeft">&#160;</td><td class="mdescRight">Updates the cartesian velocity and torque commands of an active control.  <a href="classfranka_1_1ActiveControl.html#a12c3c6916e26e66dae41eb624daabb4a">More...</a><br /></td></tr>
+<tr class="separator:a12c3c6916e26e66dae41eb624daabb4a inherit pub_methods_classfranka_1_1ActiveControl"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8166a590c84c749cd90c874bd2f1aca4 inherit pub_methods_classfranka_1_1ActiveControl"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveControl.html#a8166a590c84c749cd90c874bd2f1aca4">writeOnce</a> (const <a class="el" href="classfranka_1_1JointPositions.html">JointPositions</a> &amp;motion_generator_input) override</td></tr>
+<tr class="memdesc:a8166a590c84c749cd90c874bd2f1aca4 inherit pub_methods_classfranka_1_1ActiveControl"><td class="mdescLeft">&#160;</td><td class="mdescRight">Updates the joint position commands of an active control, with internal controller.  <a href="classfranka_1_1ActiveControl.html#a8166a590c84c749cd90c874bd2f1aca4">More...</a><br /></td></tr>
+<tr class="separator:a8166a590c84c749cd90c874bd2f1aca4 inherit pub_methods_classfranka_1_1ActiveControl"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7f54a6bc037fa63f14e1a3f1329d4bf5 inherit pub_methods_classfranka_1_1ActiveControl"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveControl.html#a7f54a6bc037fa63f14e1a3f1329d4bf5">writeOnce</a> (const <a class="el" href="classfranka_1_1JointVelocities.html">JointVelocities</a> &amp;motion_generator_input) override</td></tr>
+<tr class="memdesc:a7f54a6bc037fa63f14e1a3f1329d4bf5 inherit pub_methods_classfranka_1_1ActiveControl"><td class="mdescLeft">&#160;</td><td class="mdescRight">Updates the joint velocity commands of an active control, with internal controller.  <a href="classfranka_1_1ActiveControl.html#a7f54a6bc037fa63f14e1a3f1329d4bf5">More...</a><br /></td></tr>
+<tr class="separator:a7f54a6bc037fa63f14e1a3f1329d4bf5 inherit pub_methods_classfranka_1_1ActiveControl"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6b6265ccad26dc2e32c7b6329b74fb80 inherit pub_methods_classfranka_1_1ActiveControl"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveControl.html#a6b6265ccad26dc2e32c7b6329b74fb80">writeOnce</a> (const <a class="el" href="classfranka_1_1CartesianPose.html">CartesianPose</a> &amp;motion_generator_input) override</td></tr>
+<tr class="memdesc:a6b6265ccad26dc2e32c7b6329b74fb80 inherit pub_methods_classfranka_1_1ActiveControl"><td class="mdescLeft">&#160;</td><td class="mdescRight">Updates the cartesian pose commands of an active control, with internal controller.  <a href="classfranka_1_1ActiveControl.html#a6b6265ccad26dc2e32c7b6329b74fb80">More...</a><br /></td></tr>
+<tr class="separator:a6b6265ccad26dc2e32c7b6329b74fb80 inherit pub_methods_classfranka_1_1ActiveControl"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad4bf06b3e873fd95a2261d67d89a4d1f inherit pub_methods_classfranka_1_1ActiveControl"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveControl.html#ad4bf06b3e873fd95a2261d67d89a4d1f">writeOnce</a> (const <a class="el" href="classfranka_1_1CartesianVelocities.html">CartesianVelocities</a> &amp;motion_generator_input) override</td></tr>
+<tr class="memdesc:ad4bf06b3e873fd95a2261d67d89a4d1f inherit pub_methods_classfranka_1_1ActiveControl"><td class="mdescLeft">&#160;</td><td class="mdescRight">Updates the cartesian velocity commands of an active control, with internal controller.  <a href="classfranka_1_1ActiveControl.html#ad4bf06b3e873fd95a2261d67d89a4d1f">More...</a><br /></td></tr>
+<tr class="separator:ad4bf06b3e873fd95a2261d67d89a4d1f inherit pub_methods_classfranka_1_1ActiveControl"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="friends"></a>
+Friends</h2></td></tr>
+<tr class="memitem:a9f34d4a840b0d3e73fc3185af5fed175"><td class="memItemLeft" align="right" valign="top"><a id="a9f34d4a840b0d3e73fc3185af5fed175"></a>
+class&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveMotionGenerator.html#a9f34d4a840b0d3e73fc3185af5fed175">Robot</a></td></tr>
+<tr class="memdesc:a9f34d4a840b0d3e73fc3185af5fed175"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="classfranka_1_1Robot.html" title="Maintains a network connection to the robot, provides the current robot state, gives access to the mo...">franka::Robot</a> as friend to allow construction of ActiveMotionGenerator&lt;MotionGeneratorType&gt; in start&lt;MotionGeneratorType&gt;Control methods <br /></td></tr>
+<tr class="separator:a9f34d4a840b0d3e73fc3185af5fed175"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pro_methods_classfranka_1_1ActiveControl"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classfranka_1_1ActiveControl')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a></td></tr>
+<tr class="memitem:a4aa09537fddbec6cf1eed05fdc147b30 inherit pro_methods_classfranka_1_1ActiveControl"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveControl.html#a4aa09537fddbec6cf1eed05fdc147b30">ActiveControl</a> (std::shared_ptr&lt; Robot::Impl &gt; <a class="el" href="classfranka_1_1ActiveControl.html#a94e725adb409391547a260f204c74564">robot_impl</a>, uint32_t <a class="el" href="classfranka_1_1ActiveControl.html#a0852a7d4b5a67df218440c2cc629f638">motion_id</a>, std::unique_lock&lt; std::mutex &gt; <a class="el" href="classfranka_1_1ActiveControl.html#aed53605877b237435581e36f4c0b34a4">control_lock</a>)</td></tr>
+<tr class="memdesc:a4aa09537fddbec6cf1eed05fdc147b30 inherit pro_methods_classfranka_1_1ActiveControl"><td class="mdescLeft">&#160;</td><td class="mdescRight">Construct a new <a class="el" href="classfranka_1_1ActiveControl.html" title="Documented in ActiveControlBase.">ActiveControl</a> object.  <a href="classfranka_1_1ActiveControl.html#a4aa09537fddbec6cf1eed05fdc147b30">More...</a><br /></td></tr>
+<tr class="separator:a4aa09537fddbec6cf1eed05fdc147b30 inherit pro_methods_classfranka_1_1ActiveControl"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_attribs_classfranka_1_1ActiveControl"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classfranka_1_1ActiveControl')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a></td></tr>
+<tr class="memitem:a94e725adb409391547a260f204c74564 inherit pro_attribs_classfranka_1_1ActiveControl"><td class="memItemLeft" align="right" valign="top"><a id="a94e725adb409391547a260f204c74564"></a>
+std::shared_ptr&lt; Robot::Impl &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveControl.html#a94e725adb409391547a260f204c74564">robot_impl</a></td></tr>
+<tr class="memdesc:a94e725adb409391547a260f204c74564 inherit pro_attribs_classfranka_1_1ActiveControl"><td class="mdescLeft">&#160;</td><td class="mdescRight">shared pointer to Robot::Impl instance for read and write accesses <br /></td></tr>
+<tr class="separator:a94e725adb409391547a260f204c74564 inherit pro_attribs_classfranka_1_1ActiveControl"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0852a7d4b5a67df218440c2cc629f638 inherit pro_attribs_classfranka_1_1ActiveControl"><td class="memItemLeft" align="right" valign="top"><a id="a0852a7d4b5a67df218440c2cc629f638"></a>
+uint32_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveControl.html#a0852a7d4b5a67df218440c2cc629f638">motion_id</a></td></tr>
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+<tr class="separator:a0852a7d4b5a67df218440c2cc629f638 inherit pro_attribs_classfranka_1_1ActiveControl"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+std::unique_lock&lt; std::mutex &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveControl.html#aed53605877b237435581e36f4c0b34a4">control_lock</a></td></tr>
+<tr class="memdesc:aed53605877b237435581e36f4c0b34a4 inherit pro_attribs_classfranka_1_1ActiveControl"><td class="mdescLeft">&#160;</td><td class="mdescRight">control-lock preventing parallel control processes <br /></td></tr>
+<tr class="separator:aed53605877b237435581e36f4c0b34a4 inherit pro_attribs_classfranka_1_1ActiveControl"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afa521707548926e9d1e38e4b83496db2 inherit pro_attribs_classfranka_1_1ActiveControl"><td class="memItemLeft" align="right" valign="top"><a id="afa521707548926e9d1e38e4b83496db2"></a>
+bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveControl.html#afa521707548926e9d1e38e4b83496db2">control_finished</a></td></tr>
+<tr class="memdesc:afa521707548926e9d1e38e4b83496db2 inherit pro_attribs_classfranka_1_1ActiveControl"><td class="mdescLeft">&#160;</td><td class="mdescRight">flag indicating if control process is finished <br /></td></tr>
+<tr class="separator:afa521707548926e9d1e38e4b83496db2 inherit pro_attribs_classfranka_1_1ActiveControl"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a226304deac8032ed6c8428caa60c9fb4 inherit pro_attribs_classfranka_1_1ActiveControl"><td class="memItemLeft" align="right" valign="top"><a id="a226304deac8032ed6c8428caa60c9fb4"></a>
+std::optional&lt; <a class="el" href="classfranka_1_1Duration.html">Duration</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveControl.html#a226304deac8032ed6c8428caa60c9fb4">last_read_access</a></td></tr>
+<tr class="memdesc:a226304deac8032ed6c8428caa60c9fb4 inherit pro_attribs_classfranka_1_1ActiveControl"><td class="mdescLeft">&#160;</td><td class="mdescRight">duration to last read access <br /></td></tr>
+<tr class="separator:a226304deac8032ed6c8428caa60c9fb4 inherit pro_attribs_classfranka_1_1ActiveControl"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><h3>template&lt;typename MotionGeneratorType&gt;<br />
+class franka::ActiveMotionGenerator&lt; MotionGeneratorType &gt;</h3>
+
+<p>Allows the user to read the state of a <a class="el" href="classfranka_1_1Robot.html" title="Maintains a network connection to the robot, provides the current robot state, gives access to the mo...">Robot</a> and to send new motion generator commands after starting a control process of a <a class="el" href="classfranka_1_1Robot.html" title="Maintains a network connection to the robot, provides the current robot state, gives access to the mo...">Robot</a>. </p>
+<p>hint: To create an <a class="el" href="classfranka_1_1ActiveMotionGenerator.html" title="Allows the user to read the state of a Robot and to send new motion generator commands after starting...">ActiveMotionGenerator</a>, see <a class="el" href="classfranka_1_1Robot.html" title="Maintains a network connection to the robot, provides the current robot state, gives access to the mo...">franka::Robot</a> </p>
+</div><h2 class="groupheader">Member Function Documentation</h2>
+<a id="aae24c0819a0bd0996657063832245d69"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aae24c0819a0bd0996657063832245d69">&#9670;&nbsp;</a></span>writeOnce()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename MotionGeneratorType &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void <a class="el" href="classfranka_1_1ActiveMotionGenerator.html">franka::ActiveMotionGenerator</a>&lt; MotionGeneratorType &gt;::writeOnce </td>
+          <td>(</td>
+          <td class="paramtype">const MotionGeneratorType &amp;&#160;</td>
+          <td class="paramname"><em>motion_generator_input</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::optional&lt; const <a class="el" href="classfranka_1_1Torques.html">Torques</a> &gt; &amp;&#160;</td>
+          <td class="paramname"><em>control_input</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Updates the motion generator commands of an active control. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">motion_generator_input</td><td>the new motion generator input </td></tr>
+    <tr><td class="paramname">control_input</td><td>optional: the external control input for each joint, if an external controller is used</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1ControlException.html" title="ControlException is thrown if an error occurs during motion generation or torque control.">ControlException</a></td><td>if an error related to torque control or motion generation occurred, or the motion was already finished. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1NetworkException.html" title="NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occu...">NetworkException</a></td><td>if the connection is lost, e.g. after a timeout. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>include/franka/<a class="el" href="active__motion__generator_8h_source.html">active_motion_generator.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
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diff --git a/0.13.6/classfranka_1_1ActiveMotionGenerator__inherit__graph.map b/0.13.6/classfranka_1_1ActiveMotionGenerator__inherit__graph.map
new file mode 100644
index 00000000..952cec4f
--- /dev/null
+++ b/0.13.6/classfranka_1_1ActiveMotionGenerator__inherit__graph.map
@@ -0,0 +1,5 @@
+<map id="franka::ActiveMotionGenerator&lt; MotionGeneratorType &gt;" name="franka::ActiveMotionGenerator&lt; MotionGeneratorType &gt;">
+<area shape="rect" id="node1" title="Allows the user to read the state of a Robot and to send new motion generator commands after starting..." alt="" coords="5,155,228,196"/>
+<area shape="rect" id="node2" href="$classfranka_1_1ActiveControl.html" title="Documented in ActiveControlBase." alt="" coords="37,80,196,107"/>
+<area shape="rect" id="node3" href="$classfranka_1_1ActiveControlBase.html" title="Allows the user to read the state of a Robot and to send new control commands after starting a contro..." alt="" coords="21,5,212,32"/>
+</map>
diff --git a/0.13.6/classfranka_1_1ActiveMotionGenerator__inherit__graph.md5 b/0.13.6/classfranka_1_1ActiveMotionGenerator__inherit__graph.md5
new file mode 100644
index 00000000..291f0ddc
--- /dev/null
+++ b/0.13.6/classfranka_1_1ActiveMotionGenerator__inherit__graph.md5
@@ -0,0 +1 @@
+f15dced3563b4a11398c9b07dbca4622
\ No newline at end of file
diff --git a/0.13.6/classfranka_1_1ActiveMotionGenerator__inherit__graph.png b/0.13.6/classfranka_1_1ActiveMotionGenerator__inherit__graph.png
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+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
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+  <ul>
+<li class="navelem"><b>franka</b></li><li class="navelem"><a class="el" href="classfranka_1_1ActiveTorqueControl.html">ActiveTorqueControl</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">franka::ActiveTorqueControl Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classfranka_1_1ActiveTorqueControl.html">franka::ActiveTorqueControl</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html#a4aa09537fddbec6cf1eed05fdc147b30">ActiveControl</a>(std::shared_ptr&lt; Robot::Impl &gt; robot_impl, uint32_t motion_id, std::unique_lock&lt; std::mutex &gt; control_lock)</td><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>ActiveControlBase</b>()=default (defined in <a class="el" href="classfranka_1_1ActiveControlBase.html">franka::ActiveControlBase</a>)</td><td class="entry"><a class="el" href="classfranka_1_1ActiveControlBase.html">franka::ActiveControlBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html#afa521707548926e9d1e38e4b83496db2">control_finished</a></td><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html#aed53605877b237435581e36f4c0b34a4">control_lock</a></td><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html#a226304deac8032ed6c8428caa60c9fb4">last_read_access</a></td><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html#a0852a7d4b5a67df218440c2cc629f638">motion_id</a></td><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html#a55f5b94e5ac491e5b2ccc1782a873582">readOnce</a>() override</td><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1ActiveTorqueControl.html#a9f34d4a840b0d3e73fc3185af5fed175">Robot</a> class</td><td class="entry"><a class="el" href="classfranka_1_1ActiveTorqueControl.html">franka::ActiveTorqueControl</a></td><td class="entry"><span class="mlabel">friend</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html#a94e725adb409391547a260f204c74564">robot_impl</a></td><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1ActiveTorqueControl.html#acc3b1d8c41cd191786e384887adf5da2">writeOnce</a>(const Torques &amp;control_input) override</td><td class="entry"><a class="el" href="classfranka_1_1ActiveTorqueControl.html">franka::ActiveTorqueControl</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html#a762615a1a3d5cf18064bfbd0b45effa6">franka::ActiveControl::writeOnce</a>(const JointPositions &amp;, const std::optional&lt; const Torques &gt; &amp;) override</td><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html#a2a27360ae8203fa8a413c47708e03ede">franka::ActiveControl::writeOnce</a>(const JointVelocities &amp;, const std::optional&lt; const Torques &gt; &amp;) override</td><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html#a52f9ce19182359732bddee7b52a87419">franka::ActiveControl::writeOnce</a>(const CartesianPose &amp;, const std::optional&lt; const Torques &gt; &amp;) override</td><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html#a12c3c6916e26e66dae41eb624daabb4a">franka::ActiveControl::writeOnce</a>(const CartesianVelocities &amp;, const std::optional&lt; const Torques &gt; &amp;) override</td><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html#a8166a590c84c749cd90c874bd2f1aca4">franka::ActiveControl::writeOnce</a>(const JointPositions &amp;motion_generator_input) override</td><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html#a7f54a6bc037fa63f14e1a3f1329d4bf5">franka::ActiveControl::writeOnce</a>(const JointVelocities &amp;motion_generator_input) override</td><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html#a6b6265ccad26dc2e32c7b6329b74fb80">franka::ActiveControl::writeOnce</a>(const CartesianPose &amp;motion_generator_input) override</td><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html#ad4bf06b3e873fd95a2261d67d89a4d1f">franka::ActiveControl::writeOnce</a>(const CartesianVelocities &amp;motion_generator_input) override</td><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>~ActiveControl</b>() override (defined in <a class="el" href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a>)</td><td class="entry"><a class="el" href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>~ActiveControlBase</b>()=default (defined in <a class="el" href="classfranka_1_1ActiveControlBase.html">franka::ActiveControlBase</a>)</td><td class="entry"><a class="el" href="classfranka_1_1ActiveControlBase.html">franka::ActiveControlBase</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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diff --git a/0.13.6/classfranka_1_1ActiveTorqueControl.html b/0.13.6/classfranka_1_1ActiveTorqueControl.html
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+<title>libfranka: franka::ActiveTorqueControl Class Reference</title>
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>franka</b></li><li class="navelem"><a class="el" href="classfranka_1_1ActiveTorqueControl.html">ActiveTorqueControl</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#friends">Friends</a> &#124;
+<a href="classfranka_1_1ActiveTorqueControl-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">franka::ActiveTorqueControl Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Allows the user to read the state of a <a class="el" href="classfranka_1_1Robot.html" title="Maintains a network connection to the robot, provides the current robot state, gives access to the mo...">Robot</a> and to send new torque control commands after starting a control process of a <a class="el" href="classfranka_1_1Robot.html" title="Maintains a network connection to the robot, provides the current robot state, gives access to the mo...">Robot</a>.  
+ <a href="classfranka_1_1ActiveTorqueControl.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="active__torque__control_8h_source.html">active_torque_control.h</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for franka::ActiveTorqueControl:</div>
+<div class="dyncontent">
+<div class="center"><img src="classfranka_1_1ActiveTorqueControl__inherit__graph.png" border="0" usemap="#afranka_1_1ActiveTorqueControl_inherit__map" alt="Inheritance graph"/></div>
+<map name="afranka_1_1ActiveTorqueControl_inherit__map" id="afranka_1_1ActiveTorqueControl_inherit__map">
+<area shape="rect" title="Allows the user to read the state of a Robot and to send new torque control commands after starting a..." alt="" coords="5,155,208,181"/>
+<area shape="rect" href="classfranka_1_1ActiveControl.html" title="Documented in ActiveControlBase." alt="" coords="27,80,186,107"/>
+<area shape="rect" href="classfranka_1_1ActiveControlBase.html" title="Allows the user to read the state of a Robot and to send new control commands after starting a contro..." alt="" coords="11,5,202,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for franka::ActiveTorqueControl:</div>
+<div class="dyncontent">
+<div class="center"><img src="classfranka_1_1ActiveTorqueControl__coll__graph.png" border="0" usemap="#afranka_1_1ActiveTorqueControl_coll__map" alt="Collaboration graph"/></div>
+<map name="afranka_1_1ActiveTorqueControl_coll__map" id="afranka_1_1ActiveTorqueControl_coll__map">
+<area shape="rect" title="Allows the user to read the state of a Robot and to send new torque control commands after starting a..." alt="" coords="5,155,208,181"/>
+<area shape="rect" href="classfranka_1_1ActiveControl.html" title="Documented in ActiveControlBase." alt="" coords="27,80,186,107"/>
+<area shape="rect" href="classfranka_1_1ActiveControlBase.html" title="Allows the user to read the state of a Robot and to send new control commands after starting a contro..." alt="" coords="11,5,202,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:acc3b1d8c41cd191786e384887adf5da2"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveTorqueControl.html#acc3b1d8c41cd191786e384887adf5da2">writeOnce</a> (const <a class="el" href="classfranka_1_1Torques.html">Torques</a> &amp;control_input) override</td></tr>
+<tr class="memdesc:acc3b1d8c41cd191786e384887adf5da2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Updates the joint-level based torque commands of an active joint effort control.  <a href="classfranka_1_1ActiveTorqueControl.html#acc3b1d8c41cd191786e384887adf5da2">More...</a><br /></td></tr>
+<tr class="separator:acc3b1d8c41cd191786e384887adf5da2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classfranka_1_1ActiveControl"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classfranka_1_1ActiveControl')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a></td></tr>
+<tr class="memitem:a55f5b94e5ac491e5b2ccc1782a873582 inherit pub_methods_classfranka_1_1ActiveControl"><td class="memItemLeft" align="right" valign="top">std::pair&lt; <a class="el" href="structfranka_1_1RobotState.html">RobotState</a>, <a class="el" href="classfranka_1_1Duration.html">Duration</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveControl.html#a55f5b94e5ac491e5b2ccc1782a873582">readOnce</a> () override</td></tr>
+<tr class="memdesc:a55f5b94e5ac491e5b2ccc1782a873582 inherit pub_methods_classfranka_1_1ActiveControl"><td class="mdescLeft">&#160;</td><td class="mdescRight">Waits for a robot state update and returns it.  <a href="classfranka_1_1ActiveControl.html#a55f5b94e5ac491e5b2ccc1782a873582">More...</a><br /></td></tr>
+<tr class="separator:a55f5b94e5ac491e5b2ccc1782a873582 inherit pub_methods_classfranka_1_1ActiveControl"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a762615a1a3d5cf18064bfbd0b45effa6 inherit pub_methods_classfranka_1_1ActiveControl"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveControl.html#a762615a1a3d5cf18064bfbd0b45effa6">writeOnce</a> (const <a class="el" href="classfranka_1_1JointPositions.html">JointPositions</a> &amp;, const std::optional&lt; const <a class="el" href="classfranka_1_1Torques.html">Torques</a> &gt; &amp;) override</td></tr>
+<tr class="memdesc:a762615a1a3d5cf18064bfbd0b45effa6 inherit pub_methods_classfranka_1_1ActiveControl"><td class="mdescLeft">&#160;</td><td class="mdescRight">Updates the joint position and torque commands of an active control.  <a href="classfranka_1_1ActiveControl.html#a762615a1a3d5cf18064bfbd0b45effa6">More...</a><br /></td></tr>
+<tr class="separator:a762615a1a3d5cf18064bfbd0b45effa6 inherit pub_methods_classfranka_1_1ActiveControl"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2a27360ae8203fa8a413c47708e03ede inherit pub_methods_classfranka_1_1ActiveControl"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveControl.html#a2a27360ae8203fa8a413c47708e03ede">writeOnce</a> (const <a class="el" href="classfranka_1_1JointVelocities.html">JointVelocities</a> &amp;, const std::optional&lt; const <a class="el" href="classfranka_1_1Torques.html">Torques</a> &gt; &amp;) override</td></tr>
+<tr class="memdesc:a2a27360ae8203fa8a413c47708e03ede inherit pub_methods_classfranka_1_1ActiveControl"><td class="mdescLeft">&#160;</td><td class="mdescRight">Updates the joint velocity and torque commands of an active control.  <a href="classfranka_1_1ActiveControl.html#a2a27360ae8203fa8a413c47708e03ede">More...</a><br /></td></tr>
+<tr class="separator:a2a27360ae8203fa8a413c47708e03ede inherit pub_methods_classfranka_1_1ActiveControl"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a52f9ce19182359732bddee7b52a87419 inherit pub_methods_classfranka_1_1ActiveControl"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveControl.html#a52f9ce19182359732bddee7b52a87419">writeOnce</a> (const <a class="el" href="classfranka_1_1CartesianPose.html">CartesianPose</a> &amp;, const std::optional&lt; const <a class="el" href="classfranka_1_1Torques.html">Torques</a> &gt; &amp;) override</td></tr>
+<tr class="memdesc:a52f9ce19182359732bddee7b52a87419 inherit pub_methods_classfranka_1_1ActiveControl"><td class="mdescLeft">&#160;</td><td class="mdescRight">Updates the cartesian position and torque commands of an active control.  <a href="classfranka_1_1ActiveControl.html#a52f9ce19182359732bddee7b52a87419">More...</a><br /></td></tr>
+<tr class="separator:a52f9ce19182359732bddee7b52a87419 inherit pub_methods_classfranka_1_1ActiveControl"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a12c3c6916e26e66dae41eb624daabb4a inherit pub_methods_classfranka_1_1ActiveControl"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveControl.html#a12c3c6916e26e66dae41eb624daabb4a">writeOnce</a> (const <a class="el" href="classfranka_1_1CartesianVelocities.html">CartesianVelocities</a> &amp;, const std::optional&lt; const <a class="el" href="classfranka_1_1Torques.html">Torques</a> &gt; &amp;) override</td></tr>
+<tr class="memdesc:a12c3c6916e26e66dae41eb624daabb4a inherit pub_methods_classfranka_1_1ActiveControl"><td class="mdescLeft">&#160;</td><td class="mdescRight">Updates the cartesian velocity and torque commands of an active control.  <a href="classfranka_1_1ActiveControl.html#a12c3c6916e26e66dae41eb624daabb4a">More...</a><br /></td></tr>
+<tr class="separator:a12c3c6916e26e66dae41eb624daabb4a inherit pub_methods_classfranka_1_1ActiveControl"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8166a590c84c749cd90c874bd2f1aca4 inherit pub_methods_classfranka_1_1ActiveControl"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveControl.html#a8166a590c84c749cd90c874bd2f1aca4">writeOnce</a> (const <a class="el" href="classfranka_1_1JointPositions.html">JointPositions</a> &amp;motion_generator_input) override</td></tr>
+<tr class="memdesc:a8166a590c84c749cd90c874bd2f1aca4 inherit pub_methods_classfranka_1_1ActiveControl"><td class="mdescLeft">&#160;</td><td class="mdescRight">Updates the joint position commands of an active control, with internal controller.  <a href="classfranka_1_1ActiveControl.html#a8166a590c84c749cd90c874bd2f1aca4">More...</a><br /></td></tr>
+<tr class="separator:a8166a590c84c749cd90c874bd2f1aca4 inherit pub_methods_classfranka_1_1ActiveControl"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7f54a6bc037fa63f14e1a3f1329d4bf5 inherit pub_methods_classfranka_1_1ActiveControl"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveControl.html#a7f54a6bc037fa63f14e1a3f1329d4bf5">writeOnce</a> (const <a class="el" href="classfranka_1_1JointVelocities.html">JointVelocities</a> &amp;motion_generator_input) override</td></tr>
+<tr class="memdesc:a7f54a6bc037fa63f14e1a3f1329d4bf5 inherit pub_methods_classfranka_1_1ActiveControl"><td class="mdescLeft">&#160;</td><td class="mdescRight">Updates the joint velocity commands of an active control, with internal controller.  <a href="classfranka_1_1ActiveControl.html#a7f54a6bc037fa63f14e1a3f1329d4bf5">More...</a><br /></td></tr>
+<tr class="separator:a7f54a6bc037fa63f14e1a3f1329d4bf5 inherit pub_methods_classfranka_1_1ActiveControl"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6b6265ccad26dc2e32c7b6329b74fb80 inherit pub_methods_classfranka_1_1ActiveControl"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveControl.html#a6b6265ccad26dc2e32c7b6329b74fb80">writeOnce</a> (const <a class="el" href="classfranka_1_1CartesianPose.html">CartesianPose</a> &amp;motion_generator_input) override</td></tr>
+<tr class="memdesc:a6b6265ccad26dc2e32c7b6329b74fb80 inherit pub_methods_classfranka_1_1ActiveControl"><td class="mdescLeft">&#160;</td><td class="mdescRight">Updates the cartesian pose commands of an active control, with internal controller.  <a href="classfranka_1_1ActiveControl.html#a6b6265ccad26dc2e32c7b6329b74fb80">More...</a><br /></td></tr>
+<tr class="separator:a6b6265ccad26dc2e32c7b6329b74fb80 inherit pub_methods_classfranka_1_1ActiveControl"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad4bf06b3e873fd95a2261d67d89a4d1f inherit pub_methods_classfranka_1_1ActiveControl"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveControl.html#ad4bf06b3e873fd95a2261d67d89a4d1f">writeOnce</a> (const <a class="el" href="classfranka_1_1CartesianVelocities.html">CartesianVelocities</a> &amp;motion_generator_input) override</td></tr>
+<tr class="memdesc:ad4bf06b3e873fd95a2261d67d89a4d1f inherit pub_methods_classfranka_1_1ActiveControl"><td class="mdescLeft">&#160;</td><td class="mdescRight">Updates the cartesian velocity commands of an active control, with internal controller.  <a href="classfranka_1_1ActiveControl.html#ad4bf06b3e873fd95a2261d67d89a4d1f">More...</a><br /></td></tr>
+<tr class="separator:ad4bf06b3e873fd95a2261d67d89a4d1f inherit pub_methods_classfranka_1_1ActiveControl"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="friends"></a>
+Friends</h2></td></tr>
+<tr class="memitem:a9f34d4a840b0d3e73fc3185af5fed175"><td class="memItemLeft" align="right" valign="top"><a id="a9f34d4a840b0d3e73fc3185af5fed175"></a>
+class&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveTorqueControl.html#a9f34d4a840b0d3e73fc3185af5fed175">Robot</a></td></tr>
+<tr class="memdesc:a9f34d4a840b0d3e73fc3185af5fed175"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="classfranka_1_1Robot.html" title="Maintains a network connection to the robot, provides the current robot state, gives access to the mo...">franka::Robot</a> as friend to allow construction of <a class="el" href="classfranka_1_1ActiveTorqueControl.html" title="Allows the user to read the state of a Robot and to send new torque control commands after starting a...">ActiveTorqueControl</a> in startTorqueControl methods <br /></td></tr>
+<tr class="separator:a9f34d4a840b0d3e73fc3185af5fed175"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pro_methods_classfranka_1_1ActiveControl"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classfranka_1_1ActiveControl')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a></td></tr>
+<tr class="memitem:a4aa09537fddbec6cf1eed05fdc147b30 inherit pro_methods_classfranka_1_1ActiveControl"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveControl.html#a4aa09537fddbec6cf1eed05fdc147b30">ActiveControl</a> (std::shared_ptr&lt; Robot::Impl &gt; <a class="el" href="classfranka_1_1ActiveControl.html#a94e725adb409391547a260f204c74564">robot_impl</a>, uint32_t <a class="el" href="classfranka_1_1ActiveControl.html#a0852a7d4b5a67df218440c2cc629f638">motion_id</a>, std::unique_lock&lt; std::mutex &gt; <a class="el" href="classfranka_1_1ActiveControl.html#aed53605877b237435581e36f4c0b34a4">control_lock</a>)</td></tr>
+<tr class="memdesc:a4aa09537fddbec6cf1eed05fdc147b30 inherit pro_methods_classfranka_1_1ActiveControl"><td class="mdescLeft">&#160;</td><td class="mdescRight">Construct a new <a class="el" href="classfranka_1_1ActiveControl.html" title="Documented in ActiveControlBase.">ActiveControl</a> object.  <a href="classfranka_1_1ActiveControl.html#a4aa09537fddbec6cf1eed05fdc147b30">More...</a><br /></td></tr>
+<tr class="separator:a4aa09537fddbec6cf1eed05fdc147b30 inherit pro_methods_classfranka_1_1ActiveControl"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_attribs_classfranka_1_1ActiveControl"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classfranka_1_1ActiveControl')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="classfranka_1_1ActiveControl.html">franka::ActiveControl</a></td></tr>
+<tr class="memitem:a94e725adb409391547a260f204c74564 inherit pro_attribs_classfranka_1_1ActiveControl"><td class="memItemLeft" align="right" valign="top"><a id="a94e725adb409391547a260f204c74564"></a>
+std::shared_ptr&lt; Robot::Impl &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveControl.html#a94e725adb409391547a260f204c74564">robot_impl</a></td></tr>
+<tr class="memdesc:a94e725adb409391547a260f204c74564 inherit pro_attribs_classfranka_1_1ActiveControl"><td class="mdescLeft">&#160;</td><td class="mdescRight">shared pointer to Robot::Impl instance for read and write accesses <br /></td></tr>
+<tr class="separator:a94e725adb409391547a260f204c74564 inherit pro_attribs_classfranka_1_1ActiveControl"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0852a7d4b5a67df218440c2cc629f638 inherit pro_attribs_classfranka_1_1ActiveControl"><td class="memItemLeft" align="right" valign="top"><a id="a0852a7d4b5a67df218440c2cc629f638"></a>
+uint32_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveControl.html#a0852a7d4b5a67df218440c2cc629f638">motion_id</a></td></tr>
+<tr class="memdesc:a0852a7d4b5a67df218440c2cc629f638 inherit pro_attribs_classfranka_1_1ActiveControl"><td class="mdescLeft">&#160;</td><td class="mdescRight">motion id of running motion <br /></td></tr>
+<tr class="separator:a0852a7d4b5a67df218440c2cc629f638 inherit pro_attribs_classfranka_1_1ActiveControl"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aed53605877b237435581e36f4c0b34a4 inherit pro_attribs_classfranka_1_1ActiveControl"><td class="memItemLeft" align="right" valign="top"><a id="aed53605877b237435581e36f4c0b34a4"></a>
+std::unique_lock&lt; std::mutex &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveControl.html#aed53605877b237435581e36f4c0b34a4">control_lock</a></td></tr>
+<tr class="memdesc:aed53605877b237435581e36f4c0b34a4 inherit pro_attribs_classfranka_1_1ActiveControl"><td class="mdescLeft">&#160;</td><td class="mdescRight">control-lock preventing parallel control processes <br /></td></tr>
+<tr class="separator:aed53605877b237435581e36f4c0b34a4 inherit pro_attribs_classfranka_1_1ActiveControl"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afa521707548926e9d1e38e4b83496db2 inherit pro_attribs_classfranka_1_1ActiveControl"><td class="memItemLeft" align="right" valign="top"><a id="afa521707548926e9d1e38e4b83496db2"></a>
+bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveControl.html#afa521707548926e9d1e38e4b83496db2">control_finished</a></td></tr>
+<tr class="memdesc:afa521707548926e9d1e38e4b83496db2 inherit pro_attribs_classfranka_1_1ActiveControl"><td class="mdescLeft">&#160;</td><td class="mdescRight">flag indicating if control process is finished <br /></td></tr>
+<tr class="separator:afa521707548926e9d1e38e4b83496db2 inherit pro_attribs_classfranka_1_1ActiveControl"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a226304deac8032ed6c8428caa60c9fb4 inherit pro_attribs_classfranka_1_1ActiveControl"><td class="memItemLeft" align="right" valign="top"><a id="a226304deac8032ed6c8428caa60c9fb4"></a>
+std::optional&lt; <a class="el" href="classfranka_1_1Duration.html">Duration</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1ActiveControl.html#a226304deac8032ed6c8428caa60c9fb4">last_read_access</a></td></tr>
+<tr class="memdesc:a226304deac8032ed6c8428caa60c9fb4 inherit pro_attribs_classfranka_1_1ActiveControl"><td class="mdescLeft">&#160;</td><td class="mdescRight">duration to last read access <br /></td></tr>
+<tr class="separator:a226304deac8032ed6c8428caa60c9fb4 inherit pro_attribs_classfranka_1_1ActiveControl"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Allows the user to read the state of a <a class="el" href="classfranka_1_1Robot.html" title="Maintains a network connection to the robot, provides the current robot state, gives access to the mo...">Robot</a> and to send new torque control commands after starting a control process of a <a class="el" href="classfranka_1_1Robot.html" title="Maintains a network connection to the robot, provides the current robot state, gives access to the mo...">Robot</a>. </p>
+<p>hint: To create an <a class="el" href="classfranka_1_1ActiveTorqueControl.html" title="Allows the user to read the state of a Robot and to send new torque control commands after starting a...">ActiveTorqueControl</a>, see <a class="el" href="classfranka_1_1Robot.html" title="Maintains a network connection to the robot, provides the current robot state, gives access to the mo...">franka::Robot</a> </p>
+</div><h2 class="groupheader">Member Function Documentation</h2>
+<a id="acc3b1d8c41cd191786e384887adf5da2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acc3b1d8c41cd191786e384887adf5da2">&#9670;&nbsp;</a></span>writeOnce()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void franka::ActiveTorqueControl::writeOnce </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classfranka_1_1Torques.html">Torques</a> &amp;&#160;</td>
+          <td class="paramname"><em>control_input</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Updates the joint-level based torque commands of an active joint effort control. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">control_input</td><td>the new joint-level based torques</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1ControlException.html" title="ControlException is thrown if an error occurs during motion generation or torque control.">ControlException</a></td><td>if an error related to torque control or motion generation occurred, or the motion was already finished. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1NetworkException.html" title="NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occu...">NetworkException</a></td><td>if the connection is lost, e.g. after a timeout. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classfranka_1_1ActiveControl.html#a888b87832cd3def156c07a0b57d95663">franka::ActiveControl</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>include/franka/<a class="el" href="active__torque__control_8h_source.html">active_torque_control.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
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diff --git a/0.13.6/classfranka_1_1ActiveTorqueControl__inherit__graph.map b/0.13.6/classfranka_1_1ActiveTorqueControl__inherit__graph.map
new file mode 100644
index 00000000..c409c1e9
--- /dev/null
+++ b/0.13.6/classfranka_1_1ActiveTorqueControl__inherit__graph.map
@@ -0,0 +1,5 @@
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diff --git a/0.13.6/classfranka_1_1ActiveTorqueControl__inherit__graph.md5 b/0.13.6/classfranka_1_1ActiveTorqueControl__inherit__graph.md5
new file mode 100644
index 00000000..e7810a63
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+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
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+   <div id="projectbrief">FCI C++ API</div>
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+  <ul>
+<li class="navelem"><b>franka</b></li><li class="navelem"><a class="el" href="classfranka_1_1CartesianPose.html">CartesianPose</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">franka::CartesianPose Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classfranka_1_1CartesianPose.html">franka::CartesianPose</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1CartesianPose.html#a5559a53a898f9b369b1df9d51f9351b5">CartesianPose</a>(const std::array&lt; double, 16 &gt; &amp;cartesian_pose) noexcept</td><td class="entry"><a class="el" href="classfranka_1_1CartesianPose.html">franka::CartesianPose</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1CartesianPose.html#a17272cb33af9aa4b726fa96b31cf0101">CartesianPose</a>(const std::array&lt; double, 16 &gt; &amp;cartesian_pose, const std::array&lt; double, 2 &gt; &amp;elbow) noexcept</td><td class="entry"><a class="el" href="classfranka_1_1CartesianPose.html">franka::CartesianPose</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1CartesianPose.html#a70b6460e98bc763a49c53accd48d54a2">CartesianPose</a>(std::initializer_list&lt; double &gt; cartesian_pose)</td><td class="entry"><a class="el" href="classfranka_1_1CartesianPose.html">franka::CartesianPose</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1CartesianPose.html#ab7fb1dfd7cdb89c0caebab95c669ba49">CartesianPose</a>(std::initializer_list&lt; double &gt; cartesian_pose, std::initializer_list&lt; double &gt; elbow)</td><td class="entry"><a class="el" href="classfranka_1_1CartesianPose.html">franka::CartesianPose</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1CartesianPose.html#abef660743df9cf94d11c556d9c3d25be">elbow</a></td><td class="entry"><a class="el" href="classfranka_1_1CartesianPose.html">franka::CartesianPose</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1CartesianPose.html#a5fa9f47dbf73ab45f671d89e11f89ccf">hasElbow</a>() const noexcept</td><td class="entry"><a class="el" href="classfranka_1_1CartesianPose.html">franka::CartesianPose</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structfranka_1_1Finishable.html#a5d48028c0f912d4a089e6220d8715f7f">motion_finished</a></td><td class="entry"><a class="el" href="structfranka_1_1Finishable.html">franka::Finishable</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1CartesianPose.html#a406e53e3d8fe594a11888f516eb4bf7d">O_T_EE</a></td><td class="entry"><a class="el" href="classfranka_1_1CartesianPose.html">franka::CartesianPose</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
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+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
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+  <ul>
+<li class="navelem"><b>franka</b></li><li class="navelem"><a class="el" href="classfranka_1_1CartesianPose.html">CartesianPose</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classfranka_1_1CartesianPose-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">franka::CartesianPose Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Stores values for Cartesian pose motion generation.  
+ <a href="classfranka_1_1CartesianPose.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="control__types_8h_source.html">control_types.h</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for franka::CartesianPose:</div>
+<div class="dyncontent">
+<div class="center"><img src="classfranka_1_1CartesianPose__inherit__graph.png" border="0" usemap="#afranka_1_1CartesianPose_inherit__map" alt="Inheritance graph"/></div>
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+<area shape="rect" title="Stores values for Cartesian pose motion generation." alt="" coords="5,80,169,107"/>
+<area shape="rect" href="structfranka_1_1Finishable.html" title="Helper type for control and motion generation loops." alt="" coords="19,5,156,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for franka::CartesianPose:</div>
+<div class="dyncontent">
+<div class="center"><img src="classfranka_1_1CartesianPose__coll__graph.png" border="0" usemap="#afranka_1_1CartesianPose_coll__map" alt="Collaboration graph"/></div>
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+<area shape="rect" href="structfranka_1_1Finishable.html" title="Helper type for control and motion generation loops." alt="" coords="19,5,156,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a5559a53a898f9b369b1df9d51f9351b5"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1CartesianPose.html#a5559a53a898f9b369b1df9d51f9351b5">CartesianPose</a> (const std::array&lt; double, 16 &gt; &amp;cartesian_pose) noexcept</td></tr>
+<tr class="memdesc:a5559a53a898f9b369b1df9d51f9351b5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Creates a new <a class="el" href="classfranka_1_1CartesianPose.html" title="Stores values for Cartesian pose motion generation.">CartesianPose</a> instance.  <a href="classfranka_1_1CartesianPose.html#a5559a53a898f9b369b1df9d51f9351b5">More...</a><br /></td></tr>
+<tr class="separator:a5559a53a898f9b369b1df9d51f9351b5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a17272cb33af9aa4b726fa96b31cf0101"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1CartesianPose.html#a17272cb33af9aa4b726fa96b31cf0101">CartesianPose</a> (const std::array&lt; double, 16 &gt; &amp;cartesian_pose, const std::array&lt; double, 2 &gt; &amp;<a class="el" href="classfranka_1_1CartesianPose.html#abef660743df9cf94d11c556d9c3d25be">elbow</a>) noexcept</td></tr>
+<tr class="memdesc:a17272cb33af9aa4b726fa96b31cf0101"><td class="mdescLeft">&#160;</td><td class="mdescRight">Creates a new <a class="el" href="classfranka_1_1CartesianPose.html" title="Stores values for Cartesian pose motion generation.">CartesianPose</a> instance.  <a href="classfranka_1_1CartesianPose.html#a17272cb33af9aa4b726fa96b31cf0101">More...</a><br /></td></tr>
+<tr class="separator:a17272cb33af9aa4b726fa96b31cf0101"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a70b6460e98bc763a49c53accd48d54a2"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1CartesianPose.html#a70b6460e98bc763a49c53accd48d54a2">CartesianPose</a> (std::initializer_list&lt; double &gt; cartesian_pose)</td></tr>
+<tr class="memdesc:a70b6460e98bc763a49c53accd48d54a2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Creates a new <a class="el" href="classfranka_1_1CartesianPose.html" title="Stores values for Cartesian pose motion generation.">CartesianPose</a> instance.  <a href="classfranka_1_1CartesianPose.html#a70b6460e98bc763a49c53accd48d54a2">More...</a><br /></td></tr>
+<tr class="separator:a70b6460e98bc763a49c53accd48d54a2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab7fb1dfd7cdb89c0caebab95c669ba49"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1CartesianPose.html#ab7fb1dfd7cdb89c0caebab95c669ba49">CartesianPose</a> (std::initializer_list&lt; double &gt; cartesian_pose, std::initializer_list&lt; double &gt; <a class="el" href="classfranka_1_1CartesianPose.html#abef660743df9cf94d11c556d9c3d25be">elbow</a>)</td></tr>
+<tr class="memdesc:ab7fb1dfd7cdb89c0caebab95c669ba49"><td class="mdescLeft">&#160;</td><td class="mdescRight">Creates a new <a class="el" href="classfranka_1_1CartesianPose.html" title="Stores values for Cartesian pose motion generation.">CartesianPose</a> instance.  <a href="classfranka_1_1CartesianPose.html#ab7fb1dfd7cdb89c0caebab95c669ba49">More...</a><br /></td></tr>
+<tr class="separator:ab7fb1dfd7cdb89c0caebab95c669ba49"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5fa9f47dbf73ab45f671d89e11f89ccf"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1CartesianPose.html#a5fa9f47dbf73ab45f671d89e11f89ccf">hasElbow</a> () const noexcept</td></tr>
+<tr class="memdesc:a5fa9f47dbf73ab45f671d89e11f89ccf"><td class="mdescLeft">&#160;</td><td class="mdescRight">Determines whether there is a stored elbow configuration.  <a href="classfranka_1_1CartesianPose.html#a5fa9f47dbf73ab45f671d89e11f89ccf">More...</a><br /></td></tr>
+<tr class="separator:a5fa9f47dbf73ab45f671d89e11f89ccf"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a406e53e3d8fe594a11888f516eb4bf7d"><td class="memItemLeft" align="right" valign="top">std::array&lt; double, 16 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1CartesianPose.html#a406e53e3d8fe594a11888f516eb4bf7d">O_T_EE</a> {}</td></tr>
+<tr class="memdesc:a406e53e3d8fe594a11888f516eb4bf7d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Homogeneous transformation \(^O{\mathbf{T}_{EE}}_{d}\), column major, that transforms from the end effector frame \(EE\) to base frame \(O\).  <a href="classfranka_1_1CartesianPose.html#a406e53e3d8fe594a11888f516eb4bf7d">More...</a><br /></td></tr>
+<tr class="separator:a406e53e3d8fe594a11888f516eb4bf7d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abef660743df9cf94d11c556d9c3d25be"><td class="memItemLeft" align="right" valign="top">std::array&lt; double, 2 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1CartesianPose.html#abef660743df9cf94d11c556d9c3d25be">elbow</a> {}</td></tr>
+<tr class="memdesc:abef660743df9cf94d11c556d9c3d25be"><td class="mdescLeft">&#160;</td><td class="mdescRight">Elbow configuration.  <a href="classfranka_1_1CartesianPose.html#abef660743df9cf94d11c556d9c3d25be">More...</a><br /></td></tr>
+<tr class="separator:abef660743df9cf94d11c556d9c3d25be"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_structfranka_1_1Finishable"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_structfranka_1_1Finishable')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="structfranka_1_1Finishable.html">franka::Finishable</a></td></tr>
+<tr class="memitem:a5d48028c0f912d4a089e6220d8715f7f inherit pub_attribs_structfranka_1_1Finishable"><td class="memItemLeft" align="right" valign="top"><a id="a5d48028c0f912d4a089e6220d8715f7f"></a>
+bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1Finishable.html#a5d48028c0f912d4a089e6220d8715f7f">motion_finished</a> = false</td></tr>
+<tr class="memdesc:a5d48028c0f912d4a089e6220d8715f7f inherit pub_attribs_structfranka_1_1Finishable"><td class="mdescLeft">&#160;</td><td class="mdescRight">Determines whether to finish a currently running motion. <br /></td></tr>
+<tr class="separator:a5d48028c0f912d4a089e6220d8715f7f inherit pub_attribs_structfranka_1_1Finishable"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Stores values for Cartesian pose motion generation. </p>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="generate_cartesian_pose_motion_8cpp-example.html#_a7">generate_cartesian_pose_motion.cpp</a>, <a class="el" href="generate_cartesian_pose_motion_external_control_loop_8cpp-example.html#_a7">generate_cartesian_pose_motion_external_control_loop.cpp</a>, <a class="el" href="generate_elbow_motion_8cpp-example.html#_a7">generate_elbow_motion.cpp</a>, and <a class="el" href="joint_impedance_control_8cpp-example.html#_a7">joint_impedance_control.cpp</a>.</dd>
+</dl>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a5559a53a898f9b369b1df9d51f9351b5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5559a53a898f9b369b1df9d51f9351b5">&#9670;&nbsp;</a></span>CartesianPose() <span class="overload">[1/4]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">franka::CartesianPose::CartesianPose </td>
+          <td>(</td>
+          <td class="paramtype">const std::array&lt; double, 16 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>cartesian_pose</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Creates a new <a class="el" href="classfranka_1_1CartesianPose.html" title="Stores values for Cartesian pose motion generation.">CartesianPose</a> instance. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">cartesian_pose</td><td>Desired vectorized homogeneous transformation matrix \(^O {\mathbf{T}_{EE}}_{d}\), column major, that transforms from the end effector frame \(EE\) to base frame \(O\). Equivalently, it is the desired end effector pose in base frame. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a17272cb33af9aa4b726fa96b31cf0101"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a17272cb33af9aa4b726fa96b31cf0101">&#9670;&nbsp;</a></span>CartesianPose() <span class="overload">[2/4]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">franka::CartesianPose::CartesianPose </td>
+          <td>(</td>
+          <td class="paramtype">const std::array&lt; double, 16 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>cartesian_pose</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::array&lt; double, 2 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>elbow</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Creates a new <a class="el" href="classfranka_1_1CartesianPose.html" title="Stores values for Cartesian pose motion generation.">CartesianPose</a> instance. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">cartesian_pose</td><td>Desired vectorized homogeneous transformation matrix \(^O {\mathbf{T}_{EE}}_{d}\), column major, that transforms from the end effector frame \(EE\) to base frame \(O\). Equivalently, it is the desired end effector pose in base frame. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">elbow</td><td>Elbow configuration (see <a class="el" href="classfranka_1_1CartesianPose.html#abef660743df9cf94d11c556d9c3d25be">elbow</a> member for more details). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a70b6460e98bc763a49c53accd48d54a2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a70b6460e98bc763a49c53accd48d54a2">&#9670;&nbsp;</a></span>CartesianPose() <span class="overload">[3/4]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">franka::CartesianPose::CartesianPose </td>
+          <td>(</td>
+          <td class="paramtype">std::initializer_list&lt; double &gt;&#160;</td>
+          <td class="paramname"><em>cartesian_pose</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Creates a new <a class="el" href="classfranka_1_1CartesianPose.html" title="Stores values for Cartesian pose motion generation.">CartesianPose</a> instance. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">cartesian_pose</td><td>Desired vectorized homogeneous transformation matrix \(^O {\mathbf{T}_{EE}}_{d}\), column major, that transforms from the end effector frame \(EE\) to base frame \(O\). Equivalently, it is the desired end effector pose in base frame.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname">std::invalid_argument</td><td>if the given initializer list has an invalid number of arguments. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="ab7fb1dfd7cdb89c0caebab95c669ba49"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab7fb1dfd7cdb89c0caebab95c669ba49">&#9670;&nbsp;</a></span>CartesianPose() <span class="overload">[4/4]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">franka::CartesianPose::CartesianPose </td>
+          <td>(</td>
+          <td class="paramtype">std::initializer_list&lt; double &gt;&#160;</td>
+          <td class="paramname"><em>cartesian_pose</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::initializer_list&lt; double &gt;&#160;</td>
+          <td class="paramname"><em>elbow</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Creates a new <a class="el" href="classfranka_1_1CartesianPose.html" title="Stores values for Cartesian pose motion generation.">CartesianPose</a> instance. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">cartesian_pose</td><td>Desired vectorized homogeneous transformation matrix \(^O {\mathbf{T}_{EE}}_{d}\), column major, that transforms from the end effector frame \(EE\) to base frame \(O\). Equivalently, it is the desired end effector pose in base frame.</td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">elbow</td><td>Elbow configuration (see <a class="el" href="classfranka_1_1CartesianPose.html#abef660743df9cf94d11c556d9c3d25be">elbow</a> member for more details).</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname">std::invalid_argument</td><td>if a given initializer list has an invalid number of arguments. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a5fa9f47dbf73ab45f671d89e11f89ccf"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5fa9f47dbf73ab45f671d89e11f89ccf">&#9670;&nbsp;</a></span>hasElbow()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool franka::CartesianPose::hasElbow </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Determines whether there is a stored elbow configuration. </p>
+<dl class="section return"><dt>Returns</dt><dd>True if there is a stored elbow configuration, false otherwise. </dd></dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="abef660743df9cf94d11c556d9c3d25be"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abef660743df9cf94d11c556d9c3d25be">&#9670;&nbsp;</a></span>elbow</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::array&lt;double, 2&gt; franka::CartesianPose::elbow {}</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Elbow configuration. </p>
+<p>The values of the array are:</p><ul>
+<li>elbow[0]: Position of the 3rd joint in \([rad]\).</li>
+<li>elbow[1]: Flip direction of the elbow (4th joint):<ul>
+<li>+1 if \(q_4 &gt; q_{elbow-flip}\)</li>
+<li>0 if \(q_4 == q_{elbow-flip} \)</li>
+<li>-1 if \(q_4 &lt; q_{elbow-flip} \)</li>
+</ul>
+</li>
+</ul>
+<p>with \(q_{elbow-flip}\) as specified in the robot interface specification page in the FCI Documentation. </p>
+
+</div>
+</div>
+<a id="a406e53e3d8fe594a11888f516eb4bf7d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a406e53e3d8fe594a11888f516eb4bf7d">&#9670;&nbsp;</a></span>O_T_EE</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::array&lt;double, 16&gt; franka::CartesianPose::O_T_EE {}</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Homogeneous transformation \(^O{\mathbf{T}_{EE}}_{d}\), column major, that transforms from the end effector frame \(EE\) to base frame \(O\). </p>
+<p>Equivalently, it is the desired end effector pose in base frame. </p>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="joint_impedance_control_8cpp-example.html#a8">joint_impedance_control.cpp</a>.</dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>include/franka/<a class="el" href="control__types_8h_source.html">control_types.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
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+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>franka</b></li><li class="navelem"><a class="el" href="classfranka_1_1CartesianVelocities.html">CartesianVelocities</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">franka::CartesianVelocities Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classfranka_1_1CartesianVelocities.html">franka::CartesianVelocities</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1CartesianVelocities.html#a713380954e1f10c1be3033b95ca00657">CartesianVelocities</a>(const std::array&lt; double, 6 &gt; &amp;cartesian_velocities) noexcept</td><td class="entry"><a class="el" href="classfranka_1_1CartesianVelocities.html">franka::CartesianVelocities</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1CartesianVelocities.html#a95f6feec3539ed9f96d555447717eb72">CartesianVelocities</a>(const std::array&lt; double, 6 &gt; &amp;cartesian_velocities, const std::array&lt; double, 2 &gt; &amp;elbow) noexcept</td><td class="entry"><a class="el" href="classfranka_1_1CartesianVelocities.html">franka::CartesianVelocities</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1CartesianVelocities.html#a39c4b06c315c963460e24324de8ad079">CartesianVelocities</a>(std::initializer_list&lt; double &gt; cartesian_velocities)</td><td class="entry"><a class="el" href="classfranka_1_1CartesianVelocities.html">franka::CartesianVelocities</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1CartesianVelocities.html#aec434afa3f92e462ad3ab4766d3456a4">CartesianVelocities</a>(std::initializer_list&lt; double &gt; cartesian_velocities, std::initializer_list&lt; double &gt; elbow)</td><td class="entry"><a class="el" href="classfranka_1_1CartesianVelocities.html">franka::CartesianVelocities</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1CartesianVelocities.html#a6419df1399d3dfab79b1654b94ced344">elbow</a></td><td class="entry"><a class="el" href="classfranka_1_1CartesianVelocities.html">franka::CartesianVelocities</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1CartesianVelocities.html#a51a41893b10250982597fe367abb2ca6">hasElbow</a>() const noexcept</td><td class="entry"><a class="el" href="classfranka_1_1CartesianVelocities.html">franka::CartesianVelocities</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structfranka_1_1Finishable.html#a5d48028c0f912d4a089e6220d8715f7f">motion_finished</a></td><td class="entry"><a class="el" href="structfranka_1_1Finishable.html">franka::Finishable</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1CartesianVelocities.html#ab7a42c7c1ee7109025aff5c43a56b398">O_dP_EE</a></td><td class="entry"><a class="el" href="classfranka_1_1CartesianVelocities.html">franka::CartesianVelocities</a></td><td class="entry"></td></tr>
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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diff --git a/0.13.6/classfranka_1_1CartesianVelocities.html b/0.13.6/classfranka_1_1CartesianVelocities.html
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
+  </td>
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+        name="MSearchResults" id="MSearchResults">
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>franka</b></li><li class="navelem"><a class="el" href="classfranka_1_1CartesianVelocities.html">CartesianVelocities</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classfranka_1_1CartesianVelocities-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">franka::CartesianVelocities Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Stores values for Cartesian velocity motion generation.  
+ <a href="classfranka_1_1CartesianVelocities.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="control__types_8h_source.html">control_types.h</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for franka::CartesianVelocities:</div>
+<div class="dyncontent">
+<div class="center"><img src="classfranka_1_1CartesianVelocities__inherit__graph.png" border="0" usemap="#afranka_1_1CartesianVelocities_inherit__map" alt="Inheritance graph"/></div>
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+<area shape="rect" title="Stores values for Cartesian velocity motion generation." alt="" coords="5,80,201,107"/>
+<area shape="rect" href="structfranka_1_1Finishable.html" title="Helper type for control and motion generation loops." alt="" coords="35,5,172,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for franka::CartesianVelocities:</div>
+<div class="dyncontent">
+<div class="center"><img src="classfranka_1_1CartesianVelocities__coll__graph.png" border="0" usemap="#afranka_1_1CartesianVelocities_coll__map" alt="Collaboration graph"/></div>
+<map name="afranka_1_1CartesianVelocities_coll__map" id="afranka_1_1CartesianVelocities_coll__map">
+<area shape="rect" title="Stores values for Cartesian velocity motion generation." alt="" coords="5,80,201,107"/>
+<area shape="rect" href="structfranka_1_1Finishable.html" title="Helper type for control and motion generation loops." alt="" coords="35,5,172,32"/>
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+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a713380954e1f10c1be3033b95ca00657"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1CartesianVelocities.html#a713380954e1f10c1be3033b95ca00657">CartesianVelocities</a> (const std::array&lt; double, 6 &gt; &amp;cartesian_velocities) noexcept</td></tr>
+<tr class="memdesc:a713380954e1f10c1be3033b95ca00657"><td class="mdescLeft">&#160;</td><td class="mdescRight">Creates a new <a class="el" href="classfranka_1_1CartesianVelocities.html" title="Stores values for Cartesian velocity motion generation.">CartesianVelocities</a> instance.  <a href="classfranka_1_1CartesianVelocities.html#a713380954e1f10c1be3033b95ca00657">More...</a><br /></td></tr>
+<tr class="separator:a713380954e1f10c1be3033b95ca00657"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a95f6feec3539ed9f96d555447717eb72"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1CartesianVelocities.html#a95f6feec3539ed9f96d555447717eb72">CartesianVelocities</a> (const std::array&lt; double, 6 &gt; &amp;cartesian_velocities, const std::array&lt; double, 2 &gt; &amp;<a class="el" href="classfranka_1_1CartesianVelocities.html#a6419df1399d3dfab79b1654b94ced344">elbow</a>) noexcept</td></tr>
+<tr class="memdesc:a95f6feec3539ed9f96d555447717eb72"><td class="mdescLeft">&#160;</td><td class="mdescRight">Creates a new <a class="el" href="classfranka_1_1CartesianVelocities.html" title="Stores values for Cartesian velocity motion generation.">CartesianVelocities</a> instance.  <a href="classfranka_1_1CartesianVelocities.html#a95f6feec3539ed9f96d555447717eb72">More...</a><br /></td></tr>
+<tr class="separator:a95f6feec3539ed9f96d555447717eb72"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a39c4b06c315c963460e24324de8ad079"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1CartesianVelocities.html#a39c4b06c315c963460e24324de8ad079">CartesianVelocities</a> (std::initializer_list&lt; double &gt; cartesian_velocities)</td></tr>
+<tr class="memdesc:a39c4b06c315c963460e24324de8ad079"><td class="mdescLeft">&#160;</td><td class="mdescRight">Creates a new <a class="el" href="classfranka_1_1CartesianVelocities.html" title="Stores values for Cartesian velocity motion generation.">CartesianVelocities</a> instance.  <a href="classfranka_1_1CartesianVelocities.html#a39c4b06c315c963460e24324de8ad079">More...</a><br /></td></tr>
+<tr class="separator:a39c4b06c315c963460e24324de8ad079"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aec434afa3f92e462ad3ab4766d3456a4"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1CartesianVelocities.html#aec434afa3f92e462ad3ab4766d3456a4">CartesianVelocities</a> (std::initializer_list&lt; double &gt; cartesian_velocities, std::initializer_list&lt; double &gt; <a class="el" href="classfranka_1_1CartesianVelocities.html#a6419df1399d3dfab79b1654b94ced344">elbow</a>)</td></tr>
+<tr class="memdesc:aec434afa3f92e462ad3ab4766d3456a4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Creates a new <a class="el" href="classfranka_1_1CartesianVelocities.html" title="Stores values for Cartesian velocity motion generation.">CartesianVelocities</a> instance.  <a href="classfranka_1_1CartesianVelocities.html#aec434afa3f92e462ad3ab4766d3456a4">More...</a><br /></td></tr>
+<tr class="separator:aec434afa3f92e462ad3ab4766d3456a4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a51a41893b10250982597fe367abb2ca6"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1CartesianVelocities.html#a51a41893b10250982597fe367abb2ca6">hasElbow</a> () const noexcept</td></tr>
+<tr class="memdesc:a51a41893b10250982597fe367abb2ca6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Determines whether there is a stored elbow configuration.  <a href="classfranka_1_1CartesianVelocities.html#a51a41893b10250982597fe367abb2ca6">More...</a><br /></td></tr>
+<tr class="separator:a51a41893b10250982597fe367abb2ca6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:ab7a42c7c1ee7109025aff5c43a56b398"><td class="memItemLeft" align="right" valign="top"><a id="ab7a42c7c1ee7109025aff5c43a56b398"></a>
+std::array&lt; double, 6 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1CartesianVelocities.html#ab7a42c7c1ee7109025aff5c43a56b398">O_dP_EE</a> {}</td></tr>
+<tr class="memdesc:ab7a42c7c1ee7109025aff5c43a56b398"><td class="mdescLeft">&#160;</td><td class="mdescRight">Cartesian velocity with respect to the <a class="el" href="classfranka_1_1Robot.html#o-frame">base frame O</a> with \((\dot x, \dot y, \dot z)\) in \([m/s]\) and \((\omega_x, \omega_y, \omega_z)\) in \([rad/s]\). <br /></td></tr>
+<tr class="separator:ab7a42c7c1ee7109025aff5c43a56b398"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6419df1399d3dfab79b1654b94ced344"><td class="memItemLeft" align="right" valign="top">std::array&lt; double, 2 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1CartesianVelocities.html#a6419df1399d3dfab79b1654b94ced344">elbow</a> {}</td></tr>
+<tr class="memdesc:a6419df1399d3dfab79b1654b94ced344"><td class="mdescLeft">&#160;</td><td class="mdescRight">Elbow configuration.  <a href="classfranka_1_1CartesianVelocities.html#a6419df1399d3dfab79b1654b94ced344">More...</a><br /></td></tr>
+<tr class="separator:a6419df1399d3dfab79b1654b94ced344"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_structfranka_1_1Finishable"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_structfranka_1_1Finishable')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="structfranka_1_1Finishable.html">franka::Finishable</a></td></tr>
+<tr class="memitem:a5d48028c0f912d4a089e6220d8715f7f inherit pub_attribs_structfranka_1_1Finishable"><td class="memItemLeft" align="right" valign="top"><a id="a5d48028c0f912d4a089e6220d8715f7f"></a>
+bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1Finishable.html#a5d48028c0f912d4a089e6220d8715f7f">motion_finished</a> = false</td></tr>
+<tr class="memdesc:a5d48028c0f912d4a089e6220d8715f7f inherit pub_attribs_structfranka_1_1Finishable"><td class="mdescLeft">&#160;</td><td class="mdescRight">Determines whether to finish a currently running motion. <br /></td></tr>
+<tr class="separator:a5d48028c0f912d4a089e6220d8715f7f inherit pub_attribs_structfranka_1_1Finishable"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Stores values for Cartesian velocity motion generation. </p>
+<p>The Cartesian velocity of the end-effector is expressed in a frame parallel to the fixed/base frame, whose origin is the same as the end-effector frame. Rotations are thus expressed around the end-effector and parallel to the base frame. </p>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="generate_cartesian_velocity_motion_8cpp-example.html#_a8">generate_cartesian_velocity_motion.cpp</a>, and <a class="el" href="generate_cartesian_velocity_motion_external_control_loop_8cpp-example.html#_a8">generate_cartesian_velocity_motion_external_control_loop.cpp</a>.</dd>
+</dl>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a713380954e1f10c1be3033b95ca00657"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a713380954e1f10c1be3033b95ca00657">&#9670;&nbsp;</a></span>CartesianVelocities() <span class="overload">[1/4]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">franka::CartesianVelocities::CartesianVelocities </td>
+          <td>(</td>
+          <td class="paramtype">const std::array&lt; double, 6 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>cartesian_velocities</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Creates a new <a class="el" href="classfranka_1_1CartesianVelocities.html" title="Stores values for Cartesian velocity motion generation.">CartesianVelocities</a> instance. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">cartesian_velocities</td><td>Desired Cartesian velocity with respect to the <a class="el" href="classfranka_1_1Robot.html#o-frame">base frame O</a> with \((\dot x, \dot y, \dot z)\) in \([m/s]\) and \((\omega_x, \omega_y, \omega_z)\) in \([rad/s]\). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a95f6feec3539ed9f96d555447717eb72"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a95f6feec3539ed9f96d555447717eb72">&#9670;&nbsp;</a></span>CartesianVelocities() <span class="overload">[2/4]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">franka::CartesianVelocities::CartesianVelocities </td>
+          <td>(</td>
+          <td class="paramtype">const std::array&lt; double, 6 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>cartesian_velocities</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::array&lt; double, 2 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>elbow</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Creates a new <a class="el" href="classfranka_1_1CartesianVelocities.html" title="Stores values for Cartesian velocity motion generation.">CartesianVelocities</a> instance. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">cartesian_velocities</td><td>Desired Cartesian velocity with respect to the <a class="el" href="classfranka_1_1Robot.html#o-frame">base frame O</a> with \((\dot x, \dot y, \dot z)\) in \([m/s]\) and \((\omega_x, \omega_y, \omega_z)\) in \([rad/s]\). </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">elbow</td><td>Elbow configuration (see <a class="el" href="classfranka_1_1CartesianVelocities.html#a6419df1399d3dfab79b1654b94ced344">elbow</a> member for more details). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a39c4b06c315c963460e24324de8ad079"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a39c4b06c315c963460e24324de8ad079">&#9670;&nbsp;</a></span>CartesianVelocities() <span class="overload">[3/4]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">franka::CartesianVelocities::CartesianVelocities </td>
+          <td>(</td>
+          <td class="paramtype">std::initializer_list&lt; double &gt;&#160;</td>
+          <td class="paramname"><em>cartesian_velocities</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Creates a new <a class="el" href="classfranka_1_1CartesianVelocities.html" title="Stores values for Cartesian velocity motion generation.">CartesianVelocities</a> instance. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">cartesian_velocities</td><td>Desired Cartesian velocity with respect to the <a class="el" href="classfranka_1_1Robot.html#o-frame">base frame O</a> with \((\dot x, \dot y, \dot z)\) in \([m/s]\) and \((\omega_x, \omega_y, \omega_z)\) in \([rad/s]\).</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname">std::invalid_argument</td><td>if the given initializer list has an invalid number of arguments. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="aec434afa3f92e462ad3ab4766d3456a4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aec434afa3f92e462ad3ab4766d3456a4">&#9670;&nbsp;</a></span>CartesianVelocities() <span class="overload">[4/4]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">franka::CartesianVelocities::CartesianVelocities </td>
+          <td>(</td>
+          <td class="paramtype">std::initializer_list&lt; double &gt;&#160;</td>
+          <td class="paramname"><em>cartesian_velocities</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::initializer_list&lt; double &gt;&#160;</td>
+          <td class="paramname"><em>elbow</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Creates a new <a class="el" href="classfranka_1_1CartesianVelocities.html" title="Stores values for Cartesian velocity motion generation.">CartesianVelocities</a> instance. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">cartesian_velocities</td><td>Desired Cartesian velocity with respect to the <a class="el" href="classfranka_1_1Robot.html#o-frame">base frame O</a> with \((\dot x, \dot y, \dot z)\) in \([m/s]\) and \((\omega_x, \omega_y, \omega_z)\) in \([rad/s]\). </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">elbow</td><td>Elbow configuration (see <a class="el" href="classfranka_1_1CartesianVelocities.html#a6419df1399d3dfab79b1654b94ced344">elbow</a> member for more details).</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname">std::invalid_argument</td><td>if a given initializer list has an invalid number of arguments. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a51a41893b10250982597fe367abb2ca6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a51a41893b10250982597fe367abb2ca6">&#9670;&nbsp;</a></span>hasElbow()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool franka::CartesianVelocities::hasElbow </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Determines whether there is a stored elbow configuration. </p>
+<dl class="section return"><dt>Returns</dt><dd>True if there is a stored elbow configuration, false otherwise. </dd></dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a6419df1399d3dfab79b1654b94ced344"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6419df1399d3dfab79b1654b94ced344">&#9670;&nbsp;</a></span>elbow</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::array&lt;double, 2&gt; franka::CartesianVelocities::elbow {}</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Elbow configuration. </p>
+<p>The values of the array are:</p><ul>
+<li>elbow[0]: Position of the 3rd joint in \([rad]\).</li>
+<li>elbow[1]: Flip direction of the elbow (4th joint):<ul>
+<li>+1 if \(q_4 &gt; \alpha\)</li>
+<li>0 if \(q_4 == \alpha \)</li>
+<li>-1 if \(q_4 &lt; \alpha \)</li>
+</ul>
+</li>
+</ul>
+<p>with \(\alpha = -0.467002423653011\) \(rad\) </p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>include/franka/<a class="el" href="control__types_8h_source.html">control_types.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
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new file mode 100644
index 00000000..2a929887
--- /dev/null
+++ b/0.13.6/classfranka_1_1CartesianVelocities__inherit__graph.map
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diff --git a/0.13.6/classfranka_1_1CartesianVelocities__inherit__graph.md5 b/0.13.6/classfranka_1_1CartesianVelocities__inherit__graph.md5
new file mode 100644
index 00000000..5ce9c197
--- /dev/null
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+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
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+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
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+        name="MSearchResults" id="MSearchResults">
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+  <ul>
+<li class="navelem"><b>franka</b></li><li class="navelem"><a class="el" href="classfranka_1_1Duration.html">Duration</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">franka::Duration Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classfranka_1_1Duration.html">franka::Duration</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1Duration.html#af721da321423772b4ce7ff11280d38d5">Duration</a>() noexcept</td><td class="entry"><a class="el" href="classfranka_1_1Duration.html">franka::Duration</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1Duration.html#a46f0cea3e05c27cdaaba5ff25e0e6cd6">Duration</a>(uint64_t milliseconds) noexcept</td><td class="entry"><a class="el" href="classfranka_1_1Duration.html">franka::Duration</a></td><td class="entry"><span class="mlabel">explicit</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1Duration.html#a389dfef50f34e9cc5be69838fbdafba7">Duration</a>(std::chrono::duration&lt; uint64_t, std::milli &gt; duration) noexcept</td><td class="entry"><a class="el" href="classfranka_1_1Duration.html">franka::Duration</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1Duration.html#a886575e716b45e85de1bb78def2eb133">Duration</a>(const Duration &amp;)=default</td><td class="entry"><a class="el" href="classfranka_1_1Duration.html">franka::Duration</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1Duration.html#ae58e283f511f9de8ac7e145db5cac1cf">operator std::chrono::duration&lt; uint64_t, std::milli &gt;</a>() const noexcept</td><td class="entry"><a class="el" href="classfranka_1_1Duration.html">franka::Duration</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1Duration.html#a61603353e39361af2f405c1df7097e84">operator!=</a>(const Duration &amp;rhs) const noexcept</td><td class="entry"><a class="el" href="classfranka_1_1Duration.html">franka::Duration</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1Duration.html#a5e472345c1bec29b645bee938932fdb1">operator%</a>(const Duration &amp;rhs) const noexcept</td><td class="entry"><a class="el" href="classfranka_1_1Duration.html">franka::Duration</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1Duration.html#af06ff91f24d881c479768c1bcbf31a1e">operator%</a>(uint64_t rhs) const noexcept</td><td class="entry"><a class="el" href="classfranka_1_1Duration.html">franka::Duration</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1Duration.html#a97a6ea669877875ffc54c801ac0b152d">operator%=</a>(const Duration &amp;rhs) noexcept</td><td class="entry"><a class="el" href="classfranka_1_1Duration.html">franka::Duration</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1Duration.html#acd85bab22062a2258af83ac5b3b7a647">operator%=</a>(uint64_t rhs) noexcept</td><td class="entry"><a class="el" href="classfranka_1_1Duration.html">franka::Duration</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1Duration.html#a3eebc39550880fb2d23d45ba34d8acc5">operator*</a>(uint64_t rhs) const noexcept</td><td class="entry"><a class="el" href="classfranka_1_1Duration.html">franka::Duration</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1Duration.html#a73f971b2efb29a8ce663e8675d1ec09a">operator*=</a>(uint64_t rhs) noexcept</td><td class="entry"><a class="el" href="classfranka_1_1Duration.html">franka::Duration</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1Duration.html#adb459e7bf5c6b02f9e72c808f5f30237">operator+</a>(const Duration &amp;rhs) const noexcept</td><td class="entry"><a class="el" href="classfranka_1_1Duration.html">franka::Duration</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1Duration.html#ac55eb81937a12e736560bd856a8f23ae">operator+=</a>(const Duration &amp;rhs) noexcept</td><td class="entry"><a class="el" href="classfranka_1_1Duration.html">franka::Duration</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1Duration.html#a2a3bc1a8278b91bebe88d7498d410de9">operator-</a>(const Duration &amp;rhs) const noexcept</td><td class="entry"><a class="el" href="classfranka_1_1Duration.html">franka::Duration</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1Duration.html#acb24af377db86646918bcfb3e1e2ebe6">operator-=</a>(const Duration &amp;rhs) noexcept</td><td class="entry"><a class="el" href="classfranka_1_1Duration.html">franka::Duration</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1Duration.html#a90c76be31b53e11f5761416a05d990be">operator/</a>(const Duration &amp;rhs) const noexcept</td><td class="entry"><a class="el" href="classfranka_1_1Duration.html">franka::Duration</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1Duration.html#a15b7299198f36734b62ac98da1ef8c9c">operator/</a>(uint64_t rhs) const noexcept</td><td class="entry"><a class="el" href="classfranka_1_1Duration.html">franka::Duration</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1Duration.html#ac866dd8d0e8f2dbb92089dbd78418571">operator/=</a>(uint64_t rhs) noexcept</td><td class="entry"><a class="el" href="classfranka_1_1Duration.html">franka::Duration</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1Duration.html#af1650b31c1226a447406fc243f4a2ac1">operator&lt;</a>(const Duration &amp;rhs) const noexcept</td><td class="entry"><a class="el" href="classfranka_1_1Duration.html">franka::Duration</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1Duration.html#ae4b9c8646fd50a2105d36f3848a5b949">operator&lt;=</a>(const Duration &amp;rhs) const noexcept</td><td class="entry"><a class="el" href="classfranka_1_1Duration.html">franka::Duration</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1Duration.html#adf2fec0c87fe1668e42f217ab029df19">operator=</a>(const Duration &amp;)=default</td><td class="entry"><a class="el" href="classfranka_1_1Duration.html">franka::Duration</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1Duration.html#add0c7bcdfe51b563016236b223d74eae">operator==</a>(const Duration &amp;rhs) const noexcept</td><td class="entry"><a class="el" href="classfranka_1_1Duration.html">franka::Duration</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1Duration.html#a1702ec9121fe6cff1de533d116edcce0">operator&gt;</a>(const Duration &amp;rhs) const noexcept</td><td class="entry"><a class="el" href="classfranka_1_1Duration.html">franka::Duration</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1Duration.html#a5bc498cf96d96f5908d6bd93eea491aa">operator&gt;=</a>(const Duration &amp;rhs) const noexcept</td><td class="entry"><a class="el" href="classfranka_1_1Duration.html">franka::Duration</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1Duration.html#a2a25ae33c8739b8f705f13798aa9e162">toMSec</a>() const noexcept</td><td class="entry"><a class="el" href="classfranka_1_1Duration.html">franka::Duration</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1Duration.html#a497af77a3280159547f231f0374e9ac1">toSec</a>() const noexcept</td><td class="entry"><a class="el" href="classfranka_1_1Duration.html">franka::Duration</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
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diff --git a/0.13.6/classfranka_1_1Duration.html b/0.13.6/classfranka_1_1Duration.html
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+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
+  </td>
+ </tr>
+ </tbody>
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+</div>
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+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
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+     onmouseover="return searchBox.OnSearchSelectShow()"
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+<!-- iframe showing the search results (closed by default) -->
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+        name="MSearchResults" id="MSearchResults">
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>franka</b></li><li class="navelem"><a class="el" href="classfranka_1_1Duration.html">Duration</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classfranka_1_1Duration-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">franka::Duration Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Represents a duration with millisecond resolution.  
+ <a href="classfranka_1_1Duration.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="duration_8h_source.html">duration.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:af721da321423772b4ce7ff11280d38d5"><td class="memItemLeft" align="right" valign="top"><a id="af721da321423772b4ce7ff11280d38d5"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Duration.html#af721da321423772b4ce7ff11280d38d5">Duration</a> () noexcept</td></tr>
+<tr class="memdesc:af721da321423772b4ce7ff11280d38d5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Creates a new <a class="el" href="classfranka_1_1Duration.html" title="Represents a duration with millisecond resolution.">Duration</a> instance with zero milliseconds. <br /></td></tr>
+<tr class="separator:af721da321423772b4ce7ff11280d38d5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a46f0cea3e05c27cdaaba5ff25e0e6cd6"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Duration.html#a46f0cea3e05c27cdaaba5ff25e0e6cd6">Duration</a> (uint64_t milliseconds) noexcept</td></tr>
+<tr class="memdesc:a46f0cea3e05c27cdaaba5ff25e0e6cd6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Creates a new <a class="el" href="classfranka_1_1Duration.html" title="Represents a duration with millisecond resolution.">Duration</a> instance from the given number of milliseconds.  <a href="classfranka_1_1Duration.html#a46f0cea3e05c27cdaaba5ff25e0e6cd6">More...</a><br /></td></tr>
+<tr class="separator:a46f0cea3e05c27cdaaba5ff25e0e6cd6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a389dfef50f34e9cc5be69838fbdafba7"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Duration.html#a389dfef50f34e9cc5be69838fbdafba7">Duration</a> (std::chrono::duration&lt; uint64_t, std::milli &gt; duration) noexcept</td></tr>
+<tr class="memdesc:a389dfef50f34e9cc5be69838fbdafba7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Creates a new <a class="el" href="classfranka_1_1Duration.html" title="Represents a duration with millisecond resolution.">Duration</a> instance from an std::chrono::duration.  <a href="classfranka_1_1Duration.html#a389dfef50f34e9cc5be69838fbdafba7">More...</a><br /></td></tr>
+<tr class="separator:a389dfef50f34e9cc5be69838fbdafba7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a886575e716b45e85de1bb78def2eb133"><td class="memItemLeft" align="right" valign="top"><a id="a886575e716b45e85de1bb78def2eb133"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Duration.html#a886575e716b45e85de1bb78def2eb133">Duration</a> (const <a class="el" href="classfranka_1_1Duration.html">Duration</a> &amp;)=default</td></tr>
+<tr class="memdesc:a886575e716b45e85de1bb78def2eb133"><td class="mdescLeft">&#160;</td><td class="mdescRight">Creates a copy of a <a class="el" href="classfranka_1_1Duration.html" title="Represents a duration with millisecond resolution.">Duration</a> instance. <br /></td></tr>
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+<tr class="separator:adf2fec0c87fe1668e42f217ab029df19"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae58e283f511f9de8ac7e145db5cac1cf"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Duration.html#ae58e283f511f9de8ac7e145db5cac1cf">operator std::chrono::duration&lt; uint64_t, std::milli &gt;</a> () const noexcept</td></tr>
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+<tr class="separator:ae58e283f511f9de8ac7e145db5cac1cf"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a497af77a3280159547f231f0374e9ac1"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Duration.html#a497af77a3280159547f231f0374e9ac1">toSec</a> () const noexcept</td></tr>
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+<tr class="separator:a497af77a3280159547f231f0374e9ac1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2a25ae33c8739b8f705f13798aa9e162"><td class="memItemLeft" align="right" valign="top">uint64_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Duration.html#a2a25ae33c8739b8f705f13798aa9e162">toMSec</a> () const noexcept</td></tr>
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+<tr class="separator:a2a25ae33c8739b8f705f13798aa9e162"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr><td colspan="2"><div class="groupHeader">Arithmetic operators</div></td></tr>
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+<tr class="separator:adb459e7bf5c6b02f9e72c808f5f30237"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ac55eb81937a12e736560bd856a8f23ae"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2a3bc1a8278b91bebe88d7498d410de9"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classfranka_1_1Duration.html">Duration</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Duration.html#a2a3bc1a8278b91bebe88d7498d410de9">operator-</a> (const <a class="el" href="classfranka_1_1Duration.html">Duration</a> &amp;rhs) const noexcept</td></tr>
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+<tr class="separator:a2a3bc1a8278b91bebe88d7498d410de9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:acb24af377db86646918bcfb3e1e2ebe6"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classfranka_1_1Duration.html">Duration</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Duration.html#acb24af377db86646918bcfb3e1e2ebe6">operator-=</a> (const <a class="el" href="classfranka_1_1Duration.html">Duration</a> &amp;rhs) noexcept</td></tr>
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+<tr class="separator:acb24af377db86646918bcfb3e1e2ebe6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3eebc39550880fb2d23d45ba34d8acc5"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classfranka_1_1Duration.html">Duration</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Duration.html#a3eebc39550880fb2d23d45ba34d8acc5">operator*</a> (uint64_t rhs) const noexcept</td></tr>
+<tr class="memdesc:a3eebc39550880fb2d23d45ba34d8acc5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Performs multiplication.  <a href="classfranka_1_1Duration.html#a3eebc39550880fb2d23d45ba34d8acc5">More...</a><br /></td></tr>
+<tr class="separator:a3eebc39550880fb2d23d45ba34d8acc5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a73f971b2efb29a8ce663e8675d1ec09a"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classfranka_1_1Duration.html">Duration</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Duration.html#a73f971b2efb29a8ce663e8675d1ec09a">operator*=</a> (uint64_t rhs) noexcept</td></tr>
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+<tr class="separator:a73f971b2efb29a8ce663e8675d1ec09a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a90c76be31b53e11f5761416a05d990be"><td class="memItemLeft" align="right" valign="top">uint64_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Duration.html#a90c76be31b53e11f5761416a05d990be">operator/</a> (const <a class="el" href="classfranka_1_1Duration.html">Duration</a> &amp;rhs) const noexcept</td></tr>
+<tr class="memdesc:a90c76be31b53e11f5761416a05d990be"><td class="mdescLeft">&#160;</td><td class="mdescRight">Performs division.  <a href="classfranka_1_1Duration.html#a90c76be31b53e11f5761416a05d990be">More...</a><br /></td></tr>
+<tr class="separator:a90c76be31b53e11f5761416a05d990be"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a15b7299198f36734b62ac98da1ef8c9c"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classfranka_1_1Duration.html">Duration</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Duration.html#a15b7299198f36734b62ac98da1ef8c9c">operator/</a> (uint64_t rhs) const noexcept</td></tr>
+<tr class="memdesc:a15b7299198f36734b62ac98da1ef8c9c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Performs division.  <a href="classfranka_1_1Duration.html#a15b7299198f36734b62ac98da1ef8c9c">More...</a><br /></td></tr>
+<tr class="separator:a15b7299198f36734b62ac98da1ef8c9c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac866dd8d0e8f2dbb92089dbd78418571"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classfranka_1_1Duration.html">Duration</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Duration.html#ac866dd8d0e8f2dbb92089dbd78418571">operator/=</a> (uint64_t rhs) noexcept</td></tr>
+<tr class="memdesc:ac866dd8d0e8f2dbb92089dbd78418571"><td class="mdescLeft">&#160;</td><td class="mdescRight">Performs division.  <a href="classfranka_1_1Duration.html#ac866dd8d0e8f2dbb92089dbd78418571">More...</a><br /></td></tr>
+<tr class="separator:ac866dd8d0e8f2dbb92089dbd78418571"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5e472345c1bec29b645bee938932fdb1"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classfranka_1_1Duration.html">Duration</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Duration.html#a5e472345c1bec29b645bee938932fdb1">operator%</a> (const <a class="el" href="classfranka_1_1Duration.html">Duration</a> &amp;rhs) const noexcept</td></tr>
+<tr class="memdesc:a5e472345c1bec29b645bee938932fdb1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Performs the modulo operation.  <a href="classfranka_1_1Duration.html#a5e472345c1bec29b645bee938932fdb1">More...</a><br /></td></tr>
+<tr class="separator:a5e472345c1bec29b645bee938932fdb1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af06ff91f24d881c479768c1bcbf31a1e"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classfranka_1_1Duration.html">Duration</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Duration.html#af06ff91f24d881c479768c1bcbf31a1e">operator%</a> (uint64_t rhs) const noexcept</td></tr>
+<tr class="memdesc:af06ff91f24d881c479768c1bcbf31a1e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Performs the modulo operation.  <a href="classfranka_1_1Duration.html#af06ff91f24d881c479768c1bcbf31a1e">More...</a><br /></td></tr>
+<tr class="separator:af06ff91f24d881c479768c1bcbf31a1e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a97a6ea669877875ffc54c801ac0b152d"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classfranka_1_1Duration.html">Duration</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Duration.html#a97a6ea669877875ffc54c801ac0b152d">operator%=</a> (const <a class="el" href="classfranka_1_1Duration.html">Duration</a> &amp;rhs) noexcept</td></tr>
+<tr class="memdesc:a97a6ea669877875ffc54c801ac0b152d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Performs the modulo operation.  <a href="classfranka_1_1Duration.html#a97a6ea669877875ffc54c801ac0b152d">More...</a><br /></td></tr>
+<tr class="separator:a97a6ea669877875ffc54c801ac0b152d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:acd85bab22062a2258af83ac5b3b7a647"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classfranka_1_1Duration.html">Duration</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Duration.html#acd85bab22062a2258af83ac5b3b7a647">operator%=</a> (uint64_t rhs) noexcept</td></tr>
+<tr class="memdesc:acd85bab22062a2258af83ac5b3b7a647"><td class="mdescLeft">&#160;</td><td class="mdescRight">Performs the modulo operation.  <a href="classfranka_1_1Duration.html#acd85bab22062a2258af83ac5b3b7a647">More...</a><br /></td></tr>
+<tr class="separator:acd85bab22062a2258af83ac5b3b7a647"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr><td colspan="2"><div class="groupHeader">Comparison operators</div></td></tr>
+<tr class="memitem:add0c7bcdfe51b563016236b223d74eae"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Duration.html#add0c7bcdfe51b563016236b223d74eae">operator==</a> (const <a class="el" href="classfranka_1_1Duration.html">Duration</a> &amp;rhs) const noexcept</td></tr>
+<tr class="memdesc:add0c7bcdfe51b563016236b223d74eae"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compares two durations for equality.  <a href="classfranka_1_1Duration.html#add0c7bcdfe51b563016236b223d74eae">More...</a><br /></td></tr>
+<tr class="separator:add0c7bcdfe51b563016236b223d74eae"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a61603353e39361af2f405c1df7097e84"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Duration.html#a61603353e39361af2f405c1df7097e84">operator!=</a> (const <a class="el" href="classfranka_1_1Duration.html">Duration</a> &amp;rhs) const noexcept</td></tr>
+<tr class="memdesc:a61603353e39361af2f405c1df7097e84"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compares two durations for inequality.  <a href="classfranka_1_1Duration.html#a61603353e39361af2f405c1df7097e84">More...</a><br /></td></tr>
+<tr class="separator:a61603353e39361af2f405c1df7097e84"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af1650b31c1226a447406fc243f4a2ac1"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Duration.html#af1650b31c1226a447406fc243f4a2ac1">operator&lt;</a> (const <a class="el" href="classfranka_1_1Duration.html">Duration</a> &amp;rhs) const noexcept</td></tr>
+<tr class="memdesc:af1650b31c1226a447406fc243f4a2ac1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compares two durations.  <a href="classfranka_1_1Duration.html#af1650b31c1226a447406fc243f4a2ac1">More...</a><br /></td></tr>
+<tr class="separator:af1650b31c1226a447406fc243f4a2ac1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae4b9c8646fd50a2105d36f3848a5b949"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Duration.html#ae4b9c8646fd50a2105d36f3848a5b949">operator&lt;=</a> (const <a class="el" href="classfranka_1_1Duration.html">Duration</a> &amp;rhs) const noexcept</td></tr>
+<tr class="memdesc:ae4b9c8646fd50a2105d36f3848a5b949"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compares two durations.  <a href="classfranka_1_1Duration.html#ae4b9c8646fd50a2105d36f3848a5b949">More...</a><br /></td></tr>
+<tr class="separator:ae4b9c8646fd50a2105d36f3848a5b949"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1702ec9121fe6cff1de533d116edcce0"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Duration.html#a1702ec9121fe6cff1de533d116edcce0">operator&gt;</a> (const <a class="el" href="classfranka_1_1Duration.html">Duration</a> &amp;rhs) const noexcept</td></tr>
+<tr class="memdesc:a1702ec9121fe6cff1de533d116edcce0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compares two durations.  <a href="classfranka_1_1Duration.html#a1702ec9121fe6cff1de533d116edcce0">More...</a><br /></td></tr>
+<tr class="separator:a1702ec9121fe6cff1de533d116edcce0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5bc498cf96d96f5908d6bd93eea491aa"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Duration.html#a5bc498cf96d96f5908d6bd93eea491aa">operator&gt;=</a> (const <a class="el" href="classfranka_1_1Duration.html">Duration</a> &amp;rhs) const noexcept</td></tr>
+<tr class="memdesc:a5bc498cf96d96f5908d6bd93eea491aa"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compares two durations.  <a href="classfranka_1_1Duration.html#a5bc498cf96d96f5908d6bd93eea491aa">More...</a><br /></td></tr>
+<tr class="separator:a5bc498cf96d96f5908d6bd93eea491aa"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Represents a duration with millisecond resolution. </p>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="cartesian_impedance_control_8cpp-example.html#_a9">cartesian_impedance_control.cpp</a>, <a class="el" href="communication_test_8cpp-example.html#_a8">communication_test.cpp</a>, <a class="el" href="force_control_8cpp-example.html#_a9">force_control.cpp</a>, <a class="el" href="generate_cartesian_pose_motion_8cpp-example.html#_a6">generate_cartesian_pose_motion.cpp</a>, <a class="el" href="generate_cartesian_pose_motion_external_control_loop_8cpp-example.html#_a6">generate_cartesian_pose_motion_external_control_loop.cpp</a>, <a class="el" href="generate_cartesian_velocity_motion_8cpp-example.html#_a7">generate_cartesian_velocity_motion.cpp</a>, <a class="el" href="generate_cartesian_velocity_motion_external_control_loop_8cpp-example.html#_a7">generate_cartesian_velocity_motion_external_control_loop.cpp</a>, <a class="el" href="generate_consecutive_motions_8cpp-example.html#_a6">generate_consecutive_motions.cpp</a>, <a class="el" href="generate_elbow_motion_8cpp-example.html#_a6">generate_elbow_motion.cpp</a>, <a class="el" href="generate_joint_position_motion_8cpp-example.html#_a6">generate_joint_position_motion.cpp</a>, <a class="el" href="generate_joint_position_motion_external_control_loop_8cpp-example.html#_a6">generate_joint_position_motion_external_control_loop.cpp</a>, <a class="el" href="generate_joint_velocity_motion_8cpp-example.html#_a6">generate_joint_velocity_motion.cpp</a>, <a class="el" href="generate_joint_velocity_motion_external_control_loop_8cpp-example.html#_a6">generate_joint_velocity_motion_external_control_loop.cpp</a>, <a class="el" href="joint_impedance_control_8cpp-example.html#_a6">joint_impedance_control.cpp</a>, <a class="el" href="motion_with_control_8cpp-example.html#_a8">motion_with_control.cpp</a>, and <a class="el" href="motion_with_control_external_control_loop_8cpp-example.html#_a8">motion_with_control_external_control_loop.cpp</a>.</dd>
+</dl>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a46f0cea3e05c27cdaaba5ff25e0e6cd6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a46f0cea3e05c27cdaaba5ff25e0e6cd6">&#9670;&nbsp;</a></span>Duration() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">franka::Duration::Duration </td>
+          <td>(</td>
+          <td class="paramtype">uint64_t&#160;</td>
+          <td class="paramname"><em>milliseconds</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">explicit</span><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Creates a new <a class="el" href="classfranka_1_1Duration.html" title="Represents a duration with millisecond resolution.">Duration</a> instance from the given number of milliseconds. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">milliseconds</td><td>Number of milliseconds. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a389dfef50f34e9cc5be69838fbdafba7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a389dfef50f34e9cc5be69838fbdafba7">&#9670;&nbsp;</a></span>Duration() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">franka::Duration::Duration </td>
+          <td>(</td>
+          <td class="paramtype">std::chrono::duration&lt; uint64_t, std::milli &gt;&#160;</td>
+          <td class="paramname"><em>duration</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Creates a new <a class="el" href="classfranka_1_1Duration.html" title="Represents a duration with millisecond resolution.">Duration</a> instance from an std::chrono::duration. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">duration</td><td><a class="el" href="classfranka_1_1Duration.html" title="Represents a duration with millisecond resolution.">Duration</a>. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ae58e283f511f9de8ac7e145db5cac1cf"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae58e283f511f9de8ac7e145db5cac1cf">&#9670;&nbsp;</a></span>operator std::chrono::duration&lt; uint64_t, std::milli &gt;()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">franka::Duration::operator std::chrono::duration&lt; uint64_t, std::milli &gt; </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Returns the stored duration as an std::chrono::duration. </p>
+<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classfranka_1_1Duration.html" title="Represents a duration with millisecond resolution.">Duration</a> as std::chrono::duration. </dd></dl>
+
+</div>
+</div>
+<a id="a61603353e39361af2f405c1df7097e84"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a61603353e39361af2f405c1df7097e84">&#9670;&nbsp;</a></span>operator!=()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool franka::Duration::operator!= </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classfranka_1_1Duration.html">Duration</a> &amp;&#160;</td>
+          <td class="paramname"><em>rhs</em></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Compares two durations for inequality. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">rhs</td><td>Right-hand side of the comparison.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>True if the duration are not equal, false otherwise. </dd></dl>
+
+</div>
+</div>
+<a id="a5e472345c1bec29b645bee938932fdb1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5e472345c1bec29b645bee938932fdb1">&#9670;&nbsp;</a></span>operator%() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classfranka_1_1Duration.html">Duration</a> franka::Duration::operator% </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classfranka_1_1Duration.html">Duration</a> &amp;&#160;</td>
+          <td class="paramname"><em>rhs</em></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Performs the modulo operation. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">rhs</td><td>Right-hand side of the operation.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Result of the operation. </dd></dl>
+
+</div>
+</div>
+<a id="af06ff91f24d881c479768c1bcbf31a1e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af06ff91f24d881c479768c1bcbf31a1e">&#9670;&nbsp;</a></span>operator%() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classfranka_1_1Duration.html">Duration</a> franka::Duration::operator% </td>
+          <td>(</td>
+          <td class="paramtype">uint64_t&#160;</td>
+          <td class="paramname"><em>rhs</em></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Performs the modulo operation. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">rhs</td><td>Right-hand side of the operation.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Result of the operation. </dd></dl>
+
+</div>
+</div>
+<a id="a97a6ea669877875ffc54c801ac0b152d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a97a6ea669877875ffc54c801ac0b152d">&#9670;&nbsp;</a></span>operator%=() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classfranka_1_1Duration.html">Duration</a>&amp; franka::Duration::operator%= </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classfranka_1_1Duration.html">Duration</a> &amp;&#160;</td>
+          <td class="paramname"><em>rhs</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Performs the modulo operation. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">rhs</td><td>Right-hand side of the operation.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>This duration. </dd></dl>
+
+</div>
+</div>
+<a id="acd85bab22062a2258af83ac5b3b7a647"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acd85bab22062a2258af83ac5b3b7a647">&#9670;&nbsp;</a></span>operator%=() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classfranka_1_1Duration.html">Duration</a>&amp; franka::Duration::operator%= </td>
+          <td>(</td>
+          <td class="paramtype">uint64_t&#160;</td>
+          <td class="paramname"><em>rhs</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Performs the modulo operation. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">rhs</td><td>Right-hand side of the operation.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>This duration. </dd></dl>
+
+</div>
+</div>
+<a id="a3eebc39550880fb2d23d45ba34d8acc5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3eebc39550880fb2d23d45ba34d8acc5">&#9670;&nbsp;</a></span>operator*()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classfranka_1_1Duration.html">Duration</a> franka::Duration::operator* </td>
+          <td>(</td>
+          <td class="paramtype">uint64_t&#160;</td>
+          <td class="paramname"><em>rhs</em></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Performs multiplication. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">rhs</td><td>Right-hand side of the operation.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Result of the operation. </dd></dl>
+
+</div>
+</div>
+<a id="a73f971b2efb29a8ce663e8675d1ec09a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a73f971b2efb29a8ce663e8675d1ec09a">&#9670;&nbsp;</a></span>operator*=()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classfranka_1_1Duration.html">Duration</a>&amp; franka::Duration::operator*= </td>
+          <td>(</td>
+          <td class="paramtype">uint64_t&#160;</td>
+          <td class="paramname"><em>rhs</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Performs multiplication. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">rhs</td><td>Right-hand side of the operation.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>This duration. </dd></dl>
+
+</div>
+</div>
+<a id="adb459e7bf5c6b02f9e72c808f5f30237"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adb459e7bf5c6b02f9e72c808f5f30237">&#9670;&nbsp;</a></span>operator+()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classfranka_1_1Duration.html">Duration</a> franka::Duration::operator+ </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classfranka_1_1Duration.html">Duration</a> &amp;&#160;</td>
+          <td class="paramname"><em>rhs</em></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Performs addition. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">rhs</td><td>Right-hand side of the operation.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Result of the operation. </dd></dl>
+
+</div>
+</div>
+<a id="ac55eb81937a12e736560bd856a8f23ae"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac55eb81937a12e736560bd856a8f23ae">&#9670;&nbsp;</a></span>operator+=()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classfranka_1_1Duration.html">Duration</a>&amp; franka::Duration::operator+= </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classfranka_1_1Duration.html">Duration</a> &amp;&#160;</td>
+          <td class="paramname"><em>rhs</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Performs addition. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">rhs</td><td>Right-hand side of the operation.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>This duration. </dd></dl>
+
+</div>
+</div>
+<a id="a2a3bc1a8278b91bebe88d7498d410de9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2a3bc1a8278b91bebe88d7498d410de9">&#9670;&nbsp;</a></span>operator-()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classfranka_1_1Duration.html">Duration</a> franka::Duration::operator- </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classfranka_1_1Duration.html">Duration</a> &amp;&#160;</td>
+          <td class="paramname"><em>rhs</em></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Performs subtraction. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">rhs</td><td>Right-hand side of the operation.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Result of the operation. </dd></dl>
+
+</div>
+</div>
+<a id="acb24af377db86646918bcfb3e1e2ebe6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acb24af377db86646918bcfb3e1e2ebe6">&#9670;&nbsp;</a></span>operator-=()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classfranka_1_1Duration.html">Duration</a>&amp; franka::Duration::operator-= </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classfranka_1_1Duration.html">Duration</a> &amp;&#160;</td>
+          <td class="paramname"><em>rhs</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Performs subtraction. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">rhs</td><td>Right-hand side of the operation.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>This duration. </dd></dl>
+
+</div>
+</div>
+<a id="a90c76be31b53e11f5761416a05d990be"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a90c76be31b53e11f5761416a05d990be">&#9670;&nbsp;</a></span>operator/() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint64_t franka::Duration::operator/ </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classfranka_1_1Duration.html">Duration</a> &amp;&#160;</td>
+          <td class="paramname"><em>rhs</em></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Performs division. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">rhs</td><td>Right-hand side of the operation.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Result of the operation. </dd></dl>
+
+</div>
+</div>
+<a id="a15b7299198f36734b62ac98da1ef8c9c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a15b7299198f36734b62ac98da1ef8c9c">&#9670;&nbsp;</a></span>operator/() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classfranka_1_1Duration.html">Duration</a> franka::Duration::operator/ </td>
+          <td>(</td>
+          <td class="paramtype">uint64_t&#160;</td>
+          <td class="paramname"><em>rhs</em></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Performs division. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">rhs</td><td>Right-hand side of the operation.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Result of the operation. </dd></dl>
+
+</div>
+</div>
+<a id="ac866dd8d0e8f2dbb92089dbd78418571"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac866dd8d0e8f2dbb92089dbd78418571">&#9670;&nbsp;</a></span>operator/=()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classfranka_1_1Duration.html">Duration</a>&amp; franka::Duration::operator/= </td>
+          <td>(</td>
+          <td class="paramtype">uint64_t&#160;</td>
+          <td class="paramname"><em>rhs</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Performs division. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">rhs</td><td>Right-hand side of the operation.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>This duration. </dd></dl>
+
+</div>
+</div>
+<a id="af1650b31c1226a447406fc243f4a2ac1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af1650b31c1226a447406fc243f4a2ac1">&#9670;&nbsp;</a></span>operator&lt;()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool franka::Duration::operator&lt; </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classfranka_1_1Duration.html">Duration</a> &amp;&#160;</td>
+          <td class="paramname"><em>rhs</em></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Compares two durations. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">rhs</td><td>Right-hand side of the comparison.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>True if this duration is shorter than rhs, false otherwise. </dd></dl>
+
+</div>
+</div>
+<a id="ae4b9c8646fd50a2105d36f3848a5b949"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae4b9c8646fd50a2105d36f3848a5b949">&#9670;&nbsp;</a></span>operator&lt;=()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool franka::Duration::operator&lt;= </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classfranka_1_1Duration.html">Duration</a> &amp;&#160;</td>
+          <td class="paramname"><em>rhs</em></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Compares two durations. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">rhs</td><td>Right-hand side of the comparison.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>True if this duration is shorter than or equal to rhs, false otherwise. </dd></dl>
+
+</div>
+</div>
+<a id="adf2fec0c87fe1668e42f217ab029df19"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adf2fec0c87fe1668e42f217ab029df19">&#9670;&nbsp;</a></span>operator=()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classfranka_1_1Duration.html">Duration</a>&amp; franka::Duration::operator= </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classfranka_1_1Duration.html">Duration</a> &amp;&#160;</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">default</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Assigns the contents of one <a class="el" href="classfranka_1_1Duration.html" title="Represents a duration with millisecond resolution.">Duration</a> to another. </p>
+<dl class="section return"><dt>Returns</dt><dd>Result of the operation. </dd></dl>
+
+</div>
+</div>
+<a id="add0c7bcdfe51b563016236b223d74eae"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#add0c7bcdfe51b563016236b223d74eae">&#9670;&nbsp;</a></span>operator==()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool franka::Duration::operator== </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classfranka_1_1Duration.html">Duration</a> &amp;&#160;</td>
+          <td class="paramname"><em>rhs</em></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Compares two durations for equality. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">rhs</td><td>Right-hand side of the comparison.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>True if the duration are equal, false otherwise. </dd></dl>
+
+</div>
+</div>
+<a id="a1702ec9121fe6cff1de533d116edcce0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1702ec9121fe6cff1de533d116edcce0">&#9670;&nbsp;</a></span>operator&gt;()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool franka::Duration::operator&gt; </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classfranka_1_1Duration.html">Duration</a> &amp;&#160;</td>
+          <td class="paramname"><em>rhs</em></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Compares two durations. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">rhs</td><td>Right-hand side of the comparison.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>True if this duration is longer than rhs, false otherwise. </dd></dl>
+
+</div>
+</div>
+<a id="a5bc498cf96d96f5908d6bd93eea491aa"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5bc498cf96d96f5908d6bd93eea491aa">&#9670;&nbsp;</a></span>operator&gt;=()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool franka::Duration::operator&gt;= </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classfranka_1_1Duration.html">Duration</a> &amp;&#160;</td>
+          <td class="paramname"><em>rhs</em></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Compares two durations. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">rhs</td><td>Right-hand side of the comparison.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>True if this duration is longer than or equal to rhs, false otherwise. </dd></dl>
+
+</div>
+</div>
+<a id="a2a25ae33c8739b8f705f13798aa9e162"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2a25ae33c8739b8f705f13798aa9e162">&#9670;&nbsp;</a></span>toMSec()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint64_t franka::Duration::toMSec </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Returns the stored duration in \([ms]\). </p>
+<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classfranka_1_1Duration.html" title="Represents a duration with millisecond resolution.">Duration</a> in \([ms]\). </dd></dl>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="communication_test_8cpp-example.html#a9">communication_test.cpp</a>.</dd>
+</dl>
+
+</div>
+</div>
+<a id="a497af77a3280159547f231f0374e9ac1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a497af77a3280159547f231f0374e9ac1">&#9670;&nbsp;</a></span>toSec()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">double franka::Duration::toSec </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Returns the stored duration in \([s]\). </p>
+<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classfranka_1_1Duration.html" title="Represents a duration with millisecond resolution.">Duration</a> in \([s]\). </dd></dl>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="generate_cartesian_pose_motion_8cpp-example.html#a8">generate_cartesian_pose_motion.cpp</a>, <a class="el" href="generate_cartesian_velocity_motion_8cpp-example.html#a9">generate_cartesian_velocity_motion.cpp</a>, <a class="el" href="generate_consecutive_motions_8cpp-example.html#a8">generate_consecutive_motions.cpp</a>, <a class="el" href="generate_elbow_motion_8cpp-example.html#a8">generate_elbow_motion.cpp</a>, <a class="el" href="generate_joint_position_motion_8cpp-example.html#a8">generate_joint_position_motion.cpp</a>, and <a class="el" href="generate_joint_velocity_motion_8cpp-example.html#a8">generate_joint_velocity_motion.cpp</a>.</dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>include/franka/<a class="el" href="duration_8h_source.html">duration.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/0.13.6/classfranka_1_1Gripper-members.html b/0.13.6/classfranka_1_1Gripper-members.html
new file mode 100644
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
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+<meta name="generator" content="Doxygen 1.9.1"/>
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+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<script type="text/x-mathjax-config">
+  MathJax.Hub.Config({
+    extensions: ["tex2jax.js"],
+    jax: ["input/TeX","output/SVG"],
+});
+</script>
+<script type="text/javascript" async="async" src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.1/MathJax.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
+/* @license-end */
+</script>
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+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>franka</b></li><li class="navelem"><a class="el" href="classfranka_1_1Gripper.html">Gripper</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">franka::Gripper Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classfranka_1_1Gripper.html">franka::Gripper</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1Gripper.html#abff6a03a6c75b9079bd4b9b5ca380254">grasp</a>(double width, double speed, double force, double epsilon_inner=0.005, double epsilon_outer=0.005) const</td><td class="entry"><a class="el" href="classfranka_1_1Gripper.html">franka::Gripper</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1Gripper.html#a02b30632b08001592c62d3563561afc5">Gripper</a>(const std::string &amp;franka_address)</td><td class="entry"><a class="el" href="classfranka_1_1Gripper.html">franka::Gripper</a></td><td class="entry"><span class="mlabel">explicit</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1Gripper.html#aa045ea81b36f22420f9bc6f2a256a4f0">Gripper</a>(Gripper &amp;&amp;gripper) noexcept</td><td class="entry"><a class="el" href="classfranka_1_1Gripper.html">franka::Gripper</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1Gripper.html#aef356f93a4c3b9d6b2532c29126d478c">homing</a>() const</td><td class="entry"><a class="el" href="classfranka_1_1Gripper.html">franka::Gripper</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1Gripper.html#a047bc39267d66d6fb26c4c70669d68c2">move</a>(double width, double speed) const</td><td class="entry"><a class="el" href="classfranka_1_1Gripper.html">franka::Gripper</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1Gripper.html#a3c99c6973f8951ca489c4177cfacb069">operator=</a>(Gripper &amp;&amp;gripper) noexcept</td><td class="entry"><a class="el" href="classfranka_1_1Gripper.html">franka::Gripper</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1Gripper.html#ab0afc8a41c9c5fff808e76851dcf23ce">readOnce</a>() const</td><td class="entry"><a class="el" href="classfranka_1_1Gripper.html">franka::Gripper</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1Gripper.html#a613bf52d9433b733685d0fb9ea71602e">ServerVersion</a> typedef</td><td class="entry"><a class="el" href="classfranka_1_1Gripper.html">franka::Gripper</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1Gripper.html#a8b0b4246c042465fb00871b31efdbd8b">serverVersion</a>() const noexcept</td><td class="entry"><a class="el" href="classfranka_1_1Gripper.html">franka::Gripper</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1Gripper.html#add7397fb6c5631650c139d26a85c8e1d">stop</a>() const</td><td class="entry"><a class="el" href="classfranka_1_1Gripper.html">franka::Gripper</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1Gripper.html#ade253b8a35312d52c636c6aafb7b2e1d">~Gripper</a>() noexcept</td><td class="entry"><a class="el" href="classfranka_1_1Gripper.html">franka::Gripper</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/0.13.6/classfranka_1_1Gripper.html b/0.13.6/classfranka_1_1Gripper.html
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+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
+  </td>
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+  <ul>
+<li class="navelem"><b>franka</b></li><li class="navelem"><a class="el" href="classfranka_1_1Gripper.html">Gripper</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classfranka_1_1Gripper-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">franka::Gripper Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Maintains a network connection to the gripper, provides the current gripper state, and allows the execution of commands.  
+ <a href="classfranka_1_1Gripper.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="gripper_8h_source.html">gripper.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
+Public Types</h2></td></tr>
+<tr class="memitem:a613bf52d9433b733685d0fb9ea71602e"><td class="memItemLeft" align="right" valign="top"><a id="a613bf52d9433b733685d0fb9ea71602e"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Gripper.html#a613bf52d9433b733685d0fb9ea71602e">ServerVersion</a> = uint16_t</td></tr>
+<tr class="memdesc:a613bf52d9433b733685d0fb9ea71602e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Version of the gripper server. <br /></td></tr>
+<tr class="separator:a613bf52d9433b733685d0fb9ea71602e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a02b30632b08001592c62d3563561afc5"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Gripper.html#a02b30632b08001592c62d3563561afc5">Gripper</a> (const std::string &amp;franka_address)</td></tr>
+<tr class="memdesc:a02b30632b08001592c62d3563561afc5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Establishes a connection with a gripper connected to a robot.  <a href="classfranka_1_1Gripper.html#a02b30632b08001592c62d3563561afc5">More...</a><br /></td></tr>
+<tr class="separator:a02b30632b08001592c62d3563561afc5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa045ea81b36f22420f9bc6f2a256a4f0"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Gripper.html#aa045ea81b36f22420f9bc6f2a256a4f0">Gripper</a> (<a class="el" href="classfranka_1_1Gripper.html">Gripper</a> &amp;&amp;gripper) noexcept</td></tr>
+<tr class="memdesc:aa045ea81b36f22420f9bc6f2a256a4f0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Move-constructs a new <a class="el" href="classfranka_1_1Gripper.html" title="Maintains a network connection to the gripper, provides the current gripper state,...">Gripper</a> instance.  <a href="classfranka_1_1Gripper.html#aa045ea81b36f22420f9bc6f2a256a4f0">More...</a><br /></td></tr>
+<tr class="separator:aa045ea81b36f22420f9bc6f2a256a4f0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3c99c6973f8951ca489c4177cfacb069"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classfranka_1_1Gripper.html">Gripper</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Gripper.html#a3c99c6973f8951ca489c4177cfacb069">operator=</a> (<a class="el" href="classfranka_1_1Gripper.html">Gripper</a> &amp;&amp;gripper) noexcept</td></tr>
+<tr class="memdesc:a3c99c6973f8951ca489c4177cfacb069"><td class="mdescLeft">&#160;</td><td class="mdescRight">Move-assigns this <a class="el" href="classfranka_1_1Gripper.html" title="Maintains a network connection to the gripper, provides the current gripper state,...">Gripper</a> from another <a class="el" href="classfranka_1_1Gripper.html" title="Maintains a network connection to the gripper, provides the current gripper state,...">Gripper</a> instance.  <a href="classfranka_1_1Gripper.html#a3c99c6973f8951ca489c4177cfacb069">More...</a><br /></td></tr>
+<tr class="separator:a3c99c6973f8951ca489c4177cfacb069"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ade253b8a35312d52c636c6aafb7b2e1d"><td class="memItemLeft" align="right" valign="top"><a id="ade253b8a35312d52c636c6aafb7b2e1d"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Gripper.html#ade253b8a35312d52c636c6aafb7b2e1d">~Gripper</a> () noexcept</td></tr>
+<tr class="memdesc:ade253b8a35312d52c636c6aafb7b2e1d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Closes the connection. <br /></td></tr>
+<tr class="separator:ade253b8a35312d52c636c6aafb7b2e1d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aef356f93a4c3b9d6b2532c29126d478c"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Gripper.html#aef356f93a4c3b9d6b2532c29126d478c">homing</a> () const</td></tr>
+<tr class="memdesc:aef356f93a4c3b9d6b2532c29126d478c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Performs homing of the gripper.  <a href="classfranka_1_1Gripper.html#aef356f93a4c3b9d6b2532c29126d478c">More...</a><br /></td></tr>
+<tr class="separator:aef356f93a4c3b9d6b2532c29126d478c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abff6a03a6c75b9079bd4b9b5ca380254"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Gripper.html#abff6a03a6c75b9079bd4b9b5ca380254">grasp</a> (double width, double speed, double force, double epsilon_inner=0.005, double epsilon_outer=0.005) const</td></tr>
+<tr class="memdesc:abff6a03a6c75b9079bd4b9b5ca380254"><td class="mdescLeft">&#160;</td><td class="mdescRight">Grasps an object.  <a href="classfranka_1_1Gripper.html#abff6a03a6c75b9079bd4b9b5ca380254">More...</a><br /></td></tr>
+<tr class="separator:abff6a03a6c75b9079bd4b9b5ca380254"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a047bc39267d66d6fb26c4c70669d68c2"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Gripper.html#a047bc39267d66d6fb26c4c70669d68c2">move</a> (double width, double speed) const</td></tr>
+<tr class="memdesc:a047bc39267d66d6fb26c4c70669d68c2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Moves the gripper fingers to a specified width.  <a href="classfranka_1_1Gripper.html#a047bc39267d66d6fb26c4c70669d68c2">More...</a><br /></td></tr>
+<tr class="separator:a047bc39267d66d6fb26c4c70669d68c2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:add7397fb6c5631650c139d26a85c8e1d"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Gripper.html#add7397fb6c5631650c139d26a85c8e1d">stop</a> () const</td></tr>
+<tr class="memdesc:add7397fb6c5631650c139d26a85c8e1d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Stops a currently running gripper move or grasp.  <a href="classfranka_1_1Gripper.html#add7397fb6c5631650c139d26a85c8e1d">More...</a><br /></td></tr>
+<tr class="separator:add7397fb6c5631650c139d26a85c8e1d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab0afc8a41c9c5fff808e76851dcf23ce"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structfranka_1_1GripperState.html">GripperState</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Gripper.html#ab0afc8a41c9c5fff808e76851dcf23ce">readOnce</a> () const</td></tr>
+<tr class="memdesc:ab0afc8a41c9c5fff808e76851dcf23ce"><td class="mdescLeft">&#160;</td><td class="mdescRight">Waits for a gripper state update and returns it.  <a href="classfranka_1_1Gripper.html#ab0afc8a41c9c5fff808e76851dcf23ce">More...</a><br /></td></tr>
+<tr class="separator:ab0afc8a41c9c5fff808e76851dcf23ce"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8b0b4246c042465fb00871b31efdbd8b"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classfranka_1_1Gripper.html#a613bf52d9433b733685d0fb9ea71602e">ServerVersion</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Gripper.html#a8b0b4246c042465fb00871b31efdbd8b">serverVersion</a> () const noexcept</td></tr>
+<tr class="memdesc:a8b0b4246c042465fb00871b31efdbd8b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the software version reported by the connected server.  <a href="classfranka_1_1Gripper.html#a8b0b4246c042465fb00871b31efdbd8b">More...</a><br /></td></tr>
+<tr class="separator:a8b0b4246c042465fb00871b31efdbd8b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Maintains a network connection to the gripper, provides the current gripper state, and allows the execution of commands. </p>
+<dl class="section note"><dt>Note</dt><dd>The members of this class are threadsafe. </dd></dl>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="grasp_object_8cpp-example.html#_a0">grasp_object.cpp</a>.</dd>
+</dl>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a02b30632b08001592c62d3563561afc5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a02b30632b08001592c62d3563561afc5">&#9670;&nbsp;</a></span>Gripper() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">franka::Gripper::Gripper </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>franka_address</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">explicit</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Establishes a connection with a gripper connected to a robot. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">franka_address</td><td>IP/hostname of the robot the gripper is connected to.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1NetworkException.html" title="NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occu...">NetworkException</a></td><td>if the connection is unsuccessful. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1IncompatibleVersionException.html" title="IncompatibleVersionException is thrown if the robot does not support this version of libfranka.">IncompatibleVersionException</a></td><td>if this version of <code>libfranka</code> is not supported. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="aa045ea81b36f22420f9bc6f2a256a4f0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa045ea81b36f22420f9bc6f2a256a4f0">&#9670;&nbsp;</a></span>Gripper() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">franka::Gripper::Gripper </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="classfranka_1_1Gripper.html">Gripper</a> &amp;&amp;&#160;</td>
+          <td class="paramname"><em>gripper</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Move-constructs a new <a class="el" href="classfranka_1_1Gripper.html" title="Maintains a network connection to the gripper, provides the current gripper state,...">Gripper</a> instance. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">gripper</td><td>Other <a class="el" href="classfranka_1_1Gripper.html" title="Maintains a network connection to the gripper, provides the current gripper state,...">Gripper</a> instance. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="abff6a03a6c75b9079bd4b9b5ca380254"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abff6a03a6c75b9079bd4b9b5ca380254">&#9670;&nbsp;</a></span>grasp()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool franka::Gripper::grasp </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>width</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>speed</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>force</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>epsilon_inner</em> = <code>0.005</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>epsilon_outer</em> = <code>0.005</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Grasps an object. </p>
+<p>An object is considered grasped if the distance \(d\) between the gripper fingers satisfies \((\text{width} - \text{epsilon_inner}) &lt; d &lt; (\text{width} + \text{epsilon_outer})\).</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">width</td><td>Size of the object to grasp in \([m]\). </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">speed</td><td>Closing speed in \([\frac{m}{s}]\). </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">force</td><td>Grasping force in \([N]\). </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">epsilon_inner</td><td>Maximum tolerated deviation when the actual grasped width is smaller than the commanded grasp width. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">epsilon_outer</td><td>Maximum tolerated deviation when the actual grasped width is larger than the commanded grasp width.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>True if an object has been grasped, false otherwise.</dd></dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1CommandException.html" title="CommandException is thrown if an error occurs during command execution.">CommandException</a></td><td>if an error occurred. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1NetworkException.html" title="NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occu...">NetworkException</a></td><td>if the connection is lost, e.g. after a timeout. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="grasp_object_8cpp-example.html#a5">grasp_object.cpp</a>.</dd>
+</dl>
+
+</div>
+</div>
+<a id="aef356f93a4c3b9d6b2532c29126d478c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aef356f93a4c3b9d6b2532c29126d478c">&#9670;&nbsp;</a></span>homing()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool franka::Gripper::homing </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Performs homing of the gripper. </p>
+<p>After changing the gripper fingers, a homing needs to be done. This is needed to estimate the maximum grasping width.</p>
+<dl class="section return"><dt>Returns</dt><dd>True if command was successful, false otherwise.</dd></dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1CommandException.html" title="CommandException is thrown if an error occurs during command execution.">CommandException</a></td><td>if an error occurred. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1NetworkException.html" title="NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occu...">NetworkException</a></td><td>if the connection is lost, e.g. after a timeout.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section see"><dt>See also</dt><dd><a class="el" href="structfranka_1_1GripperState.html" title="Describes the gripper state.">GripperState</a> for the maximum grasping width. </dd></dl>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="grasp_object_8cpp-example.html#a1">grasp_object.cpp</a>.</dd>
+</dl>
+
+</div>
+</div>
+<a id="a047bc39267d66d6fb26c4c70669d68c2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a047bc39267d66d6fb26c4c70669d68c2">&#9670;&nbsp;</a></span>move()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool franka::Gripper::move </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>width</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>speed</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Moves the gripper fingers to a specified width. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">width</td><td>Intended opening width in \([m]\). </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">speed</td><td>Closing speed in \([\frac{m}{s}]\).</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>True if command was successful, false otherwise.</dd></dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1CommandException.html" title="CommandException is thrown if an error occurs during command execution.">CommandException</a></td><td>if an error occurred. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1NetworkException.html" title="NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occu...">NetworkException</a></td><td>if the connection is lost, e.g. after a timeout. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a3c99c6973f8951ca489c4177cfacb069"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3c99c6973f8951ca489c4177cfacb069">&#9670;&nbsp;</a></span>operator=()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classfranka_1_1Gripper.html">Gripper</a>&amp; franka::Gripper::operator= </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="classfranka_1_1Gripper.html">Gripper</a> &amp;&amp;&#160;</td>
+          <td class="paramname"><em>gripper</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Move-assigns this <a class="el" href="classfranka_1_1Gripper.html" title="Maintains a network connection to the gripper, provides the current gripper state,...">Gripper</a> from another <a class="el" href="classfranka_1_1Gripper.html" title="Maintains a network connection to the gripper, provides the current gripper state,...">Gripper</a> instance. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">gripper</td><td>Other <a class="el" href="classfranka_1_1Gripper.html" title="Maintains a network connection to the gripper, provides the current gripper state,...">Gripper</a> instance.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classfranka_1_1Model.html" title="Calculates poses of joints and dynamic properties of the robot.">Model</a> instance. </dd></dl>
+
+</div>
+</div>
+<a id="ab0afc8a41c9c5fff808e76851dcf23ce"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab0afc8a41c9c5fff808e76851dcf23ce">&#9670;&nbsp;</a></span>readOnce()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structfranka_1_1GripperState.html">GripperState</a> franka::Gripper::readOnce </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Waits for a gripper state update and returns it. </p>
+<dl class="section return"><dt>Returns</dt><dd>Current gripper state.</dd></dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1NetworkException.html" title="NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occu...">NetworkException</a></td><td>if the connection is lost, e.g. after a timeout. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1InvalidOperationException.html" title="InvalidOperationException is thrown if an operation cannot be performed.">InvalidOperationException</a></td><td>if another readOnce is already running. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="grasp_object_8cpp-example.html#a3">grasp_object.cpp</a>.</dd>
+</dl>
+
+</div>
+</div>
+<a id="a8b0b4246c042465fb00871b31efdbd8b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8b0b4246c042465fb00871b31efdbd8b">&#9670;&nbsp;</a></span>serverVersion()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classfranka_1_1Gripper.html#a613bf52d9433b733685d0fb9ea71602e">ServerVersion</a> franka::Gripper::serverVersion </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Returns the software version reported by the connected server. </p>
+<dl class="section return"><dt>Returns</dt><dd>Software version of the connected server. </dd></dl>
+
+</div>
+</div>
+<a id="add7397fb6c5631650c139d26a85c8e1d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#add7397fb6c5631650c139d26a85c8e1d">&#9670;&nbsp;</a></span>stop()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool franka::Gripper::stop </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Stops a currently running gripper move or grasp. </p>
+<dl class="section return"><dt>Returns</dt><dd>True if command was successful, false otherwise.</dd></dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1CommandException.html" title="CommandException is thrown if an error occurs during command execution.">CommandException</a></td><td>if an error occurred. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1NetworkException.html" title="NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occu...">NetworkException</a></td><td>if the connection is lost, e.g. after a timeout. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="grasp_object_8cpp-example.html#a7">grasp_object.cpp</a>.</dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>include/franka/<a class="el" href="gripper_8h_source.html">gripper.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
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+<!-- Generated by Doxygen 1.9.1 -->
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+        name="MSearchResults" id="MSearchResults">
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>franka</b></li><li class="navelem"><a class="el" href="classfranka_1_1JointPositions.html">JointPositions</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">franka::JointPositions Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classfranka_1_1JointPositions.html">franka::JointPositions</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1JointPositions.html#a57bc9d7e033493b1182333276af5ce84">JointPositions</a>(const std::array&lt; double, 7 &gt; &amp;joint_positions) noexcept</td><td class="entry"><a class="el" href="classfranka_1_1JointPositions.html">franka::JointPositions</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1JointPositions.html#a1e2006bccc9de89d8eb1a4d1c4da2fb8">JointPositions</a>(std::initializer_list&lt; double &gt; joint_positions)</td><td class="entry"><a class="el" href="classfranka_1_1JointPositions.html">franka::JointPositions</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structfranka_1_1Finishable.html#a5d48028c0f912d4a089e6220d8715f7f">motion_finished</a></td><td class="entry"><a class="el" href="structfranka_1_1Finishable.html">franka::Finishable</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1JointPositions.html#a40e9098abe1c51cd48e17e41fbf78337">q</a></td><td class="entry"><a class="el" href="classfranka_1_1JointPositions.html">franka::JointPositions</a></td><td class="entry"></td></tr>
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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diff --git a/0.13.6/classfranka_1_1JointPositions.html b/0.13.6/classfranka_1_1JointPositions.html
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+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>franka</b></li><li class="navelem"><a class="el" href="classfranka_1_1JointPositions.html">JointPositions</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classfranka_1_1JointPositions-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">franka::JointPositions Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Stores values for joint position motion generation.  
+ <a href="classfranka_1_1JointPositions.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="control__types_8h_source.html">control_types.h</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for franka::JointPositions:</div>
+<div class="dyncontent">
+<div class="center"><img src="classfranka_1_1JointPositions__inherit__graph.png" border="0" usemap="#afranka_1_1JointPositions_inherit__map" alt="Inheritance graph"/></div>
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+<area shape="rect" title="Stores values for joint position motion generation." alt="" coords="5,80,164,107"/>
+<area shape="rect" href="structfranka_1_1Finishable.html" title="Helper type for control and motion generation loops." alt="" coords="16,5,153,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for franka::JointPositions:</div>
+<div class="dyncontent">
+<div class="center"><img src="classfranka_1_1JointPositions__coll__graph.png" border="0" usemap="#afranka_1_1JointPositions_coll__map" alt="Collaboration graph"/></div>
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+<area shape="rect" href="structfranka_1_1Finishable.html" title="Helper type for control and motion generation loops." alt="" coords="16,5,153,32"/>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a57bc9d7e033493b1182333276af5ce84"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1JointPositions.html#a57bc9d7e033493b1182333276af5ce84">JointPositions</a> (const std::array&lt; double, 7 &gt; &amp;joint_positions) noexcept</td></tr>
+<tr class="memdesc:a57bc9d7e033493b1182333276af5ce84"><td class="mdescLeft">&#160;</td><td class="mdescRight">Creates a new <a class="el" href="classfranka_1_1JointPositions.html" title="Stores values for joint position motion generation.">JointPositions</a> instance.  <a href="classfranka_1_1JointPositions.html#a57bc9d7e033493b1182333276af5ce84">More...</a><br /></td></tr>
+<tr class="separator:a57bc9d7e033493b1182333276af5ce84"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1e2006bccc9de89d8eb1a4d1c4da2fb8"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1JointPositions.html#a1e2006bccc9de89d8eb1a4d1c4da2fb8">JointPositions</a> (std::initializer_list&lt; double &gt; joint_positions)</td></tr>
+<tr class="memdesc:a1e2006bccc9de89d8eb1a4d1c4da2fb8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Creates a new <a class="el" href="classfranka_1_1JointPositions.html" title="Stores values for joint position motion generation.">JointPositions</a> instance.  <a href="classfranka_1_1JointPositions.html#a1e2006bccc9de89d8eb1a4d1c4da2fb8">More...</a><br /></td></tr>
+<tr class="separator:a1e2006bccc9de89d8eb1a4d1c4da2fb8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a40e9098abe1c51cd48e17e41fbf78337"><td class="memItemLeft" align="right" valign="top"><a id="a40e9098abe1c51cd48e17e41fbf78337"></a>
+std::array&lt; double, 7 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1JointPositions.html#a40e9098abe1c51cd48e17e41fbf78337">q</a> {}</td></tr>
+<tr class="memdesc:a40e9098abe1c51cd48e17e41fbf78337"><td class="mdescLeft">&#160;</td><td class="mdescRight">Desired joint angles in [rad]. <br /></td></tr>
+<tr class="separator:a40e9098abe1c51cd48e17e41fbf78337"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_structfranka_1_1Finishable"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_structfranka_1_1Finishable')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="structfranka_1_1Finishable.html">franka::Finishable</a></td></tr>
+<tr class="memitem:a5d48028c0f912d4a089e6220d8715f7f inherit pub_attribs_structfranka_1_1Finishable"><td class="memItemLeft" align="right" valign="top"><a id="a5d48028c0f912d4a089e6220d8715f7f"></a>
+bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1Finishable.html#a5d48028c0f912d4a089e6220d8715f7f">motion_finished</a> = false</td></tr>
+<tr class="memdesc:a5d48028c0f912d4a089e6220d8715f7f inherit pub_attribs_structfranka_1_1Finishable"><td class="mdescLeft">&#160;</td><td class="mdescRight">Determines whether to finish a currently running motion. <br /></td></tr>
+<tr class="separator:a5d48028c0f912d4a089e6220d8715f7f inherit pub_attribs_structfranka_1_1Finishable"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Stores values for joint position motion generation. </p>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="generate_joint_position_motion_8cpp-example.html#_a7">generate_joint_position_motion.cpp</a>, and <a class="el" href="generate_joint_position_motion_external_control_loop_8cpp-example.html#_a7">generate_joint_position_motion_external_control_loop.cpp</a>.</dd>
+</dl>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a57bc9d7e033493b1182333276af5ce84"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a57bc9d7e033493b1182333276af5ce84">&#9670;&nbsp;</a></span>JointPositions() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">franka::JointPositions::JointPositions </td>
+          <td>(</td>
+          <td class="paramtype">const std::array&lt; double, 7 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>joint_positions</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Creates a new <a class="el" href="classfranka_1_1JointPositions.html" title="Stores values for joint position motion generation.">JointPositions</a> instance. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">joint_positions</td><td>Desired joint angles in \([rad]\). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a1e2006bccc9de89d8eb1a4d1c4da2fb8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1e2006bccc9de89d8eb1a4d1c4da2fb8">&#9670;&nbsp;</a></span>JointPositions() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">franka::JointPositions::JointPositions </td>
+          <td>(</td>
+          <td class="paramtype">std::initializer_list&lt; double &gt;&#160;</td>
+          <td class="paramname"><em>joint_positions</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Creates a new <a class="el" href="classfranka_1_1JointPositions.html" title="Stores values for joint position motion generation.">JointPositions</a> instance. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">joint_positions</td><td>Desired joint angles in \([rad]\).</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname">std::invalid_argument</td><td>if the given initializer list has an invalid number of arguments. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>include/franka/<a class="el" href="control__types_8h_source.html">control_types.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
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+<li class="navelem"><b>franka</b></li><li class="navelem"><a class="el" href="classfranka_1_1JointVelocities.html">JointVelocities</a></li>  </ul>
+</div>
+</div><!-- top -->
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+  <div class="headertitle">
+<div class="title">franka::JointVelocities Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classfranka_1_1JointVelocities.html">franka::JointVelocities</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1JointVelocities.html#a14fddb6fe7a7c4034dc82c283de8c2d3">dq</a></td><td class="entry"><a class="el" href="classfranka_1_1JointVelocities.html">franka::JointVelocities</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1JointVelocities.html#a1130f851055de3b7ebe9e6fbac960826">JointVelocities</a>(const std::array&lt; double, 7 &gt; &amp;joint_velocities) noexcept</td><td class="entry"><a class="el" href="classfranka_1_1JointVelocities.html">franka::JointVelocities</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1JointVelocities.html#aed384fad8e302638c2e5baea6378c2d2">JointVelocities</a>(std::initializer_list&lt; double &gt; joint_velocities)</td><td class="entry"><a class="el" href="classfranka_1_1JointVelocities.html">franka::JointVelocities</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structfranka_1_1Finishable.html#a5d48028c0f912d4a089e6220d8715f7f">motion_finished</a></td><td class="entry"><a class="el" href="structfranka_1_1Finishable.html">franka::Finishable</a></td><td class="entry"></td></tr>
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+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
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+  <ul>
+<li class="navelem"><b>franka</b></li><li class="navelem"><a class="el" href="classfranka_1_1JointVelocities.html">JointVelocities</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classfranka_1_1JointVelocities-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">franka::JointVelocities Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Stores values for joint velocity motion generation.  
+ <a href="classfranka_1_1JointVelocities.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="control__types_8h_source.html">control_types.h</a>&gt;</code></p>
+<div class="dynheader">
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+<div class="dyncontent">
+<div class="center"><img src="classfranka_1_1JointVelocities__inherit__graph.png" border="0" usemap="#afranka_1_1JointVelocities_inherit__map" alt="Inheritance graph"/></div>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for franka::JointVelocities:</div>
+<div class="dyncontent">
+<div class="center"><img src="classfranka_1_1JointVelocities__coll__graph.png" border="0" usemap="#afranka_1_1JointVelocities_coll__map" alt="Collaboration graph"/></div>
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+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
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+<tr class="memitem:a1130f851055de3b7ebe9e6fbac960826"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1JointVelocities.html#a1130f851055de3b7ebe9e6fbac960826">JointVelocities</a> (const std::array&lt; double, 7 &gt; &amp;joint_velocities) noexcept</td></tr>
+<tr class="memdesc:a1130f851055de3b7ebe9e6fbac960826"><td class="mdescLeft">&#160;</td><td class="mdescRight">Creates a new <a class="el" href="classfranka_1_1JointVelocities.html" title="Stores values for joint velocity motion generation.">JointVelocities</a> instance.  <a href="classfranka_1_1JointVelocities.html#a1130f851055de3b7ebe9e6fbac960826">More...</a><br /></td></tr>
+<tr class="separator:a1130f851055de3b7ebe9e6fbac960826"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aed384fad8e302638c2e5baea6378c2d2"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1JointVelocities.html#aed384fad8e302638c2e5baea6378c2d2">JointVelocities</a> (std::initializer_list&lt; double &gt; joint_velocities)</td></tr>
+<tr class="memdesc:aed384fad8e302638c2e5baea6378c2d2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Creates a new <a class="el" href="classfranka_1_1JointVelocities.html" title="Stores values for joint velocity motion generation.">JointVelocities</a> instance.  <a href="classfranka_1_1JointVelocities.html#aed384fad8e302638c2e5baea6378c2d2">More...</a><br /></td></tr>
+<tr class="separator:aed384fad8e302638c2e5baea6378c2d2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a14fddb6fe7a7c4034dc82c283de8c2d3"><td class="memItemLeft" align="right" valign="top"><a id="a14fddb6fe7a7c4034dc82c283de8c2d3"></a>
+std::array&lt; double, 7 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1JointVelocities.html#a14fddb6fe7a7c4034dc82c283de8c2d3">dq</a> {}</td></tr>
+<tr class="memdesc:a14fddb6fe7a7c4034dc82c283de8c2d3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Desired joint velocities in \([\frac{rad}{s}]\). <br /></td></tr>
+<tr class="separator:a14fddb6fe7a7c4034dc82c283de8c2d3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_structfranka_1_1Finishable"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_structfranka_1_1Finishable')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="structfranka_1_1Finishable.html">franka::Finishable</a></td></tr>
+<tr class="memitem:a5d48028c0f912d4a089e6220d8715f7f inherit pub_attribs_structfranka_1_1Finishable"><td class="memItemLeft" align="right" valign="top"><a id="a5d48028c0f912d4a089e6220d8715f7f"></a>
+bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1Finishable.html#a5d48028c0f912d4a089e6220d8715f7f">motion_finished</a> = false</td></tr>
+<tr class="memdesc:a5d48028c0f912d4a089e6220d8715f7f inherit pub_attribs_structfranka_1_1Finishable"><td class="mdescLeft">&#160;</td><td class="mdescRight">Determines whether to finish a currently running motion. <br /></td></tr>
+<tr class="separator:a5d48028c0f912d4a089e6220d8715f7f inherit pub_attribs_structfranka_1_1Finishable"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Stores values for joint velocity motion generation. </p>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="generate_consecutive_motions_8cpp-example.html#_a7">generate_consecutive_motions.cpp</a>, <a class="el" href="generate_joint_velocity_motion_8cpp-example.html#_a7">generate_joint_velocity_motion.cpp</a>, <a class="el" href="generate_joint_velocity_motion_external_control_loop_8cpp-example.html#_a7">generate_joint_velocity_motion_external_control_loop.cpp</a>, <a class="el" href="motion_with_control_8cpp-example.html#_a9">motion_with_control.cpp</a>, and <a class="el" href="motion_with_control_external_control_loop_8cpp-example.html#_a9">motion_with_control_external_control_loop.cpp</a>.</dd>
+</dl>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a1130f851055de3b7ebe9e6fbac960826"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1130f851055de3b7ebe9e6fbac960826">&#9670;&nbsp;</a></span>JointVelocities() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">franka::JointVelocities::JointVelocities </td>
+          <td>(</td>
+          <td class="paramtype">const std::array&lt; double, 7 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>joint_velocities</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Creates a new <a class="el" href="classfranka_1_1JointVelocities.html" title="Stores values for joint velocity motion generation.">JointVelocities</a> instance. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">joint_velocities</td><td>Desired joint velocities in \([\frac{rad}{s}]\). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="aed384fad8e302638c2e5baea6378c2d2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aed384fad8e302638c2e5baea6378c2d2">&#9670;&nbsp;</a></span>JointVelocities() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">franka::JointVelocities::JointVelocities </td>
+          <td>(</td>
+          <td class="paramtype">std::initializer_list&lt; double &gt;&#160;</td>
+          <td class="paramname"><em>joint_velocities</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Creates a new <a class="el" href="classfranka_1_1JointVelocities.html" title="Stores values for joint velocity motion generation.">JointVelocities</a> instance. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">joint_velocities</td><td>Desired joint velocities in \([\frac{rad}{s}]\).</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname">std::invalid_argument</td><td>if the given initializer list has an invalid number of arguments. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>include/franka/<a class="el" href="control__types_8h_source.html">control_types.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
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+<area shape="rect" id="node2" href="$structfranka_1_1Finishable.html" title="Helper type for control and motion generation loops." alt="" coords="18,5,155,32"/>
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diff --git a/0.13.6/classfranka_1_1Model-members.html b/0.13.6/classfranka_1_1Model-members.html
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+<meta name="generator" content="Doxygen 1.9.1"/>
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
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+        name="MSearchResults" id="MSearchResults">
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>franka</b></li><li class="navelem"><a class="el" href="classfranka_1_1Model.html">Model</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">franka::Model Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classfranka_1_1Model.html">franka::Model</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1Model.html#a914a197a900a275799cf8d7461bb9d8a">bodyJacobian</a>(Frame frame, const franka::RobotState &amp;robot_state) const</td><td class="entry"><a class="el" href="classfranka_1_1Model.html">franka::Model</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1Model.html#a9ceca00546fa221f15ddaa7c0d27c40e">bodyJacobian</a>(Frame frame, const std::array&lt; double, 7 &gt; &amp;q, const std::array&lt; double, 16 &gt; &amp;F_T_EE, const std::array&lt; double, 16 &gt; &amp;EE_T_K) const</td><td class="entry"><a class="el" href="classfranka_1_1Model.html">franka::Model</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1Model.html#a91424f181a93bb47bda6af2d3567c65c">coriolis</a>(const franka::RobotState &amp;robot_state) const noexcept</td><td class="entry"><a class="el" href="classfranka_1_1Model.html">franka::Model</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1Model.html#a3445ad932ddda2e3540768af9b7b4852">coriolis</a>(const std::array&lt; double, 7 &gt; &amp;q, const std::array&lt; double, 7 &gt; &amp;dq, const std::array&lt; double, 9 &gt; &amp;I_total, double m_total, const std::array&lt; double, 3 &gt; &amp;F_x_Ctotal) const noexcept</td><td class="entry"><a class="el" href="classfranka_1_1Model.html">franka::Model</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1Model.html#a9b28a648cf413297d80f383e62363ab9">gravity</a>(const std::array&lt; double, 7 &gt; &amp;q, double m_total, const std::array&lt; double, 3 &gt; &amp;F_x_Ctotal, const std::array&lt; double, 3 &gt; &amp;gravity_earth={{0., 0., -9.81}}) const noexcept</td><td class="entry"><a class="el" href="classfranka_1_1Model.html">franka::Model</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1Model.html#a76a94e1ddb45cf1cdded25be4cf2dcae">gravity</a>(const franka::RobotState &amp;robot_state, const std::array&lt; double, 3 &gt; &amp;gravity_earth) const noexcept</td><td class="entry"><a class="el" href="classfranka_1_1Model.html">franka::Model</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1Model.html#a983611785e894e1cd1f07a2df97ddbdd">gravity</a>(const franka::RobotState &amp;robot_state) const noexcept</td><td class="entry"><a class="el" href="classfranka_1_1Model.html">franka::Model</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1Model.html#ad5f6156064bc18e42fc0b6d2f36b2006">mass</a>(const franka::RobotState &amp;robot_state) const noexcept</td><td class="entry"><a class="el" href="classfranka_1_1Model.html">franka::Model</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1Model.html#a61c3a8968e927c8629f1d549d20aaf85">mass</a>(const std::array&lt; double, 7 &gt; &amp;q, const std::array&lt; double, 9 &gt; &amp;I_total, double m_total, const std::array&lt; double, 3 &gt; &amp;F_x_Ctotal) const noexcept</td><td class="entry"><a class="el" href="classfranka_1_1Model.html">franka::Model</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1Model.html#a751d939935eb51f06dcfd18c6c756ceb">Model</a>(franka::Network &amp;network)</td><td class="entry"><a class="el" href="classfranka_1_1Model.html">franka::Model</a></td><td class="entry"><span class="mlabel">explicit</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1Model.html#a8b58ff37f62512aecdcd0e6aabfd9548">Model</a>(Model &amp;&amp;model) noexcept</td><td class="entry"><a class="el" href="classfranka_1_1Model.html">franka::Model</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1Model.html#a625529a4c9aed7783c9c6e150dbba793">operator=</a>(Model &amp;&amp;model) noexcept</td><td class="entry"><a class="el" href="classfranka_1_1Model.html">franka::Model</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1Model.html#a593c39dae76a6801cdd2402c2a783157">pose</a>(Frame frame, const franka::RobotState &amp;robot_state) const</td><td class="entry"><a class="el" href="classfranka_1_1Model.html">franka::Model</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1Model.html#adf4fdf0404c2acf783493f7e646a6281">pose</a>(Frame frame, const std::array&lt; double, 7 &gt; &amp;q, const std::array&lt; double, 16 &gt; &amp;F_T_EE, const std::array&lt; double, 16 &gt; &amp;EE_T_K) const</td><td class="entry"><a class="el" href="classfranka_1_1Model.html">franka::Model</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1Model.html#a6fb6347b571a6759bad10b3a9e28a28f">zeroJacobian</a>(Frame frame, const franka::RobotState &amp;robot_state) const</td><td class="entry"><a class="el" href="classfranka_1_1Model.html">franka::Model</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1Model.html#a6522f1079e1dc5f6799dde6197b45259">zeroJacobian</a>(Frame frame, const std::array&lt; double, 7 &gt; &amp;q, const std::array&lt; double, 16 &gt; &amp;F_T_EE, const std::array&lt; double, 16 &gt; &amp;EE_T_K) const</td><td class="entry"><a class="el" href="classfranka_1_1Model.html">franka::Model</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1Model.html#a1d6ffa26afc6cfdff7e329d15b8bd65e">~Model</a>() noexcept</td><td class="entry"><a class="el" href="classfranka_1_1Model.html">franka::Model</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+</html>
diff --git a/0.13.6/classfranka_1_1Model.html b/0.13.6/classfranka_1_1Model.html
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+<title>libfranka: franka::Model Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+<script type="text/javascript" src="dynsections.js"></script>
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+    extensions: ["tex2jax.js"],
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
+  </td>
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+</table>
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+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
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+        name="MSearchResults" id="MSearchResults">
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>franka</b></li><li class="navelem"><a class="el" href="classfranka_1_1Model.html">Model</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classfranka_1_1Model-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">franka::Model Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Calculates poses of joints and dynamic properties of the robot.  
+ <a href="classfranka_1_1Model.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="model_8h_source.html">model.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a751d939935eb51f06dcfd18c6c756ceb"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Model.html#a751d939935eb51f06dcfd18c6c756ceb">Model</a> (franka::Network &amp;network)</td></tr>
+<tr class="memdesc:a751d939935eb51f06dcfd18c6c756ceb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Creates a new <a class="el" href="classfranka_1_1Model.html" title="Calculates poses of joints and dynamic properties of the robot.">Model</a> instance.  <a href="classfranka_1_1Model.html#a751d939935eb51f06dcfd18c6c756ceb">More...</a><br /></td></tr>
+<tr class="separator:a751d939935eb51f06dcfd18c6c756ceb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8b58ff37f62512aecdcd0e6aabfd9548"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Model.html#a8b58ff37f62512aecdcd0e6aabfd9548">Model</a> (<a class="el" href="classfranka_1_1Model.html">Model</a> &amp;&amp;model) noexcept</td></tr>
+<tr class="memdesc:a8b58ff37f62512aecdcd0e6aabfd9548"><td class="mdescLeft">&#160;</td><td class="mdescRight">Move-constructs a new <a class="el" href="classfranka_1_1Model.html" title="Calculates poses of joints and dynamic properties of the robot.">Model</a> instance.  <a href="classfranka_1_1Model.html#a8b58ff37f62512aecdcd0e6aabfd9548">More...</a><br /></td></tr>
+<tr class="separator:a8b58ff37f62512aecdcd0e6aabfd9548"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a625529a4c9aed7783c9c6e150dbba793"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classfranka_1_1Model.html">Model</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Model.html#a625529a4c9aed7783c9c6e150dbba793">operator=</a> (<a class="el" href="classfranka_1_1Model.html">Model</a> &amp;&amp;model) noexcept</td></tr>
+<tr class="memdesc:a625529a4c9aed7783c9c6e150dbba793"><td class="mdescLeft">&#160;</td><td class="mdescRight">Move-assigns this <a class="el" href="classfranka_1_1Model.html" title="Calculates poses of joints and dynamic properties of the robot.">Model</a> from another <a class="el" href="classfranka_1_1Model.html" title="Calculates poses of joints and dynamic properties of the robot.">Model</a> instance.  <a href="classfranka_1_1Model.html#a625529a4c9aed7783c9c6e150dbba793">More...</a><br /></td></tr>
+<tr class="separator:a625529a4c9aed7783c9c6e150dbba793"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1d6ffa26afc6cfdff7e329d15b8bd65e"><td class="memItemLeft" align="right" valign="top"><a id="a1d6ffa26afc6cfdff7e329d15b8bd65e"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Model.html#a1d6ffa26afc6cfdff7e329d15b8bd65e">~Model</a> () noexcept</td></tr>
+<tr class="memdesc:a1d6ffa26afc6cfdff7e329d15b8bd65e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Unloads the model library. <br /></td></tr>
+<tr class="separator:a1d6ffa26afc6cfdff7e329d15b8bd65e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a593c39dae76a6801cdd2402c2a783157"><td class="memItemLeft" align="right" valign="top">std::array&lt; double, 16 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Model.html#a593c39dae76a6801cdd2402c2a783157">pose</a> (<a class="el" href="model_8h.html#a00b729ddce916481d3f0d10febec4f5b">Frame</a> frame, const <a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a> &amp;robot_state) const</td></tr>
+<tr class="memdesc:a593c39dae76a6801cdd2402c2a783157"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the 4x4 pose matrix for the given frame in base frame.  <a href="classfranka_1_1Model.html#a593c39dae76a6801cdd2402c2a783157">More...</a><br /></td></tr>
+<tr class="separator:a593c39dae76a6801cdd2402c2a783157"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:adf4fdf0404c2acf783493f7e646a6281"><td class="memItemLeft" align="right" valign="top">std::array&lt; double, 16 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Model.html#adf4fdf0404c2acf783493f7e646a6281">pose</a> (<a class="el" href="model_8h.html#a00b729ddce916481d3f0d10febec4f5b">Frame</a> frame, const std::array&lt; double, 7 &gt; &amp;q, const std::array&lt; double, 16 &gt; &amp;F_T_EE, const std::array&lt; double, 16 &gt; &amp;EE_T_K) const</td></tr>
+<tr class="memdesc:adf4fdf0404c2acf783493f7e646a6281"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the 4x4 pose matrix for the given frame in base frame.  <a href="classfranka_1_1Model.html#adf4fdf0404c2acf783493f7e646a6281">More...</a><br /></td></tr>
+<tr class="separator:adf4fdf0404c2acf783493f7e646a6281"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a914a197a900a275799cf8d7461bb9d8a"><td class="memItemLeft" align="right" valign="top">std::array&lt; double, 42 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Model.html#a914a197a900a275799cf8d7461bb9d8a">bodyJacobian</a> (<a class="el" href="model_8h.html#a00b729ddce916481d3f0d10febec4f5b">Frame</a> frame, const <a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a> &amp;robot_state) const</td></tr>
+<tr class="memdesc:a914a197a900a275799cf8d7461bb9d8a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the 6x7 Jacobian for the given frame, relative to that frame.  <a href="classfranka_1_1Model.html#a914a197a900a275799cf8d7461bb9d8a">More...</a><br /></td></tr>
+<tr class="separator:a914a197a900a275799cf8d7461bb9d8a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9ceca00546fa221f15ddaa7c0d27c40e"><td class="memItemLeft" align="right" valign="top">std::array&lt; double, 42 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Model.html#a9ceca00546fa221f15ddaa7c0d27c40e">bodyJacobian</a> (<a class="el" href="model_8h.html#a00b729ddce916481d3f0d10febec4f5b">Frame</a> frame, const std::array&lt; double, 7 &gt; &amp;q, const std::array&lt; double, 16 &gt; &amp;F_T_EE, const std::array&lt; double, 16 &gt; &amp;EE_T_K) const</td></tr>
+<tr class="memdesc:a9ceca00546fa221f15ddaa7c0d27c40e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the 6x7 Jacobian for the given frame, relative to that frame.  <a href="classfranka_1_1Model.html#a9ceca00546fa221f15ddaa7c0d27c40e">More...</a><br /></td></tr>
+<tr class="separator:a9ceca00546fa221f15ddaa7c0d27c40e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6fb6347b571a6759bad10b3a9e28a28f"><td class="memItemLeft" align="right" valign="top">std::array&lt; double, 42 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Model.html#a6fb6347b571a6759bad10b3a9e28a28f">zeroJacobian</a> (<a class="el" href="model_8h.html#a00b729ddce916481d3f0d10febec4f5b">Frame</a> frame, const <a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a> &amp;robot_state) const</td></tr>
+<tr class="memdesc:a6fb6347b571a6759bad10b3a9e28a28f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the 6x7 Jacobian for the given joint relative to the base frame.  <a href="classfranka_1_1Model.html#a6fb6347b571a6759bad10b3a9e28a28f">More...</a><br /></td></tr>
+<tr class="separator:a6fb6347b571a6759bad10b3a9e28a28f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6522f1079e1dc5f6799dde6197b45259"><td class="memItemLeft" align="right" valign="top">std::array&lt; double, 42 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Model.html#a6522f1079e1dc5f6799dde6197b45259">zeroJacobian</a> (<a class="el" href="model_8h.html#a00b729ddce916481d3f0d10febec4f5b">Frame</a> frame, const std::array&lt; double, 7 &gt; &amp;q, const std::array&lt; double, 16 &gt; &amp;F_T_EE, const std::array&lt; double, 16 &gt; &amp;EE_T_K) const</td></tr>
+<tr class="memdesc:a6522f1079e1dc5f6799dde6197b45259"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the 6x7 Jacobian for the given joint relative to the base frame.  <a href="classfranka_1_1Model.html#a6522f1079e1dc5f6799dde6197b45259">More...</a><br /></td></tr>
+<tr class="separator:a6522f1079e1dc5f6799dde6197b45259"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad5f6156064bc18e42fc0b6d2f36b2006"><td class="memItemLeft" align="right" valign="top">std::array&lt; double, 49 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Model.html#ad5f6156064bc18e42fc0b6d2f36b2006">mass</a> (const <a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a> &amp;robot_state) const noexcept</td></tr>
+<tr class="memdesc:ad5f6156064bc18e42fc0b6d2f36b2006"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calculates the 7x7 mass matrix.  <a href="classfranka_1_1Model.html#ad5f6156064bc18e42fc0b6d2f36b2006">More...</a><br /></td></tr>
+<tr class="separator:ad5f6156064bc18e42fc0b6d2f36b2006"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a61c3a8968e927c8629f1d549d20aaf85"><td class="memItemLeft" align="right" valign="top">std::array&lt; double, 49 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Model.html#a61c3a8968e927c8629f1d549d20aaf85">mass</a> (const std::array&lt; double, 7 &gt; &amp;q, const std::array&lt; double, 9 &gt; &amp;I_total, double m_total, const std::array&lt; double, 3 &gt; &amp;F_x_Ctotal) const noexcept</td></tr>
+<tr class="memdesc:a61c3a8968e927c8629f1d549d20aaf85"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calculates the 7x7 mass matrix.  <a href="classfranka_1_1Model.html#a61c3a8968e927c8629f1d549d20aaf85">More...</a><br /></td></tr>
+<tr class="separator:a61c3a8968e927c8629f1d549d20aaf85"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a91424f181a93bb47bda6af2d3567c65c"><td class="memItemLeft" align="right" valign="top">std::array&lt; double, 7 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Model.html#a91424f181a93bb47bda6af2d3567c65c">coriolis</a> (const <a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a> &amp;robot_state) const noexcept</td></tr>
+<tr class="memdesc:a91424f181a93bb47bda6af2d3567c65c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calculates the Coriolis force vector (state-space equation): \( c= C \times dq\), in \([Nm]\).  <a href="classfranka_1_1Model.html#a91424f181a93bb47bda6af2d3567c65c">More...</a><br /></td></tr>
+<tr class="separator:a91424f181a93bb47bda6af2d3567c65c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3445ad932ddda2e3540768af9b7b4852"><td class="memItemLeft" align="right" valign="top">std::array&lt; double, 7 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Model.html#a3445ad932ddda2e3540768af9b7b4852">coriolis</a> (const std::array&lt; double, 7 &gt; &amp;q, const std::array&lt; double, 7 &gt; &amp;dq, const std::array&lt; double, 9 &gt; &amp;I_total, double m_total, const std::array&lt; double, 3 &gt; &amp;F_x_Ctotal) const noexcept</td></tr>
+<tr class="memdesc:a3445ad932ddda2e3540768af9b7b4852"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calculates the Coriolis force vector (state-space equation): \( c= C \times dq\), in \([Nm]\).  <a href="classfranka_1_1Model.html#a3445ad932ddda2e3540768af9b7b4852">More...</a><br /></td></tr>
+<tr class="separator:a3445ad932ddda2e3540768af9b7b4852"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9b28a648cf413297d80f383e62363ab9"><td class="memItemLeft" align="right" valign="top">std::array&lt; double, 7 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Model.html#a9b28a648cf413297d80f383e62363ab9">gravity</a> (const std::array&lt; double, 7 &gt; &amp;q, double m_total, const std::array&lt; double, 3 &gt; &amp;F_x_Ctotal, const std::array&lt; double, 3 &gt; &amp;gravity_earth={{0., 0., -9.81}}) const noexcept</td></tr>
+<tr class="memdesc:a9b28a648cf413297d80f383e62363ab9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calculates the gravity vector.  <a href="classfranka_1_1Model.html#a9b28a648cf413297d80f383e62363ab9">More...</a><br /></td></tr>
+<tr class="separator:a9b28a648cf413297d80f383e62363ab9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a76a94e1ddb45cf1cdded25be4cf2dcae"><td class="memItemLeft" align="right" valign="top">std::array&lt; double, 7 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Model.html#a76a94e1ddb45cf1cdded25be4cf2dcae">gravity</a> (const <a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a> &amp;robot_state, const std::array&lt; double, 3 &gt; &amp;gravity_earth) const noexcept</td></tr>
+<tr class="memdesc:a76a94e1ddb45cf1cdded25be4cf2dcae"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calculates the gravity vector.  <a href="classfranka_1_1Model.html#a76a94e1ddb45cf1cdded25be4cf2dcae">More...</a><br /></td></tr>
+<tr class="separator:a76a94e1ddb45cf1cdded25be4cf2dcae"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a983611785e894e1cd1f07a2df97ddbdd"><td class="memItemLeft" align="right" valign="top">std::array&lt; double, 7 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Model.html#a983611785e894e1cd1f07a2df97ddbdd">gravity</a> (const <a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a> &amp;robot_state) const noexcept</td></tr>
+<tr class="memdesc:a983611785e894e1cd1f07a2df97ddbdd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calculates the gravity vector using the robot state.  <a href="classfranka_1_1Model.html#a983611785e894e1cd1f07a2df97ddbdd">More...</a><br /></td></tr>
+<tr class="separator:a983611785e894e1cd1f07a2df97ddbdd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Calculates poses of joints and dynamic properties of the robot. </p>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="cartesian_impedance_control_8cpp-example.html#_a2">cartesian_impedance_control.cpp</a>, <a class="el" href="force_control_8cpp-example.html#_a2">force_control.cpp</a>, <a class="el" href="joint_impedance_control_8cpp-example.html#_a5">joint_impedance_control.cpp</a>, and <a class="el" href="print_joint_poses_8cpp-example.html#_a3">print_joint_poses.cpp</a>.</dd>
+</dl>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a751d939935eb51f06dcfd18c6c756ceb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a751d939935eb51f06dcfd18c6c756ceb">&#9670;&nbsp;</a></span>Model() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">franka::Model::Model </td>
+          <td>(</td>
+          <td class="paramtype">franka::Network &amp;&#160;</td>
+          <td class="paramname"><em>network</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">explicit</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Creates a new <a class="el" href="classfranka_1_1Model.html" title="Calculates poses of joints and dynamic properties of the robot.">Model</a> instance. </p>
+<p>This constructor is for internal use only.</p>
+<dl class="section see"><dt>See also</dt><dd><a class="el" href="classfranka_1_1Robot.html#a2da598c539469827409ac7e3bb61d5da" title="Loads the model library from the robot.">Robot::loadModel</a></dd></dl>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">network</td><td>For internal use.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1ModelException.html" title="ModelException is thrown if an error occurs when loading the model library.">ModelException</a></td><td>if the model library cannot be loaded. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a8b58ff37f62512aecdcd0e6aabfd9548"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8b58ff37f62512aecdcd0e6aabfd9548">&#9670;&nbsp;</a></span>Model() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">franka::Model::Model </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="classfranka_1_1Model.html">Model</a> &amp;&amp;&#160;</td>
+          <td class="paramname"><em>model</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Move-constructs a new <a class="el" href="classfranka_1_1Model.html" title="Calculates poses of joints and dynamic properties of the robot.">Model</a> instance. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">model</td><td>Other <a class="el" href="classfranka_1_1Model.html" title="Calculates poses of joints and dynamic properties of the robot.">Model</a> instance. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a914a197a900a275799cf8d7461bb9d8a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a914a197a900a275799cf8d7461bb9d8a">&#9670;&nbsp;</a></span>bodyJacobian() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::array&lt;double, 42&gt; franka::Model::bodyJacobian </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="model_8h.html#a00b729ddce916481d3f0d10febec4f5b">Frame</a>&#160;</td>
+          <td class="paramname"><em>frame</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a> &amp;&#160;</td>
+          <td class="paramname"><em>robot_state</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Gets the 6x7 Jacobian for the given frame, relative to that frame. </p>
+<p>The Jacobian is represented as a 6x7 matrix in column-major format.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">frame</td><td>The desired frame. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">robot_state</td><td>State from which the pose should be calculated.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Vectorized 6x7 Jacobian, column-major. </dd></dl>
+
+</div>
+</div>
+<a id="a9ceca00546fa221f15ddaa7c0d27c40e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9ceca00546fa221f15ddaa7c0d27c40e">&#9670;&nbsp;</a></span>bodyJacobian() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::array&lt;double, 42&gt; franka::Model::bodyJacobian </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="model_8h.html#a00b729ddce916481d3f0d10febec4f5b">Frame</a>&#160;</td>
+          <td class="paramname"><em>frame</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::array&lt; double, 7 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>q</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::array&lt; double, 16 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>F_T_EE</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::array&lt; double, 16 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>EE_T_K</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Gets the 6x7 Jacobian for the given frame, relative to that frame. </p>
+<p>The Jacobian is represented as a 6x7 matrix in column-major format.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">frame</td><td>The desired frame. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">q</td><td>Joint position. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">F_T_EE</td><td>End effector in flange frame. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">EE_T_K</td><td>Stiffness frame K in the end effector frame.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Vectorized 6x7 Jacobian, column-major. </dd></dl>
+
+</div>
+</div>
+<a id="a91424f181a93bb47bda6af2d3567c65c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a91424f181a93bb47bda6af2d3567c65c">&#9670;&nbsp;</a></span>coriolis() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::array&lt;double, 7&gt; franka::Model::coriolis </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a> &amp;&#160;</td>
+          <td class="paramname"><em>robot_state</em></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Calculates the Coriolis force vector (state-space equation): \( c= C \times dq\), in \([Nm]\). </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">robot_state</td><td>State from which the Coriolis force vector should be calculated.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Coriolis force vector. </dd></dl>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="cartesian_impedance_control_8cpp-example.html#a10">cartesian_impedance_control.cpp</a>.</dd>
+</dl>
+
+</div>
+</div>
+<a id="a3445ad932ddda2e3540768af9b7b4852"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3445ad932ddda2e3540768af9b7b4852">&#9670;&nbsp;</a></span>coriolis() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::array&lt;double, 7&gt; franka::Model::coriolis </td>
+          <td>(</td>
+          <td class="paramtype">const std::array&lt; double, 7 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>q</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::array&lt; double, 7 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>dq</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::array&lt; double, 9 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>I_total</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>m_total</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::array&lt; double, 3 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>F_x_Ctotal</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Calculates the Coriolis force vector (state-space equation): \( c= C \times dq\), in \([Nm]\). </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">q</td><td>Joint position. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">dq</td><td>Joint velocity. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">I_total</td><td>Inertia of the attached total load including end effector, relative to center of mass, given as vectorized 3x3 column-major matrix. Unit: \([kg \times m^2]\). </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">m_total</td><td>Weight of the attached total load including end effector. Unit: \([kg]\). </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">F_x_Ctotal</td><td>Translation from flange to center of mass of the attached total load. Unit: \([m]\).</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Coriolis force vector. </dd></dl>
+
+</div>
+</div>
+<a id="a983611785e894e1cd1f07a2df97ddbdd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a983611785e894e1cd1f07a2df97ddbdd">&#9670;&nbsp;</a></span>gravity() <span class="overload">[1/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::array&lt;double, 7&gt; franka::Model::gravity </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a> &amp;&#160;</td>
+          <td class="paramname"><em>robot_state</em></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Calculates the gravity vector using the robot state. </p>
+<p>Unit: \([Nm]\).</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">robot_state</td><td>State from which the gravity vector should be calculated.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Gravity vector. </dd></dl>
+
+</div>
+</div>
+<a id="a76a94e1ddb45cf1cdded25be4cf2dcae"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a76a94e1ddb45cf1cdded25be4cf2dcae">&#9670;&nbsp;</a></span>gravity() <span class="overload">[2/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::array&lt;double, 7&gt; franka::Model::gravity </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a> &amp;&#160;</td>
+          <td class="paramname"><em>robot_state</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::array&lt; double, 3 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>gravity_earth</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Calculates the gravity vector. </p>
+<p>Unit: \([Nm]\).</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">robot_state</td><td>State from which the gravity vector should be calculated. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">gravity_earth</td><td>Earth's gravity vector. Unit: \(\frac{m}{s^2}\).</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Gravity vector. </dd></dl>
+
+</div>
+</div>
+<a id="a9b28a648cf413297d80f383e62363ab9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9b28a648cf413297d80f383e62363ab9">&#9670;&nbsp;</a></span>gravity() <span class="overload">[3/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::array&lt;double, 7&gt; franka::Model::gravity </td>
+          <td>(</td>
+          <td class="paramtype">const std::array&lt; double, 7 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>q</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>m_total</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::array&lt; double, 3 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>F_x_Ctotal</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::array&lt; double, 3 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>gravity_earth</em> = <code>{{0.,&#160;0.,&#160;-9.81}}</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Calculates the gravity vector. </p>
+<p>Unit: \([Nm]\).</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">q</td><td>Joint position. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">m_total</td><td>Weight of the attached total load including end effector. Unit: \([kg]\). </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">F_x_Ctotal</td><td>Translation from flange to center of mass of the attached total load. Unit: \([m]\). </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">gravity_earth</td><td>Earth's gravity vector. Unit: \(\frac{m}{s^2}\). Default to {0.0, 0.0, -9.81}.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Gravity vector. </dd></dl>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="force_control_8cpp-example.html#a7">force_control.cpp</a>.</dd>
+</dl>
+
+</div>
+</div>
+<a id="ad5f6156064bc18e42fc0b6d2f36b2006"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad5f6156064bc18e42fc0b6d2f36b2006">&#9670;&nbsp;</a></span>mass() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::array&lt;double, 49&gt; franka::Model::mass </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a> &amp;&#160;</td>
+          <td class="paramname"><em>robot_state</em></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Calculates the 7x7 mass matrix. </p>
+<p>Unit: \([kg \times m^2]\).</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">robot_state</td><td>State from which the mass matrix should be calculated.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Vectorized 7x7 mass matrix, column-major. </dd></dl>
+
+</div>
+</div>
+<a id="a61c3a8968e927c8629f1d549d20aaf85"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a61c3a8968e927c8629f1d549d20aaf85">&#9670;&nbsp;</a></span>mass() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::array&lt;double, 49&gt; franka::Model::mass </td>
+          <td>(</td>
+          <td class="paramtype">const std::array&lt; double, 7 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>q</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::array&lt; double, 9 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>I_total</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>m_total</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::array&lt; double, 3 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>F_x_Ctotal</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Calculates the 7x7 mass matrix. </p>
+<p>Unit: \([kg \times m^2]\).</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">q</td><td>Joint position. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">I_total</td><td>Inertia of the attached total load including end effector, relative to center of mass, given as vectorized 3x3 column-major matrix. Unit: \([kg \times m^2]\). </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">m_total</td><td>Weight of the attached total load including end effector. Unit: \([kg]\). </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">F_x_Ctotal</td><td>Translation from flange to center of mass of the attached total load. Unit: \([m]\).</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Vectorized 7x7 mass matrix, column-major. </dd></dl>
+
+</div>
+</div>
+<a id="a625529a4c9aed7783c9c6e150dbba793"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a625529a4c9aed7783c9c6e150dbba793">&#9670;&nbsp;</a></span>operator=()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classfranka_1_1Model.html">Model</a>&amp; franka::Model::operator= </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="classfranka_1_1Model.html">Model</a> &amp;&amp;&#160;</td>
+          <td class="paramname"><em>model</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Move-assigns this <a class="el" href="classfranka_1_1Model.html" title="Calculates poses of joints and dynamic properties of the robot.">Model</a> from another <a class="el" href="classfranka_1_1Model.html" title="Calculates poses of joints and dynamic properties of the robot.">Model</a> instance. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">model</td><td>Other <a class="el" href="classfranka_1_1Model.html" title="Calculates poses of joints and dynamic properties of the robot.">Model</a> instance.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classfranka_1_1Model.html" title="Calculates poses of joints and dynamic properties of the robot.">Model</a> instance. </dd></dl>
+
+</div>
+</div>
+<a id="a593c39dae76a6801cdd2402c2a783157"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a593c39dae76a6801cdd2402c2a783157">&#9670;&nbsp;</a></span>pose() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::array&lt;double, 16&gt; franka::Model::pose </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="model_8h.html#a00b729ddce916481d3f0d10febec4f5b">Frame</a>&#160;</td>
+          <td class="paramname"><em>frame</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a> &amp;&#160;</td>
+          <td class="paramname"><em>robot_state</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Gets the 4x4 pose matrix for the given frame in base frame. </p>
+<p>The pose is represented as a 4x4 matrix in column-major format.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">frame</td><td>The desired frame. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">robot_state</td><td>State from which the pose should be calculated.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Vectorized 4x4 pose matrix, column-major. </dd></dl>
+
+</div>
+</div>
+<a id="adf4fdf0404c2acf783493f7e646a6281"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adf4fdf0404c2acf783493f7e646a6281">&#9670;&nbsp;</a></span>pose() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::array&lt;double, 16&gt; franka::Model::pose </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="model_8h.html#a00b729ddce916481d3f0d10febec4f5b">Frame</a>&#160;</td>
+          <td class="paramname"><em>frame</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::array&lt; double, 7 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>q</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::array&lt; double, 16 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>F_T_EE</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::array&lt; double, 16 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>EE_T_K</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Gets the 4x4 pose matrix for the given frame in base frame. </p>
+<p>The pose is represented as a 4x4 matrix in column-major format.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">frame</td><td>The desired frame. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">q</td><td>Joint position. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">F_T_EE</td><td>End effector in flange frame. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">EE_T_K</td><td>Stiffness frame K in the end effector frame.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Vectorized 4x4 pose matrix, column-major. </dd></dl>
+
+</div>
+</div>
+<a id="a6fb6347b571a6759bad10b3a9e28a28f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6fb6347b571a6759bad10b3a9e28a28f">&#9670;&nbsp;</a></span>zeroJacobian() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::array&lt;double, 42&gt; franka::Model::zeroJacobian </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="model_8h.html#a00b729ddce916481d3f0d10febec4f5b">Frame</a>&#160;</td>
+          <td class="paramname"><em>frame</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a> &amp;&#160;</td>
+          <td class="paramname"><em>robot_state</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Gets the 6x7 Jacobian for the given joint relative to the base frame. </p>
+<p>The Jacobian is represented as a 6x7 matrix in column-major format.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">frame</td><td>The desired frame. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">robot_state</td><td>State from which the pose should be calculated.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Vectorized 6x7 Jacobian, column-major. </dd></dl>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="cartesian_impedance_control_8cpp-example.html#a11">cartesian_impedance_control.cpp</a>, and <a class="el" href="force_control_8cpp-example.html#a11">force_control.cpp</a>.</dd>
+</dl>
+
+</div>
+</div>
+<a id="a6522f1079e1dc5f6799dde6197b45259"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6522f1079e1dc5f6799dde6197b45259">&#9670;&nbsp;</a></span>zeroJacobian() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::array&lt;double, 42&gt; franka::Model::zeroJacobian </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="model_8h.html#a00b729ddce916481d3f0d10febec4f5b">Frame</a>&#160;</td>
+          <td class="paramname"><em>frame</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::array&lt; double, 7 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>q</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::array&lt; double, 16 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>F_T_EE</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::array&lt; double, 16 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>EE_T_K</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Gets the 6x7 Jacobian for the given joint relative to the base frame. </p>
+<p>The Jacobian is represented as a 6x7 matrix in column-major format.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">frame</td><td>The desired frame. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">q</td><td>Joint position. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">F_T_EE</td><td>End effector in flange frame. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">EE_T_K</td><td>Stiffness frame K in the end effector frame.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Vectorized 6x7 Jacobian, column-major. </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>include/franka/<a class="el" href="model_8h_source.html">model.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/0.13.6/classfranka_1_1Robot-members.html b/0.13.6/classfranka_1_1Robot-members.html
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+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
+  </td>
+ </tr>
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>franka</b></li><li class="navelem"><a class="el" href="classfranka_1_1Robot.html">Robot</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">franka::Robot Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classfranka_1_1Robot.html">franka::Robot</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1Robot.html#af682aa673415718715bd859116bc2fed">automaticErrorRecovery</a>()</td><td class="entry"><a class="el" href="classfranka_1_1Robot.html">franka::Robot</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1Robot.html#a0d5effba5daff2fee123802bbd5f95d1">control</a>(std::function&lt; Torques(const RobotState &amp;, franka::Duration)&gt; control_callback, bool limit_rate=false, double cutoff_frequency=kDefaultCutoffFrequency)</td><td class="entry"><a class="el" href="classfranka_1_1Robot.html">franka::Robot</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1Robot.html#a4b625b781d388f3379e0961c724239d5">control</a>(std::function&lt; Torques(const RobotState &amp;, franka::Duration)&gt; control_callback, std::function&lt; JointPositions(const RobotState &amp;, franka::Duration)&gt; motion_generator_callback, bool limit_rate=false, double cutoff_frequency=kDefaultCutoffFrequency)</td><td class="entry"><a class="el" href="classfranka_1_1Robot.html">franka::Robot</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1Robot.html#a76e8b7a9c7e2b874c3e300ba7cdeb8ca">control</a>(std::function&lt; Torques(const RobotState &amp;, franka::Duration)&gt; control_callback, std::function&lt; JointVelocities(const RobotState &amp;, franka::Duration)&gt; motion_generator_callback, bool limit_rate=false, double cutoff_frequency=kDefaultCutoffFrequency)</td><td class="entry"><a class="el" href="classfranka_1_1Robot.html">franka::Robot</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1Robot.html#a4ce9fd531f97c8cc943dd2479298a55f">control</a>(std::function&lt; Torques(const RobotState &amp;, franka::Duration)&gt; control_callback, std::function&lt; CartesianPose(const RobotState &amp;, franka::Duration)&gt; motion_generator_callback, bool limit_rate=false, double cutoff_frequency=kDefaultCutoffFrequency)</td><td class="entry"><a class="el" href="classfranka_1_1Robot.html">franka::Robot</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1Robot.html#aeb276d0a0e55f032841976de7db86f5a">control</a>(std::function&lt; Torques(const RobotState &amp;, franka::Duration)&gt; control_callback, std::function&lt; CartesianVelocities(const RobotState &amp;, franka::Duration)&gt; motion_generator_callback, bool limit_rate=false, double cutoff_frequency=kDefaultCutoffFrequency)</td><td class="entry"><a class="el" href="classfranka_1_1Robot.html">franka::Robot</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1Robot.html#a7fef8f6418cff168f680ac7c61a6b5cd">control</a>(std::function&lt; JointPositions(const RobotState &amp;, franka::Duration)&gt; motion_generator_callback, ControllerMode controller_mode=ControllerMode::kJointImpedance, bool limit_rate=false, double cutoff_frequency=kDefaultCutoffFrequency)</td><td class="entry"><a class="el" href="classfranka_1_1Robot.html">franka::Robot</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1Robot.html#a6ba6193e52178899dc8c6a34aa4c537c">control</a>(std::function&lt; JointVelocities(const RobotState &amp;, franka::Duration)&gt; motion_generator_callback, ControllerMode controller_mode=ControllerMode::kJointImpedance, bool limit_rate=false, double cutoff_frequency=kDefaultCutoffFrequency)</td><td class="entry"><a class="el" href="classfranka_1_1Robot.html">franka::Robot</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1Robot.html#adce4add23b47befadccd30e3dbe9f2f4">control</a>(std::function&lt; CartesianPose(const RobotState &amp;, franka::Duration)&gt; motion_generator_callback, ControllerMode controller_mode=ControllerMode::kJointImpedance, bool limit_rate=false, double cutoff_frequency=kDefaultCutoffFrequency)</td><td class="entry"><a class="el" href="classfranka_1_1Robot.html">franka::Robot</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1Robot.html#a2176c99664b83bb394f0b2dfd416a8ee">control</a>(std::function&lt; CartesianVelocities(const RobotState &amp;, franka::Duration)&gt; motion_generator_callback, ControllerMode controller_mode=ControllerMode::kJointImpedance, bool limit_rate=false, double cutoff_frequency=kDefaultCutoffFrequency)</td><td class="entry"><a class="el" href="classfranka_1_1Robot.html">franka::Robot</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1Robot.html#a2da598c539469827409ac7e3bb61d5da">loadModel</a>()</td><td class="entry"><a class="el" href="classfranka_1_1Robot.html">franka::Robot</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1Robot.html#a35465b8497a7adbd277e70e98b7d97a7">operator=</a>(Robot &amp;&amp;other) noexcept</td><td class="entry"><a class="el" href="classfranka_1_1Robot.html">franka::Robot</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1Robot.html#a82f85eed20426901a7e77b66c041664b">read</a>(std::function&lt; bool(const RobotState &amp;)&gt; read_callback)</td><td class="entry"><a class="el" href="classfranka_1_1Robot.html">franka::Robot</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1Robot.html#ae3c3d7c5c4491a1e96a0a543931e899a">readOnce</a>()</td><td class="entry"><a class="el" href="classfranka_1_1Robot.html">franka::Robot</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1Robot.html#ae63bc19390df3d54f3a270814df35eb6">Robot</a>(const std::string &amp;franka_address, RealtimeConfig realtime_config=RealtimeConfig::kEnforce, size_t log_size=50)</td><td class="entry"><a class="el" href="classfranka_1_1Robot.html">franka::Robot</a></td><td class="entry"><span class="mlabel">explicit</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1Robot.html#a378d415475336082e81a35b9811dc6c2">Robot</a>(Robot &amp;&amp;other) noexcept</td><td class="entry"><a class="el" href="classfranka_1_1Robot.html">franka::Robot</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1Robot.html#a7cb49336d7e8b261b590a364daff2913">Robot</a>(std::shared_ptr&lt; Impl &gt; robot_impl)</td><td class="entry"><a class="el" href="classfranka_1_1Robot.html">franka::Robot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1Robot.html#abf60ce0434f4dc262f04fcab0beff5ac">Robot</a>()=default</td><td class="entry"><a class="el" href="classfranka_1_1Robot.html">franka::Robot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1Robot.html#a3b864e16b7accafdf1a755dc21765701">serverVersion</a>() const noexcept</td><td class="entry"><a class="el" href="classfranka_1_1Robot.html">franka::Robot</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1Robot.html#ad1dd3dccff6f33691d2c66eaa5ac5a10">ServerVersion</a> typedef</td><td class="entry"><a class="el" href="classfranka_1_1Robot.html">franka::Robot</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1Robot.html#ac2678c5c31cc8c0627ecda7485f81f6d">setCartesianImpedance</a>(const std::array&lt; double, 6 &gt; &amp;K_x)</td><td class="entry"><a class="el" href="classfranka_1_1Robot.html">franka::Robot</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1Robot.html#a168e1214ac36d74ac64f894332b84534">setCollisionBehavior</a>(const std::array&lt; double, 7 &gt; &amp;lower_torque_thresholds_acceleration, const std::array&lt; double, 7 &gt; &amp;upper_torque_thresholds_acceleration, const std::array&lt; double, 7 &gt; &amp;lower_torque_thresholds_nominal, const std::array&lt; double, 7 &gt; &amp;upper_torque_thresholds_nominal, const std::array&lt; double, 6 &gt; &amp;lower_force_thresholds_acceleration, const std::array&lt; double, 6 &gt; &amp;upper_force_thresholds_acceleration, const std::array&lt; double, 6 &gt; &amp;lower_force_thresholds_nominal, const std::array&lt; double, 6 &gt; &amp;upper_force_thresholds_nominal)</td><td class="entry"><a class="el" href="classfranka_1_1Robot.html">franka::Robot</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1Robot.html#aa188f58c9025594be4d1700da744a962">setCollisionBehavior</a>(const std::array&lt; double, 7 &gt; &amp;lower_torque_thresholds, const std::array&lt; double, 7 &gt; &amp;upper_torque_thresholds, const std::array&lt; double, 6 &gt; &amp;lower_force_thresholds, const std::array&lt; double, 6 &gt; &amp;upper_force_thresholds)</td><td class="entry"><a class="el" href="classfranka_1_1Robot.html">franka::Robot</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1Robot.html#aec4abdefbc0f9a7400a36bfa0a6068af">setEE</a>(const std::array&lt; double, 16 &gt; &amp;NE_T_EE)</td><td class="entry"><a class="el" href="classfranka_1_1Robot.html">franka::Robot</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1Robot.html#a7992cee203e66f9a61fe2f318ef88a26">setGuidingMode</a>(const std::array&lt; bool, 6 &gt; &amp;guiding_mode, bool elbow)</td><td class="entry"><a class="el" href="classfranka_1_1Robot.html">franka::Robot</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1Robot.html#aa18a28697cf6e3be16c6cff2dd839560">setJointImpedance</a>(const std::array&lt; double, 7 &gt; &amp;K_theta)</td><td class="entry"><a class="el" href="classfranka_1_1Robot.html">franka::Robot</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1Robot.html#ad1cf59d1b11306d80cd3c7144a989c56">setK</a>(const std::array&lt; double, 16 &gt; &amp;EE_T_K)</td><td class="entry"><a class="el" href="classfranka_1_1Robot.html">franka::Robot</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1Robot.html#afcb708df10f24563dbcf7d5b907b4a15">setLoad</a>(double load_mass, const std::array&lt; double, 3 &gt; &amp;F_x_Cload, const std::array&lt; double, 9 &gt; &amp;load_inertia)</td><td class="entry"><a class="el" href="classfranka_1_1Robot.html">franka::Robot</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1Robot.html#a3822866cf931fab955d3dcfc6cf746e5">startCartesianPoseControl</a>(const research_interface::robot::Move::ControllerMode &amp;control_type)</td><td class="entry"><a class="el" href="classfranka_1_1Robot.html">franka::Robot</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1Robot.html#a838e2cfba6b08dd87742bbcfe62f15bf">startCartesianVelocityControl</a>(const research_interface::robot::Move::ControllerMode &amp;control_type)</td><td class="entry"><a class="el" href="classfranka_1_1Robot.html">franka::Robot</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1Robot.html#aca7ecf76cf9c5af49cc5a878c91e19a9">startJointPositionControl</a>(const research_interface::robot::Move::ControllerMode &amp;control_type)</td><td class="entry"><a class="el" href="classfranka_1_1Robot.html">franka::Robot</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1Robot.html#ae9c867d10817b2485e306450f389a009">startJointVelocityControl</a>(const research_interface::robot::Move::ControllerMode &amp;control_type)</td><td class="entry"><a class="el" href="classfranka_1_1Robot.html">franka::Robot</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1Robot.html#a8146de9e50217068672b6f726a91de91">startTorqueControl</a>()</td><td class="entry"><a class="el" href="classfranka_1_1Robot.html">franka::Robot</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1Robot.html#a69cb08e075a81ecf3f26e94d26a06296">stop</a>()</td><td class="entry"><a class="el" href="classfranka_1_1Robot.html">franka::Robot</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1Robot.html#ac19400de0fd39852d5825b1f1ccc85e2">~Robot</a>() noexcept</td><td class="entry"><a class="el" href="classfranka_1_1Robot.html">franka::Robot</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
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+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
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+  <ul>
+<li class="navelem"><b>franka</b></li><li class="navelem"><a class="el" href="classfranka_1_1Robot.html">Robot</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pro-methods">Protected Member Functions</a> &#124;
+<a href="classfranka_1_1Robot-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">franka::Robot Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Maintains a network connection to the robot, provides the current robot state, gives access to the model library and allows to control the robot.  
+ <a href="classfranka_1_1Robot.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="robot_8h_source.html">robot.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
+Public Types</h2></td></tr>
+<tr class="memitem:ad1dd3dccff6f33691d2c66eaa5ac5a10"><td class="memItemLeft" align="right" valign="top"><a id="ad1dd3dccff6f33691d2c66eaa5ac5a10"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Robot.html#ad1dd3dccff6f33691d2c66eaa5ac5a10">ServerVersion</a> = uint16_t</td></tr>
+<tr class="memdesc:ad1dd3dccff6f33691d2c66eaa5ac5a10"><td class="mdescLeft">&#160;</td><td class="mdescRight">Version of the robot server. <br /></td></tr>
+<tr class="separator:ad1dd3dccff6f33691d2c66eaa5ac5a10"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:ae63bc19390df3d54f3a270814df35eb6"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Robot.html#ae63bc19390df3d54f3a270814df35eb6">Robot</a> (const std::string &amp;franka_address, <a class="el" href="control__types_8h.html#aeede4f4629390fea21ca5e5a35a8a943">RealtimeConfig</a> realtime_config=RealtimeConfig::kEnforce, size_t log_size=50)</td></tr>
+<tr class="memdesc:ae63bc19390df3d54f3a270814df35eb6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Establishes a connection with the robot.  <a href="classfranka_1_1Robot.html#ae63bc19390df3d54f3a270814df35eb6">More...</a><br /></td></tr>
+<tr class="separator:ae63bc19390df3d54f3a270814df35eb6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a378d415475336082e81a35b9811dc6c2"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Robot.html#a378d415475336082e81a35b9811dc6c2">Robot</a> (<a class="el" href="classfranka_1_1Robot.html">Robot</a> &amp;&amp;other) noexcept</td></tr>
+<tr class="memdesc:a378d415475336082e81a35b9811dc6c2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Move-constructs a new <a class="el" href="classfranka_1_1Robot.html" title="Maintains a network connection to the robot, provides the current robot state, gives access to the mo...">Robot</a> instance.  <a href="classfranka_1_1Robot.html#a378d415475336082e81a35b9811dc6c2">More...</a><br /></td></tr>
+<tr class="separator:a378d415475336082e81a35b9811dc6c2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a35465b8497a7adbd277e70e98b7d97a7"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classfranka_1_1Robot.html">Robot</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Robot.html#a35465b8497a7adbd277e70e98b7d97a7">operator=</a> (<a class="el" href="classfranka_1_1Robot.html">Robot</a> &amp;&amp;other) noexcept</td></tr>
+<tr class="memdesc:a35465b8497a7adbd277e70e98b7d97a7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Move-assigns this <a class="el" href="classfranka_1_1Robot.html" title="Maintains a network connection to the robot, provides the current robot state, gives access to the mo...">Robot</a> from another <a class="el" href="classfranka_1_1Robot.html" title="Maintains a network connection to the robot, provides the current robot state, gives access to the mo...">Robot</a> instance.  <a href="classfranka_1_1Robot.html#a35465b8497a7adbd277e70e98b7d97a7">More...</a><br /></td></tr>
+<tr class="separator:a35465b8497a7adbd277e70e98b7d97a7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac19400de0fd39852d5825b1f1ccc85e2"><td class="memItemLeft" align="right" valign="top"><a id="ac19400de0fd39852d5825b1f1ccc85e2"></a>
+virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Robot.html#ac19400de0fd39852d5825b1f1ccc85e2">~Robot</a> () noexcept</td></tr>
+<tr class="memdesc:ac19400de0fd39852d5825b1f1ccc85e2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Closes the connection. <br /></td></tr>
+<tr class="separator:ac19400de0fd39852d5825b1f1ccc85e2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a82f85eed20426901a7e77b66c041664b"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Robot.html#a82f85eed20426901a7e77b66c041664b">read</a> (std::function&lt; bool(const <a class="el" href="structfranka_1_1RobotState.html">RobotState</a> &amp;)&gt; read_callback)</td></tr>
+<tr class="memdesc:a82f85eed20426901a7e77b66c041664b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Starts a loop for reading the current robot state.  <a href="classfranka_1_1Robot.html#a82f85eed20426901a7e77b66c041664b">More...</a><br /></td></tr>
+<tr class="separator:a82f85eed20426901a7e77b66c041664b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae3c3d7c5c4491a1e96a0a543931e899a"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="structfranka_1_1RobotState.html">RobotState</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Robot.html#ae3c3d7c5c4491a1e96a0a543931e899a">readOnce</a> ()</td></tr>
+<tr class="memdesc:ae3c3d7c5c4491a1e96a0a543931e899a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Waits for a robot state update and returns it.  <a href="classfranka_1_1Robot.html#ae3c3d7c5c4491a1e96a0a543931e899a">More...</a><br /></td></tr>
+<tr class="separator:ae3c3d7c5c4491a1e96a0a543931e899a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2da598c539469827409ac7e3bb61d5da"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classfranka_1_1Model.html">Model</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Robot.html#a2da598c539469827409ac7e3bb61d5da">loadModel</a> ()</td></tr>
+<tr class="memdesc:a2da598c539469827409ac7e3bb61d5da"><td class="mdescLeft">&#160;</td><td class="mdescRight">Loads the model library from the robot.  <a href="classfranka_1_1Robot.html#a2da598c539469827409ac7e3bb61d5da">More...</a><br /></td></tr>
+<tr class="separator:a2da598c539469827409ac7e3bb61d5da"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3b864e16b7accafdf1a755dc21765701"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classfranka_1_1Robot.html#ad1dd3dccff6f33691d2c66eaa5ac5a10">ServerVersion</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Robot.html#a3b864e16b7accafdf1a755dc21765701">serverVersion</a> () const noexcept</td></tr>
+<tr class="memdesc:a3b864e16b7accafdf1a755dc21765701"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the software version reported by the connected server.  <a href="classfranka_1_1Robot.html#a3b864e16b7accafdf1a755dc21765701">More...</a><br /></td></tr>
+<tr class="separator:a3b864e16b7accafdf1a755dc21765701"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr><td colspan="2"><div class="groupHeader">Motion generation and joint-level torque commands</div></td></tr>
+<tr><td colspan="2"><div class="groupText"><p>The following methods allow to perform motion generation and/or send joint-level torque commands without gravity and friction by providing callback functions.</p>
+<p>Only one of these methods can be active at the same time; a <a class="el" href="structfranka_1_1ControlException.html" title="ControlException is thrown if an error occurs during motion generation or torque control.">franka::ControlException</a> is thrown otherwise.</p>
+<p><a class="anchor" id="callback-docs"></a>When a robot state is received, the callback function is used to calculate the response: the desired values for that time step. After sending back the response, the callback function will be called again with the most recently received robot state. Since the robot is controlled with a 1 kHz frequency, the callback functions have to compute their result in a short time frame in order to be accepted. Callback functions take two parameters:</p>
+<ul>
+<li>A <a class="el" href="structfranka_1_1RobotState.html" title="Describes the robot state.">franka::RobotState</a> showing the current robot state.</li>
+<li>A <a class="el" href="classfranka_1_1Duration.html" title="Represents a duration with millisecond resolution.">franka::Duration</a> to indicate the time since the last callback invocation. Thus, the duration is zero on the first invocation of the callback function!</li>
+</ul>
+<p>The following incomplete example shows the general structure of a callback function:</p>
+<div class="fragment"><div class="line"><span class="keywordtype">double</span> time = 0.0;</div>
+<div class="line"><span class="keyword">auto</span> control_callback = [&amp;time](<span class="keyword">const</span> <a class="code" href="structfranka_1_1RobotState.html">franka::RobotState</a>&amp; robot_state,</div>
+<div class="line">                                <a class="code" href="classfranka_1_1Duration.html">franka::Duration</a> time_step) -&gt; <a class="code" href="classfranka_1_1JointPositions.html">franka::JointPositions</a> {</div>
+<div class="line">  time += time_step.toSec();  <span class="comment">// Update time at the beginning of the callback.</span></div>
+<div class="line"> </div>
+<div class="line">  <a class="code" href="classfranka_1_1JointPositions.html">franka::JointPositions</a> output = getJointPositions(time);</div>
+<div class="line"> </div>
+<div class="line">  <span class="keywordflow">if</span> (time &gt;= max_time) {</div>
+<div class="line">    <span class="comment">// Return MotionFinished at the end of the trajectory.</span></div>
+<div class="line">    <span class="keywordflow">return</span> <a class="code" href="control__types_8h.html#a20791f7142d78bbbe3c957cc66a23ade">franka::MotionFinished</a>(output);</div>
+<div class="line">  }</div>
+<div class="line"> </div>
+<div class="line">  <span class="keywordflow">return</span> output;</div>
+<div class="line">}</div>
+<div class="ttc" id="aclassfranka_1_1Duration_html"><div class="ttname"><a href="classfranka_1_1Duration.html">franka::Duration</a></div><div class="ttdoc">Represents a duration with millisecond resolution.</div><div class="ttdef"><b>Definition:</b> duration.h:19</div></div>
+<div class="ttc" id="aclassfranka_1_1JointPositions_html"><div class="ttname"><a href="classfranka_1_1JointPositions.html">franka::JointPositions</a></div><div class="ttdoc">Stores values for joint position motion generation.</div><div class="ttdef"><b>Definition:</b> control_types.h:72</div></div>
+<div class="ttc" id="acontrol__types_8h_html_a20791f7142d78bbbe3c957cc66a23ade"><div class="ttname"><a href="control__types_8h.html#a20791f7142d78bbbe3c957cc66a23ade">franka::MotionFinished</a></div><div class="ttdeci">Torques MotionFinished(Torques command) noexcept</div><div class="ttdoc">Helper method to indicate that a motion should stop after processing the given command.</div><div class="ttdef"><b>Definition:</b> control_types.h:294</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html"><div class="ttname"><a href="structfranka_1_1RobotState.html">franka::RobotState</a></div><div class="ttdoc">Describes the robot state.</div><div class="ttdef"><b>Definition:</b> robot_state.h:34</div></div>
+</div><!-- fragment --> </div></td></tr>
+<tr class="memitem:a0d5effba5daff2fee123802bbd5f95d1"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Robot.html#a0d5effba5daff2fee123802bbd5f95d1">control</a> (std::function&lt; <a class="el" href="classfranka_1_1Torques.html">Torques</a>(const <a class="el" href="structfranka_1_1RobotState.html">RobotState</a> &amp;, <a class="el" href="classfranka_1_1Duration.html">franka::Duration</a>)&gt; control_callback, bool limit_rate=false, double cutoff_frequency=kDefaultCutoffFrequency)</td></tr>
+<tr class="memdesc:a0d5effba5daff2fee123802bbd5f95d1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Starts a control loop for sending joint-level torque commands.  <a href="classfranka_1_1Robot.html#a0d5effba5daff2fee123802bbd5f95d1">More...</a><br /></td></tr>
+<tr class="separator:a0d5effba5daff2fee123802bbd5f95d1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4b625b781d388f3379e0961c724239d5"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Robot.html#a4b625b781d388f3379e0961c724239d5">control</a> (std::function&lt; <a class="el" href="classfranka_1_1Torques.html">Torques</a>(const <a class="el" href="structfranka_1_1RobotState.html">RobotState</a> &amp;, <a class="el" href="classfranka_1_1Duration.html">franka::Duration</a>)&gt; control_callback, std::function&lt; <a class="el" href="classfranka_1_1JointPositions.html">JointPositions</a>(const <a class="el" href="structfranka_1_1RobotState.html">RobotState</a> &amp;, <a class="el" href="classfranka_1_1Duration.html">franka::Duration</a>)&gt; motion_generator_callback, bool limit_rate=false, double cutoff_frequency=kDefaultCutoffFrequency)</td></tr>
+<tr class="memdesc:a4b625b781d388f3379e0961c724239d5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Starts a control loop for sending joint-level torque commands and joint positions.  <a href="classfranka_1_1Robot.html#a4b625b781d388f3379e0961c724239d5">More...</a><br /></td></tr>
+<tr class="separator:a4b625b781d388f3379e0961c724239d5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a76e8b7a9c7e2b874c3e300ba7cdeb8ca"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Robot.html#a76e8b7a9c7e2b874c3e300ba7cdeb8ca">control</a> (std::function&lt; <a class="el" href="classfranka_1_1Torques.html">Torques</a>(const <a class="el" href="structfranka_1_1RobotState.html">RobotState</a> &amp;, <a class="el" href="classfranka_1_1Duration.html">franka::Duration</a>)&gt; control_callback, std::function&lt; <a class="el" href="classfranka_1_1JointVelocities.html">JointVelocities</a>(const <a class="el" href="structfranka_1_1RobotState.html">RobotState</a> &amp;, <a class="el" href="classfranka_1_1Duration.html">franka::Duration</a>)&gt; motion_generator_callback, bool limit_rate=false, double cutoff_frequency=kDefaultCutoffFrequency)</td></tr>
+<tr class="memdesc:a76e8b7a9c7e2b874c3e300ba7cdeb8ca"><td class="mdescLeft">&#160;</td><td class="mdescRight">Starts a control loop for sending joint-level torque commands and joint velocities.  <a href="classfranka_1_1Robot.html#a76e8b7a9c7e2b874c3e300ba7cdeb8ca">More...</a><br /></td></tr>
+<tr class="separator:a76e8b7a9c7e2b874c3e300ba7cdeb8ca"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4ce9fd531f97c8cc943dd2479298a55f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Robot.html#a4ce9fd531f97c8cc943dd2479298a55f">control</a> (std::function&lt; <a class="el" href="classfranka_1_1Torques.html">Torques</a>(const <a class="el" href="structfranka_1_1RobotState.html">RobotState</a> &amp;, <a class="el" href="classfranka_1_1Duration.html">franka::Duration</a>)&gt; control_callback, std::function&lt; <a class="el" href="classfranka_1_1CartesianPose.html">CartesianPose</a>(const <a class="el" href="structfranka_1_1RobotState.html">RobotState</a> &amp;, <a class="el" href="classfranka_1_1Duration.html">franka::Duration</a>)&gt; motion_generator_callback, bool limit_rate=false, double cutoff_frequency=kDefaultCutoffFrequency)</td></tr>
+<tr class="memdesc:a4ce9fd531f97c8cc943dd2479298a55f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Starts a control loop for sending joint-level torque commands and Cartesian poses.  <a href="classfranka_1_1Robot.html#a4ce9fd531f97c8cc943dd2479298a55f">More...</a><br /></td></tr>
+<tr class="separator:a4ce9fd531f97c8cc943dd2479298a55f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aeb276d0a0e55f032841976de7db86f5a"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Robot.html#aeb276d0a0e55f032841976de7db86f5a">control</a> (std::function&lt; <a class="el" href="classfranka_1_1Torques.html">Torques</a>(const <a class="el" href="structfranka_1_1RobotState.html">RobotState</a> &amp;, <a class="el" href="classfranka_1_1Duration.html">franka::Duration</a>)&gt; control_callback, std::function&lt; <a class="el" href="classfranka_1_1CartesianVelocities.html">CartesianVelocities</a>(const <a class="el" href="structfranka_1_1RobotState.html">RobotState</a> &amp;, <a class="el" href="classfranka_1_1Duration.html">franka::Duration</a>)&gt; motion_generator_callback, bool limit_rate=false, double cutoff_frequency=kDefaultCutoffFrequency)</td></tr>
+<tr class="memdesc:aeb276d0a0e55f032841976de7db86f5a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Starts a control loop for sending joint-level torque commands and Cartesian velocities.  <a href="classfranka_1_1Robot.html#aeb276d0a0e55f032841976de7db86f5a">More...</a><br /></td></tr>
+<tr class="separator:aeb276d0a0e55f032841976de7db86f5a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7fef8f6418cff168f680ac7c61a6b5cd"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Robot.html#a7fef8f6418cff168f680ac7c61a6b5cd">control</a> (std::function&lt; <a class="el" href="classfranka_1_1JointPositions.html">JointPositions</a>(const <a class="el" href="structfranka_1_1RobotState.html">RobotState</a> &amp;, <a class="el" href="classfranka_1_1Duration.html">franka::Duration</a>)&gt; motion_generator_callback, <a class="el" href="control__types_8h.html#a3e20bc77587e2c0c53598753e3f4816b">ControllerMode</a> controller_mode=ControllerMode::kJointImpedance, bool limit_rate=false, double cutoff_frequency=kDefaultCutoffFrequency)</td></tr>
+<tr class="memdesc:a7fef8f6418cff168f680ac7c61a6b5cd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Starts a control loop for a joint position motion generator with a given controller mode.  <a href="classfranka_1_1Robot.html#a7fef8f6418cff168f680ac7c61a6b5cd">More...</a><br /></td></tr>
+<tr class="separator:a7fef8f6418cff168f680ac7c61a6b5cd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6ba6193e52178899dc8c6a34aa4c537c"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Robot.html#a6ba6193e52178899dc8c6a34aa4c537c">control</a> (std::function&lt; <a class="el" href="classfranka_1_1JointVelocities.html">JointVelocities</a>(const <a class="el" href="structfranka_1_1RobotState.html">RobotState</a> &amp;, <a class="el" href="classfranka_1_1Duration.html">franka::Duration</a>)&gt; motion_generator_callback, <a class="el" href="control__types_8h.html#a3e20bc77587e2c0c53598753e3f4816b">ControllerMode</a> controller_mode=ControllerMode::kJointImpedance, bool limit_rate=false, double cutoff_frequency=kDefaultCutoffFrequency)</td></tr>
+<tr class="memdesc:a6ba6193e52178899dc8c6a34aa4c537c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Starts a control loop for a joint velocity motion generator with a given controller mode.  <a href="classfranka_1_1Robot.html#a6ba6193e52178899dc8c6a34aa4c537c">More...</a><br /></td></tr>
+<tr class="separator:a6ba6193e52178899dc8c6a34aa4c537c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:adce4add23b47befadccd30e3dbe9f2f4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Robot.html#adce4add23b47befadccd30e3dbe9f2f4">control</a> (std::function&lt; <a class="el" href="classfranka_1_1CartesianPose.html">CartesianPose</a>(const <a class="el" href="structfranka_1_1RobotState.html">RobotState</a> &amp;, <a class="el" href="classfranka_1_1Duration.html">franka::Duration</a>)&gt; motion_generator_callback, <a class="el" href="control__types_8h.html#a3e20bc77587e2c0c53598753e3f4816b">ControllerMode</a> controller_mode=ControllerMode::kJointImpedance, bool limit_rate=false, double cutoff_frequency=kDefaultCutoffFrequency)</td></tr>
+<tr class="memdesc:adce4add23b47befadccd30e3dbe9f2f4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Starts a control loop for a Cartesian pose motion generator with a given controller mode.  <a href="classfranka_1_1Robot.html#adce4add23b47befadccd30e3dbe9f2f4">More...</a><br /></td></tr>
+<tr class="separator:adce4add23b47befadccd30e3dbe9f2f4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2176c99664b83bb394f0b2dfd416a8ee"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Robot.html#a2176c99664b83bb394f0b2dfd416a8ee">control</a> (std::function&lt; <a class="el" href="classfranka_1_1CartesianVelocities.html">CartesianVelocities</a>(const <a class="el" href="structfranka_1_1RobotState.html">RobotState</a> &amp;, <a class="el" href="classfranka_1_1Duration.html">franka::Duration</a>)&gt; motion_generator_callback, <a class="el" href="control__types_8h.html#a3e20bc77587e2c0c53598753e3f4816b">ControllerMode</a> controller_mode=ControllerMode::kJointImpedance, bool limit_rate=false, double cutoff_frequency=kDefaultCutoffFrequency)</td></tr>
+<tr class="memdesc:a2176c99664b83bb394f0b2dfd416a8ee"><td class="mdescLeft">&#160;</td><td class="mdescRight">Starts a control loop for a Cartesian velocity motion generator with a given controller mode.  <a href="classfranka_1_1Robot.html#a2176c99664b83bb394f0b2dfd416a8ee">More...</a><br /></td></tr>
+<tr class="separator:a2176c99664b83bb394f0b2dfd416a8ee"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr><td colspan="2"><div class="groupHeader">Commands</div></td></tr>
+<tr><td colspan="2"><div class="groupText"><p>Commands are executed by communicating with the robot over the network.</p>
+<p>These functions should therefore not be called from within control or motion generator loops. </p>
+</div></td></tr>
+<tr class="memitem:a168e1214ac36d74ac64f894332b84534"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Robot.html#a168e1214ac36d74ac64f894332b84534">setCollisionBehavior</a> (const std::array&lt; double, 7 &gt; &amp;lower_torque_thresholds_acceleration, const std::array&lt; double, 7 &gt; &amp;upper_torque_thresholds_acceleration, const std::array&lt; double, 7 &gt; &amp;lower_torque_thresholds_nominal, const std::array&lt; double, 7 &gt; &amp;upper_torque_thresholds_nominal, const std::array&lt; double, 6 &gt; &amp;lower_force_thresholds_acceleration, const std::array&lt; double, 6 &gt; &amp;upper_force_thresholds_acceleration, const std::array&lt; double, 6 &gt; &amp;lower_force_thresholds_nominal, const std::array&lt; double, 6 &gt; &amp;upper_force_thresholds_nominal)</td></tr>
+<tr class="memdesc:a168e1214ac36d74ac64f894332b84534"><td class="mdescLeft">&#160;</td><td class="mdescRight">Changes the collision behavior.  <a href="classfranka_1_1Robot.html#a168e1214ac36d74ac64f894332b84534">More...</a><br /></td></tr>
+<tr class="separator:a168e1214ac36d74ac64f894332b84534"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa188f58c9025594be4d1700da744a962"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Robot.html#aa188f58c9025594be4d1700da744a962">setCollisionBehavior</a> (const std::array&lt; double, 7 &gt; &amp;lower_torque_thresholds, const std::array&lt; double, 7 &gt; &amp;upper_torque_thresholds, const std::array&lt; double, 6 &gt; &amp;lower_force_thresholds, const std::array&lt; double, 6 &gt; &amp;upper_force_thresholds)</td></tr>
+<tr class="memdesc:aa188f58c9025594be4d1700da744a962"><td class="mdescLeft">&#160;</td><td class="mdescRight">Changes the collision behavior.  <a href="classfranka_1_1Robot.html#aa188f58c9025594be4d1700da744a962">More...</a><br /></td></tr>
+<tr class="separator:aa188f58c9025594be4d1700da744a962"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa18a28697cf6e3be16c6cff2dd839560"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Robot.html#aa18a28697cf6e3be16c6cff2dd839560">setJointImpedance</a> (const std::array&lt; double, 7 &gt; &amp;K_theta)</td></tr>
+<tr class="memdesc:aa18a28697cf6e3be16c6cff2dd839560"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the impedance for each joint in the internal controller.  <a href="classfranka_1_1Robot.html#aa18a28697cf6e3be16c6cff2dd839560">More...</a><br /></td></tr>
+<tr class="separator:aa18a28697cf6e3be16c6cff2dd839560"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac2678c5c31cc8c0627ecda7485f81f6d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Robot.html#ac2678c5c31cc8c0627ecda7485f81f6d">setCartesianImpedance</a> (const std::array&lt; double, 6 &gt; &amp;K_x)</td></tr>
+<tr class="memdesc:ac2678c5c31cc8c0627ecda7485f81f6d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the Cartesian stiffness/compliance (for x, y, z, roll, pitch, yaw) in the internal controller.  <a href="classfranka_1_1Robot.html#ac2678c5c31cc8c0627ecda7485f81f6d">More...</a><br /></td></tr>
+<tr class="separator:ac2678c5c31cc8c0627ecda7485f81f6d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7992cee203e66f9a61fe2f318ef88a26"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Robot.html#a7992cee203e66f9a61fe2f318ef88a26">setGuidingMode</a> (const std::array&lt; bool, 6 &gt; &amp;guiding_mode, bool elbow)</td></tr>
+<tr class="memdesc:a7992cee203e66f9a61fe2f318ef88a26"><td class="mdescLeft">&#160;</td><td class="mdescRight">Locks or unlocks guiding mode movement in (x, y, z, roll, pitch, yaw).  <a href="classfranka_1_1Robot.html#a7992cee203e66f9a61fe2f318ef88a26">More...</a><br /></td></tr>
+<tr class="separator:a7992cee203e66f9a61fe2f318ef88a26"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad1cf59d1b11306d80cd3c7144a989c56"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Robot.html#ad1cf59d1b11306d80cd3c7144a989c56">setK</a> (const std::array&lt; double, 16 &gt; &amp;EE_T_K)</td></tr>
+<tr class="memdesc:ad1cf59d1b11306d80cd3c7144a989c56"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the transformation \(^{EE}T_K\) from end effector frame to stiffness frame.  <a href="classfranka_1_1Robot.html#ad1cf59d1b11306d80cd3c7144a989c56">More...</a><br /></td></tr>
+<tr class="separator:ad1cf59d1b11306d80cd3c7144a989c56"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aec4abdefbc0f9a7400a36bfa0a6068af"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Robot.html#aec4abdefbc0f9a7400a36bfa0a6068af">setEE</a> (const std::array&lt; double, 16 &gt; &amp;NE_T_EE)</td></tr>
+<tr class="memdesc:aec4abdefbc0f9a7400a36bfa0a6068af"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the transformation \(^{NE}T_{EE}\) from nominal end effector to end effector frame.  <a href="classfranka_1_1Robot.html#aec4abdefbc0f9a7400a36bfa0a6068af">More...</a><br /></td></tr>
+<tr class="separator:aec4abdefbc0f9a7400a36bfa0a6068af"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afcb708df10f24563dbcf7d5b907b4a15"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Robot.html#afcb708df10f24563dbcf7d5b907b4a15">setLoad</a> (double load_mass, const std::array&lt; double, 3 &gt; &amp;F_x_Cload, const std::array&lt; double, 9 &gt; &amp;load_inertia)</td></tr>
+<tr class="memdesc:afcb708df10f24563dbcf7d5b907b4a15"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets dynamic parameters of a payload.  <a href="classfranka_1_1Robot.html#afcb708df10f24563dbcf7d5b907b4a15">More...</a><br /></td></tr>
+<tr class="separator:afcb708df10f24563dbcf7d5b907b4a15"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af682aa673415718715bd859116bc2fed"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Robot.html#af682aa673415718715bd859116bc2fed">automaticErrorRecovery</a> ()</td></tr>
+<tr class="memdesc:af682aa673415718715bd859116bc2fed"><td class="mdescLeft">&#160;</td><td class="mdescRight">Runs automatic error recovery on the robot.  <a href="classfranka_1_1Robot.html#af682aa673415718715bd859116bc2fed">More...</a><br /></td></tr>
+<tr class="separator:af682aa673415718715bd859116bc2fed"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8146de9e50217068672b6f726a91de91"><td class="memItemLeft" align="right" valign="top">virtual std::unique_ptr&lt; <a class="el" href="classfranka_1_1ActiveControlBase.html">ActiveControlBase</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Robot.html#a8146de9e50217068672b6f726a91de91">startTorqueControl</a> ()</td></tr>
+<tr class="memdesc:a8146de9e50217068672b6f726a91de91"><td class="mdescLeft">&#160;</td><td class="mdescRight">Starts a new torque controller.  <a href="classfranka_1_1Robot.html#a8146de9e50217068672b6f726a91de91">More...</a><br /></td></tr>
+<tr class="separator:a8146de9e50217068672b6f726a91de91"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aca7ecf76cf9c5af49cc5a878c91e19a9"><td class="memItemLeft" align="right" valign="top">virtual std::unique_ptr&lt; <a class="el" href="classfranka_1_1ActiveControlBase.html">ActiveControlBase</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Robot.html#aca7ecf76cf9c5af49cc5a878c91e19a9">startJointPositionControl</a> (const research_interface::robot::Move::ControllerMode &amp;control_type)</td></tr>
+<tr class="memdesc:aca7ecf76cf9c5af49cc5a878c91e19a9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Starts a new joint position motion generator.  <a href="classfranka_1_1Robot.html#aca7ecf76cf9c5af49cc5a878c91e19a9">More...</a><br /></td></tr>
+<tr class="separator:aca7ecf76cf9c5af49cc5a878c91e19a9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae9c867d10817b2485e306450f389a009"><td class="memItemLeft" align="right" valign="top">virtual std::unique_ptr&lt; <a class="el" href="classfranka_1_1ActiveControlBase.html">ActiveControlBase</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Robot.html#ae9c867d10817b2485e306450f389a009">startJointVelocityControl</a> (const research_interface::robot::Move::ControllerMode &amp;control_type)</td></tr>
+<tr class="memdesc:ae9c867d10817b2485e306450f389a009"><td class="mdescLeft">&#160;</td><td class="mdescRight">Starts a new joint velocity motion generator.  <a href="classfranka_1_1Robot.html#ae9c867d10817b2485e306450f389a009">More...</a><br /></td></tr>
+<tr class="separator:ae9c867d10817b2485e306450f389a009"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3822866cf931fab955d3dcfc6cf746e5"><td class="memItemLeft" align="right" valign="top">virtual std::unique_ptr&lt; <a class="el" href="classfranka_1_1ActiveControlBase.html">ActiveControlBase</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Robot.html#a3822866cf931fab955d3dcfc6cf746e5">startCartesianPoseControl</a> (const research_interface::robot::Move::ControllerMode &amp;control_type)</td></tr>
+<tr class="memdesc:a3822866cf931fab955d3dcfc6cf746e5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Starts a new cartesian position motion generator.  <a href="classfranka_1_1Robot.html#a3822866cf931fab955d3dcfc6cf746e5">More...</a><br /></td></tr>
+<tr class="separator:a3822866cf931fab955d3dcfc6cf746e5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a838e2cfba6b08dd87742bbcfe62f15bf"><td class="memItemLeft" align="right" valign="top">virtual std::unique_ptr&lt; <a class="el" href="classfranka_1_1ActiveControlBase.html">ActiveControlBase</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Robot.html#a838e2cfba6b08dd87742bbcfe62f15bf">startCartesianVelocityControl</a> (const research_interface::robot::Move::ControllerMode &amp;control_type)</td></tr>
+<tr class="memdesc:a838e2cfba6b08dd87742bbcfe62f15bf"><td class="mdescLeft">&#160;</td><td class="mdescRight">Starts a new cartesian velocity motion generator.  <a href="classfranka_1_1Robot.html#a838e2cfba6b08dd87742bbcfe62f15bf">More...</a><br /></td></tr>
+<tr class="separator:a838e2cfba6b08dd87742bbcfe62f15bf"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a69cb08e075a81ecf3f26e94d26a06296"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Robot.html#a69cb08e075a81ecf3f26e94d26a06296">stop</a> ()</td></tr>
+<tr class="memdesc:a69cb08e075a81ecf3f26e94d26a06296"><td class="mdescLeft">&#160;</td><td class="mdescRight">Stops all currently running motions.  <a href="classfranka_1_1Robot.html#a69cb08e075a81ecf3f26e94d26a06296">More...</a><br /></td></tr>
+<tr class="separator:a69cb08e075a81ecf3f26e94d26a06296"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
+Protected Member Functions</h2></td></tr>
+<tr class="memitem:a7cb49336d7e8b261b590a364daff2913"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Robot.html#a7cb49336d7e8b261b590a364daff2913">Robot</a> (std::shared_ptr&lt; Impl &gt; robot_impl)</td></tr>
+<tr class="memdesc:a7cb49336d7e8b261b590a364daff2913"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructs a new <a class="el" href="classfranka_1_1Robot.html" title="Maintains a network connection to the robot, provides the current robot state, gives access to the mo...">Robot</a> given a Robot::Impl.  <a href="classfranka_1_1Robot.html#a7cb49336d7e8b261b590a364daff2913">More...</a><br /></td></tr>
+<tr class="separator:a7cb49336d7e8b261b590a364daff2913"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abf60ce0434f4dc262f04fcab0beff5ac"><td class="memItemLeft" align="right" valign="top"><a id="abf60ce0434f4dc262f04fcab0beff5ac"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Robot.html#abf60ce0434f4dc262f04fcab0beff5ac">Robot</a> ()=default</td></tr>
+<tr class="memdesc:abf60ce0434f4dc262f04fcab0beff5ac"><td class="mdescLeft">&#160;</td><td class="mdescRight">Default constructor to enable mocking and testing. <br /></td></tr>
+<tr class="separator:abf60ce0434f4dc262f04fcab0beff5ac"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Maintains a network connection to the robot, provides the current robot state, gives access to the model library and allows to control the robot. </p>
+<dl class="section note"><dt>Note</dt><dd>The members of this class are threadsafe.</dd></dl>
+<p><a class="anchor" id="o-frame"></a></p><dl class="section user"><dt>Base frame O</dt><dd>The base frame is located at the center of the robot's base. Its z-axis is identical with the axis of rotation of the first joint.</dd></dl>
+<p><a class="anchor" id="f-frame"></a></p><dl class="section user"><dt>Flange frame F</dt><dd>The flange frame is located at the center of the flange surface. Its z-axis is identical with the axis of rotation of the last joint. This frame is fixed and cannot be changed.</dd></dl>
+<p><a class="anchor" id="ne-frame"></a></p><dl class="section user"><dt>Nominal end effector frame NE</dt><dd>The nominal end effector frame is configured outside of libfranka (in DESK) and cannot be changed here. It may be used to set end effector frames which are rarely changed.</dd></dl>
+<p><a class="anchor" id="ee-frame"></a></p><dl class="section user"><dt>end effector frame EE</dt><dd>By default, the end effector frame EE is the same as the nominal end effector frame NE (i.e. the transformation between NE and EE is the identity transformation). It may be used to set end effector frames which are changed more frequently (such as a tool that is grasped with the end effector). With <a class="el" href="classfranka_1_1Robot.html#aec4abdefbc0f9a7400a36bfa0a6068af" title="Sets the transformation  from nominal end effector to end effector frame.">Robot::setEE</a>, a custom transformation matrix can be set.</dd></dl>
+<p><a class="anchor" id="k-frame"></a></p><dl class="section user"><dt>Stiffness frame K</dt><dd>This frame describes the transformation from the end effector frame EE to the stiffness frame K. The stiffness frame is used for Cartesian impedance control, and for measuring and applying forces. The values set using <a class="el" href="classfranka_1_1Robot.html#ac2678c5c31cc8c0627ecda7485f81f6d" title="Sets the Cartesian stiffness/compliance (for x, y, z, roll, pitch, yaw) in the internal controller.">Robot::setCartesianImpedance</a> are used in the direction of the stiffness frame. It can be set with <a class="el" href="classfranka_1_1Robot.html#ad1cf59d1b11306d80cd3c7144a989c56" title="Sets the transformation  from end effector frame to stiffness frame.">Robot::setK</a>. This frame allows to modify the compliance behavior of the robot (e.g. to have a low stiffness around a specific point which is not the end effector). The stiffness frame does not affect where the robot will move to. The user should always command the desired end effector frame (and not the desired stiffness frame). </dd></dl>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="cartesian_impedance_control_8cpp-example.html#_a0">cartesian_impedance_control.cpp</a>, <a class="el" href="communication_test_8cpp-example.html#_a0">communication_test.cpp</a>, <a class="el" href="echo_robot_state_8cpp-example.html#_a0">echo_robot_state.cpp</a>, <a class="el" href="force_control_8cpp-example.html#_a0">force_control.cpp</a>, <a class="el" href="generate_cartesian_pose_motion_8cpp-example.html#_a0">generate_cartesian_pose_motion.cpp</a>, <a class="el" href="generate_cartesian_pose_motion_external_control_loop_8cpp-example.html#_a0">generate_cartesian_pose_motion_external_control_loop.cpp</a>, <a class="el" href="generate_cartesian_velocity_motion_8cpp-example.html#_a0">generate_cartesian_velocity_motion.cpp</a>, <a class="el" href="generate_cartesian_velocity_motion_external_control_loop_8cpp-example.html#_a0">generate_cartesian_velocity_motion_external_control_loop.cpp</a>, <a class="el" href="generate_consecutive_motions_8cpp-example.html#_a0">generate_consecutive_motions.cpp</a>, <a class="el" href="generate_elbow_motion_8cpp-example.html#_a0">generate_elbow_motion.cpp</a>, <a class="el" href="generate_joint_position_motion_8cpp-example.html#_a0">generate_joint_position_motion.cpp</a>, <a class="el" href="generate_joint_position_motion_external_control_loop_8cpp-example.html#_a0">generate_joint_position_motion_external_control_loop.cpp</a>, <a class="el" href="generate_joint_velocity_motion_8cpp-example.html#_a0">generate_joint_velocity_motion.cpp</a>, <a class="el" href="generate_joint_velocity_motion_external_control_loop_8cpp-example.html#_a0">generate_joint_velocity_motion_external_control_loop.cpp</a>, <a class="el" href="joint_impedance_control_8cpp-example.html#_a2">joint_impedance_control.cpp</a>, <a class="el" href="joint_point_to_point_motion_8cpp-example.html#_a0">joint_point_to_point_motion.cpp</a>, <a class="el" href="motion_with_control_8cpp-example.html#_a5">motion_with_control.cpp</a>, <a class="el" href="motion_with_control_external_control_loop_8cpp-example.html#_a5">motion_with_control_external_control_loop.cpp</a>, and <a class="el" href="print_joint_poses_8cpp-example.html#_a1">print_joint_poses.cpp</a>.</dd>
+</dl>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ae63bc19390df3d54f3a270814df35eb6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae63bc19390df3d54f3a270814df35eb6">&#9670;&nbsp;</a></span>Robot() <span class="overload">[1/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">franka::Robot::Robot </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>franka_address</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="control__types_8h.html#aeede4f4629390fea21ca5e5a35a8a943">RealtimeConfig</a>&#160;</td>
+          <td class="paramname"><em>realtime_config</em> = <code>RealtimeConfig::kEnforce</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">size_t&#160;</td>
+          <td class="paramname"><em>log_size</em> = <code>50</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">explicit</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Establishes a connection with the robot. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">franka_address</td><td>IP/hostname of the robot. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">realtime_config</td><td>if set to Enforce, an exception will be thrown if realtime priority cannot be set when required. Setting realtime_config to Ignore disables this behavior. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">log_size</td><td>sets how many last states should be kept for logging purposes. The log is provided when a <a class="el" href="structfranka_1_1ControlException.html" title="ControlException is thrown if an error occurs during motion generation or torque control.">ControlException</a> is thrown.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1NetworkException.html" title="NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occu...">NetworkException</a></td><td>if the connection is unsuccessful. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1IncompatibleVersionException.html" title="IncompatibleVersionException is thrown if the robot does not support this version of libfranka.">IncompatibleVersionException</a></td><td>if this version of <code>libfranka</code> is not supported. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a378d415475336082e81a35b9811dc6c2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a378d415475336082e81a35b9811dc6c2">&#9670;&nbsp;</a></span>Robot() <span class="overload">[2/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">franka::Robot::Robot </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="classfranka_1_1Robot.html">Robot</a> &amp;&amp;&#160;</td>
+          <td class="paramname"><em>other</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Move-constructs a new <a class="el" href="classfranka_1_1Robot.html" title="Maintains a network connection to the robot, provides the current robot state, gives access to the mo...">Robot</a> instance. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">other</td><td>Other <a class="el" href="classfranka_1_1Robot.html" title="Maintains a network connection to the robot, provides the current robot state, gives access to the mo...">Robot</a> instance. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a7cb49336d7e8b261b590a364daff2913"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7cb49336d7e8b261b590a364daff2913">&#9670;&nbsp;</a></span>Robot() <span class="overload">[3/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">franka::Robot::Robot </td>
+          <td>(</td>
+          <td class="paramtype">std::shared_ptr&lt; Impl &gt;&#160;</td>
+          <td class="paramname"><em>robot_impl</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Constructs a new <a class="el" href="classfranka_1_1Robot.html" title="Maintains a network connection to the robot, provides the current robot state, gives access to the mo...">Robot</a> given a Robot::Impl. </p>
+<p>This enables unittests with Robot::Impl-Mocks.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">robot_impl</td><td>Robot::Impl to use </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="af682aa673415718715bd859116bc2fed"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af682aa673415718715bd859116bc2fed">&#9670;&nbsp;</a></span>automaticErrorRecovery()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void franka::Robot::automaticErrorRecovery </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Runs automatic error recovery on the robot. </p>
+<p>Automatic error recovery e.g. resets the robot after a collision occurred.</p>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1CommandException.html" title="CommandException is thrown if an error occurs during command execution.">CommandException</a></td><td>if the Control reports an error. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1NetworkException.html" title="NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occu...">NetworkException</a></td><td>if the connection is lost, e.g. after a timeout. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="generate_consecutive_motions_8cpp-example.html#a11">generate_consecutive_motions.cpp</a>.</dd>
+</dl>
+
+</div>
+</div>
+<a id="adce4add23b47befadccd30e3dbe9f2f4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adce4add23b47befadccd30e3dbe9f2f4">&#9670;&nbsp;</a></span>control() <span class="overload">[1/9]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void franka::Robot::control </td>
+          <td>(</td>
+          <td class="paramtype">std::function&lt; <a class="el" href="classfranka_1_1CartesianPose.html">CartesianPose</a>(const <a class="el" href="structfranka_1_1RobotState.html">RobotState</a> &amp;, <a class="el" href="classfranka_1_1Duration.html">franka::Duration</a>)&gt;&#160;</td>
+          <td class="paramname"><em>motion_generator_callback</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="control__types_8h.html#a3e20bc77587e2c0c53598753e3f4816b">ControllerMode</a>&#160;</td>
+          <td class="paramname"><em>controller_mode</em> = <code>ControllerMode::kJointImpedance</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>limit_rate</em> = <code>false</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>cutoff_frequency</em> = <code>kDefaultCutoffFrequency</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Starts a control loop for a Cartesian pose motion generator with a given controller mode. </p>
+<p>Sets realtime priority for the current thread. Cannot be executed while another control or motion generator loop is active.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">motion_generator_callback</td><td>Callback function for motion generation. See <a class="el" href="classfranka_1_1Robot.html#callback-docs">here</a> for more details. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">controller_mode</td><td>Controller to use to execute the motion. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">limit_rate</td><td>True if rate limiting should be activated. False by default. This could distort your motion! </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">cutoff_frequency</td><td>Cutoff frequency for a first order low-pass filter applied on the user commanded signal. Set to franka::kMaxCutoffFrequency to disable.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1ControlException.html" title="ControlException is thrown if an error occurs during motion generation or torque control.">ControlException</a></td><td>if an error related to motion generation occurred. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1InvalidOperationException.html" title="InvalidOperationException is thrown if an operation cannot be performed.">InvalidOperationException</a></td><td>if a conflicting operation is already running. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1NetworkException.html" title="NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occu...">NetworkException</a></td><td>if the connection is lost, e.g. after a timeout. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1RealtimeException.html" title="RealtimeException is thrown if realtime priority cannot be set.">RealtimeException</a></td><td>if realtime priority cannot be set for the current thread. </td></tr>
+    <tr><td class="paramname">std::invalid_argument</td><td>if Cartesian pose command elements are NaN or infinity.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section see"><dt>See also</dt><dd><a class="el" href="classfranka_1_1Robot.html#ae63bc19390df3d54f3a270814df35eb6" title="Establishes a connection with the robot.">Robot::Robot</a> to change behavior if realtime priority cannot be set. </dd></dl>
+
+</div>
+</div>
+<a id="a2176c99664b83bb394f0b2dfd416a8ee"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2176c99664b83bb394f0b2dfd416a8ee">&#9670;&nbsp;</a></span>control() <span class="overload">[2/9]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void franka::Robot::control </td>
+          <td>(</td>
+          <td class="paramtype">std::function&lt; <a class="el" href="classfranka_1_1CartesianVelocities.html">CartesianVelocities</a>(const <a class="el" href="structfranka_1_1RobotState.html">RobotState</a> &amp;, <a class="el" href="classfranka_1_1Duration.html">franka::Duration</a>)&gt;&#160;</td>
+          <td class="paramname"><em>motion_generator_callback</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="control__types_8h.html#a3e20bc77587e2c0c53598753e3f4816b">ControllerMode</a>&#160;</td>
+          <td class="paramname"><em>controller_mode</em> = <code>ControllerMode::kJointImpedance</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>limit_rate</em> = <code>false</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>cutoff_frequency</em> = <code>kDefaultCutoffFrequency</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Starts a control loop for a Cartesian velocity motion generator with a given controller mode. </p>
+<p>Sets realtime priority for the current thread. Cannot be executed while another control or motion generator loop is active.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">motion_generator_callback</td><td>Callback function for motion generation. See <a class="el" href="classfranka_1_1Robot.html#callback-docs">here</a> for more details. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">controller_mode</td><td>Controller to use to execute the motion. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">limit_rate</td><td>True if rate limiting should be activated. False by default. This could distort your motion! </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">cutoff_frequency</td><td>Cutoff frequency for a first order low-pass filter applied on the user commanded signal. Set to franka::kMaxCutoffFrequency to disable.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1ControlException.html" title="ControlException is thrown if an error occurs during motion generation or torque control.">ControlException</a></td><td>if an error related to motion generation occurred. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1InvalidOperationException.html" title="InvalidOperationException is thrown if an operation cannot be performed.">InvalidOperationException</a></td><td>if a conflicting operation is already running. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1NetworkException.html" title="NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occu...">NetworkException</a></td><td>if the connection is lost, e.g. after a timeout. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1RealtimeException.html" title="RealtimeException is thrown if realtime priority cannot be set.">RealtimeException</a></td><td>if realtime priority cannot be set for the current thread. </td></tr>
+    <tr><td class="paramname">std::invalid_argument</td><td>if Cartesian velocity command elements are NaN or infinity.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section see"><dt>See also</dt><dd><a class="el" href="classfranka_1_1Robot.html#ae63bc19390df3d54f3a270814df35eb6" title="Establishes a connection with the robot.">Robot::Robot</a> to change behavior if realtime priority cannot be set. </dd></dl>
+
+</div>
+</div>
+<a id="a7fef8f6418cff168f680ac7c61a6b5cd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7fef8f6418cff168f680ac7c61a6b5cd">&#9670;&nbsp;</a></span>control() <span class="overload">[3/9]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void franka::Robot::control </td>
+          <td>(</td>
+          <td class="paramtype">std::function&lt; <a class="el" href="classfranka_1_1JointPositions.html">JointPositions</a>(const <a class="el" href="structfranka_1_1RobotState.html">RobotState</a> &amp;, <a class="el" href="classfranka_1_1Duration.html">franka::Duration</a>)&gt;&#160;</td>
+          <td class="paramname"><em>motion_generator_callback</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="control__types_8h.html#a3e20bc77587e2c0c53598753e3f4816b">ControllerMode</a>&#160;</td>
+          <td class="paramname"><em>controller_mode</em> = <code>ControllerMode::kJointImpedance</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>limit_rate</em> = <code>false</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>cutoff_frequency</em> = <code>kDefaultCutoffFrequency</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Starts a control loop for a joint position motion generator with a given controller mode. </p>
+<p>Sets realtime priority for the current thread. Cannot be executed while another control or motion generator loop is active.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">motion_generator_callback</td><td>Callback function for motion generation. See <a class="el" href="classfranka_1_1Robot.html#callback-docs">here</a> for more details. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">controller_mode</td><td>Controller to use to execute the motion. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">limit_rate</td><td>True if rate limiting should be activated. False by default. This could distort your motion! </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">cutoff_frequency</td><td>Cutoff frequency for a first order low-pass filter applied on the user commanded signal. Set to franka::kMaxCutoffFrequency to disable.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1ControlException.html" title="ControlException is thrown if an error occurs during motion generation or torque control.">ControlException</a></td><td>if an error related to motion generation occurred. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1InvalidOperationException.html" title="InvalidOperationException is thrown if an operation cannot be performed.">InvalidOperationException</a></td><td>if a conflicting operation is already running. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1NetworkException.html" title="NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occu...">NetworkException</a></td><td>if the connection is lost, e.g. after a timeout. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1RealtimeException.html" title="RealtimeException is thrown if realtime priority cannot be set.">RealtimeException</a></td><td>if realtime priority cannot be set for the current thread. </td></tr>
+    <tr><td class="paramname">std::invalid_argument</td><td>if joint position commands are NaN or infinity.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section see"><dt>See also</dt><dd><a class="el" href="classfranka_1_1Robot.html#ae63bc19390df3d54f3a270814df35eb6" title="Establishes a connection with the robot.">Robot::Robot</a> to change behavior if realtime priority cannot be set. </dd></dl>
+
+</div>
+</div>
+<a id="a6ba6193e52178899dc8c6a34aa4c537c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6ba6193e52178899dc8c6a34aa4c537c">&#9670;&nbsp;</a></span>control() <span class="overload">[4/9]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void franka::Robot::control </td>
+          <td>(</td>
+          <td class="paramtype">std::function&lt; <a class="el" href="classfranka_1_1JointVelocities.html">JointVelocities</a>(const <a class="el" href="structfranka_1_1RobotState.html">RobotState</a> &amp;, <a class="el" href="classfranka_1_1Duration.html">franka::Duration</a>)&gt;&#160;</td>
+          <td class="paramname"><em>motion_generator_callback</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="control__types_8h.html#a3e20bc77587e2c0c53598753e3f4816b">ControllerMode</a>&#160;</td>
+          <td class="paramname"><em>controller_mode</em> = <code>ControllerMode::kJointImpedance</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>limit_rate</em> = <code>false</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>cutoff_frequency</em> = <code>kDefaultCutoffFrequency</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Starts a control loop for a joint velocity motion generator with a given controller mode. </p>
+<p>Sets realtime priority for the current thread. Cannot be executed while another control or motion generator loop is active.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">motion_generator_callback</td><td>Callback function for motion generation. See <a class="el" href="classfranka_1_1Robot.html#callback-docs">here</a> for more details. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">controller_mode</td><td>Controller to use to execute the motion. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">limit_rate</td><td>True if rate limiting should be activated. False by default. This could distort your motion! </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">cutoff_frequency</td><td>Cutoff frequency for a first order low-pass filter applied on the user commanded signal. Set to franka::kMaxCutoffFrequency to disable.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1ControlException.html" title="ControlException is thrown if an error occurs during motion generation or torque control.">ControlException</a></td><td>if an error related to motion generation occurred. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1InvalidOperationException.html" title="InvalidOperationException is thrown if an operation cannot be performed.">InvalidOperationException</a></td><td>if a conflicting operation is already running. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1NetworkException.html" title="NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occu...">NetworkException</a></td><td>if the connection is lost, e.g. after a timeout. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1RealtimeException.html" title="RealtimeException is thrown if realtime priority cannot be set.">RealtimeException</a></td><td>if realtime priority cannot be set for the current thread. </td></tr>
+    <tr><td class="paramname">std::invalid_argument</td><td>if joint velocity commands are NaN or infinity.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section see"><dt>See also</dt><dd><a class="el" href="classfranka_1_1Robot.html#ae63bc19390df3d54f3a270814df35eb6" title="Establishes a connection with the robot.">Robot::Robot</a> to change behavior if realtime priority cannot be set. </dd></dl>
+
+</div>
+</div>
+<a id="a0d5effba5daff2fee123802bbd5f95d1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0d5effba5daff2fee123802bbd5f95d1">&#9670;&nbsp;</a></span>control() <span class="overload">[5/9]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void franka::Robot::control </td>
+          <td>(</td>
+          <td class="paramtype">std::function&lt; <a class="el" href="classfranka_1_1Torques.html">Torques</a>(const <a class="el" href="structfranka_1_1RobotState.html">RobotState</a> &amp;, <a class="el" href="classfranka_1_1Duration.html">franka::Duration</a>)&gt;&#160;</td>
+          <td class="paramname"><em>control_callback</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>limit_rate</em> = <code>false</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>cutoff_frequency</em> = <code>kDefaultCutoffFrequency</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Starts a control loop for sending joint-level torque commands. </p>
+<p>Sets realtime priority for the current thread. Cannot be executed while another control or motion generator loop is active.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">control_callback</td><td>Callback function providing joint-level torque commands. See <a class="el" href="classfranka_1_1Robot.html#callback-docs">here</a> for more details. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">limit_rate</td><td>True if rate limiting should be activated. False by default. This could distort your motion! </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">cutoff_frequency</td><td>Cutoff frequency for a first order low-pass filter applied on the user commanded signal. Set to franka::kMaxCutoffFrequency to disable.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1ControlException.html" title="ControlException is thrown if an error occurs during motion generation or torque control.">ControlException</a></td><td>if an error related to torque control or motion generation occurred. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1InvalidOperationException.html" title="InvalidOperationException is thrown if an operation cannot be performed.">InvalidOperationException</a></td><td>if a conflicting operation is already running. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1NetworkException.html" title="NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occu...">NetworkException</a></td><td>if the connection is lost, e.g. after a timeout. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1RealtimeException.html" title="RealtimeException is thrown if realtime priority cannot be set.">RealtimeException</a></td><td>if realtime priority cannot be set for the current thread. </td></tr>
+    <tr><td class="paramname">std::invalid_argument</td><td>if joint-level torque commands are NaN or infinity.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section see"><dt>See also</dt><dd><a class="el" href="classfranka_1_1Robot.html#ae63bc19390df3d54f3a270814df35eb6" title="Establishes a connection with the robot.">Robot::Robot</a> to change behavior if realtime priority cannot be set. </dd></dl>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="cartesian_impedance_control_8cpp-example.html#a14">cartesian_impedance_control.cpp</a>, <a class="el" href="communication_test_8cpp-example.html#a3">communication_test.cpp</a>, <a class="el" href="force_control_8cpp-example.html#a12">force_control.cpp</a>, <a class="el" href="generate_cartesian_pose_motion_8cpp-example.html#a3">generate_cartesian_pose_motion.cpp</a>, <a class="el" href="generate_cartesian_pose_motion_external_control_loop_8cpp-example.html#a3">generate_cartesian_pose_motion_external_control_loop.cpp</a>, <a class="el" href="generate_cartesian_velocity_motion_8cpp-example.html#a3">generate_cartesian_velocity_motion.cpp</a>, <a class="el" href="generate_cartesian_velocity_motion_external_control_loop_8cpp-example.html#a3">generate_cartesian_velocity_motion_external_control_loop.cpp</a>, <a class="el" href="generate_consecutive_motions_8cpp-example.html#a3">generate_consecutive_motions.cpp</a>, <a class="el" href="generate_elbow_motion_8cpp-example.html#a3">generate_elbow_motion.cpp</a>, <a class="el" href="generate_joint_position_motion_8cpp-example.html#a3">generate_joint_position_motion.cpp</a>, <a class="el" href="generate_joint_position_motion_external_control_loop_8cpp-example.html#a3">generate_joint_position_motion_external_control_loop.cpp</a>, <a class="el" href="generate_joint_velocity_motion_8cpp-example.html#a3">generate_joint_velocity_motion.cpp</a>, <a class="el" href="generate_joint_velocity_motion_external_control_loop_8cpp-example.html#a3">generate_joint_velocity_motion_external_control_loop.cpp</a>, and <a class="el" href="joint_point_to_point_motion_8cpp-example.html#a4">joint_point_to_point_motion.cpp</a>.</dd>
+</dl>
+
+</div>
+</div>
+<a id="a4ce9fd531f97c8cc943dd2479298a55f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4ce9fd531f97c8cc943dd2479298a55f">&#9670;&nbsp;</a></span>control() <span class="overload">[6/9]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void franka::Robot::control </td>
+          <td>(</td>
+          <td class="paramtype">std::function&lt; <a class="el" href="classfranka_1_1Torques.html">Torques</a>(const <a class="el" href="structfranka_1_1RobotState.html">RobotState</a> &amp;, <a class="el" href="classfranka_1_1Duration.html">franka::Duration</a>)&gt;&#160;</td>
+          <td class="paramname"><em>control_callback</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; <a class="el" href="classfranka_1_1CartesianPose.html">CartesianPose</a>(const <a class="el" href="structfranka_1_1RobotState.html">RobotState</a> &amp;, <a class="el" href="classfranka_1_1Duration.html">franka::Duration</a>)&gt;&#160;</td>
+          <td class="paramname"><em>motion_generator_callback</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>limit_rate</em> = <code>false</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>cutoff_frequency</em> = <code>kDefaultCutoffFrequency</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Starts a control loop for sending joint-level torque commands and Cartesian poses. </p>
+<p>Sets realtime priority for the current thread. Cannot be executed while another control or motion generator loop is active.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">control_callback</td><td>Callback function providing joint-level torque commands. See <a class="el" href="classfranka_1_1Robot.html#callback-docs">here</a> for more details. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">motion_generator_callback</td><td>Callback function for motion generation. See <a class="el" href="classfranka_1_1Robot.html#callback-docs">here</a> for more details. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">limit_rate</td><td>True if rate limiting should be activated. False by default. This could distort your motion! </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">cutoff_frequency</td><td>Cutoff frequency for a first order low-pass filter applied on the user commanded signal. Set to franka::kMaxCutoffFrequency to disable.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1ControlException.html" title="ControlException is thrown if an error occurs during motion generation or torque control.">ControlException</a></td><td>if an error related to torque control or motion generation occurred. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1InvalidOperationException.html" title="InvalidOperationException is thrown if an operation cannot be performed.">InvalidOperationException</a></td><td>if a conflicting operation is already running. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1NetworkException.html" title="NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occu...">NetworkException</a></td><td>if the connection is lost, e.g. after a timeout. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1RealtimeException.html" title="RealtimeException is thrown if realtime priority cannot be set.">RealtimeException</a></td><td>if realtime priority cannot be set for the current thread. </td></tr>
+    <tr><td class="paramname">std::invalid_argument</td><td>if joint-level torque or Cartesian pose command elements are NaN or infinity.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section see"><dt>See also</dt><dd><a class="el" href="classfranka_1_1Robot.html#ae63bc19390df3d54f3a270814df35eb6" title="Establishes a connection with the robot.">Robot::Robot</a> to change behavior if realtime priority cannot be set. </dd></dl>
+
+</div>
+</div>
+<a id="aeb276d0a0e55f032841976de7db86f5a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aeb276d0a0e55f032841976de7db86f5a">&#9670;&nbsp;</a></span>control() <span class="overload">[7/9]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void franka::Robot::control </td>
+          <td>(</td>
+          <td class="paramtype">std::function&lt; <a class="el" href="classfranka_1_1Torques.html">Torques</a>(const <a class="el" href="structfranka_1_1RobotState.html">RobotState</a> &amp;, <a class="el" href="classfranka_1_1Duration.html">franka::Duration</a>)&gt;&#160;</td>
+          <td class="paramname"><em>control_callback</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; <a class="el" href="classfranka_1_1CartesianVelocities.html">CartesianVelocities</a>(const <a class="el" href="structfranka_1_1RobotState.html">RobotState</a> &amp;, <a class="el" href="classfranka_1_1Duration.html">franka::Duration</a>)&gt;&#160;</td>
+          <td class="paramname"><em>motion_generator_callback</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>limit_rate</em> = <code>false</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>cutoff_frequency</em> = <code>kDefaultCutoffFrequency</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Starts a control loop for sending joint-level torque commands and Cartesian velocities. </p>
+<p>Sets realtime priority for the current thread. Cannot be executed while another control or motion generator loop is active.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">control_callback</td><td>Callback function providing joint-level torque commands. See <a class="el" href="classfranka_1_1Robot.html#callback-docs">here</a> for more details. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">motion_generator_callback</td><td>Callback function for motion generation. See <a class="el" href="classfranka_1_1Robot.html#callback-docs">here</a> for more details. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">limit_rate</td><td>True if rate limiting should be activated. False by default. This could distort your motion! </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">cutoff_frequency</td><td>Cutoff frequency for a first order low-pass filter applied on the user commanded signal. Set to franka::kMaxCutoffFrequency to disable.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1ControlException.html" title="ControlException is thrown if an error occurs during motion generation or torque control.">ControlException</a></td><td>if an error related to torque control or motion generation occurred. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1InvalidOperationException.html" title="InvalidOperationException is thrown if an operation cannot be performed.">InvalidOperationException</a></td><td>if a conflicting operation is already running. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1NetworkException.html" title="NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occu...">NetworkException</a></td><td>if the connection is lost, e.g. after a timeout. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1RealtimeException.html" title="RealtimeException is thrown if realtime priority cannot be set.">RealtimeException</a></td><td>if realtime priority cannot be set for the current thread. </td></tr>
+    <tr><td class="paramname">std::invalid_argument</td><td>if joint-level torque or Cartesian velocity command elements are NaN or infinity.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section see"><dt>See also</dt><dd><a class="el" href="classfranka_1_1Robot.html#ae63bc19390df3d54f3a270814df35eb6" title="Establishes a connection with the robot.">Robot::Robot</a> to change behavior if realtime priority cannot be set. </dd></dl>
+
+</div>
+</div>
+<a id="a4b625b781d388f3379e0961c724239d5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4b625b781d388f3379e0961c724239d5">&#9670;&nbsp;</a></span>control() <span class="overload">[8/9]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void franka::Robot::control </td>
+          <td>(</td>
+          <td class="paramtype">std::function&lt; <a class="el" href="classfranka_1_1Torques.html">Torques</a>(const <a class="el" href="structfranka_1_1RobotState.html">RobotState</a> &amp;, <a class="el" href="classfranka_1_1Duration.html">franka::Duration</a>)&gt;&#160;</td>
+          <td class="paramname"><em>control_callback</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; <a class="el" href="classfranka_1_1JointPositions.html">JointPositions</a>(const <a class="el" href="structfranka_1_1RobotState.html">RobotState</a> &amp;, <a class="el" href="classfranka_1_1Duration.html">franka::Duration</a>)&gt;&#160;</td>
+          <td class="paramname"><em>motion_generator_callback</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>limit_rate</em> = <code>false</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>cutoff_frequency</em> = <code>kDefaultCutoffFrequency</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Starts a control loop for sending joint-level torque commands and joint positions. </p>
+<p>Sets realtime priority for the current thread. Cannot be executed while another control or motion generator loop is active.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">control_callback</td><td>Callback function providing joint-level torque commands. See <a class="el" href="classfranka_1_1Robot.html#callback-docs">here</a> for more details. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">motion_generator_callback</td><td>Callback function for motion generation. See <a class="el" href="classfranka_1_1Robot.html#callback-docs">here</a> for more details. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">limit_rate</td><td>True if rate limiting should be activated. False by default. This could distort your motion! </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">cutoff_frequency</td><td>Cutoff frequency for a first order low-pass filter applied on the user commanded signal. Set to franka::kMaxCutoffFrequency to disable.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1ControlException.html" title="ControlException is thrown if an error occurs during motion generation or torque control.">ControlException</a></td><td>if an error related to torque control or motion generation occurred. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1InvalidOperationException.html" title="InvalidOperationException is thrown if an operation cannot be performed.">InvalidOperationException</a></td><td>if a conflicting operation is already running. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1NetworkException.html" title="NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occu...">NetworkException</a></td><td>if the connection is lost, e.g. after a timeout. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1RealtimeException.html" title="RealtimeException is thrown if realtime priority cannot be set.">RealtimeException</a></td><td>if realtime priority cannot be set for the current thread. </td></tr>
+    <tr><td class="paramname">std::invalid_argument</td><td>if joint-level torque or joint position commands are NaN or infinity.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section see"><dt>See also</dt><dd><a class="el" href="classfranka_1_1Robot.html#ae63bc19390df3d54f3a270814df35eb6" title="Establishes a connection with the robot.">Robot::Robot</a> to change behavior if realtime priority cannot be set. </dd></dl>
+
+</div>
+</div>
+<a id="a76e8b7a9c7e2b874c3e300ba7cdeb8ca"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a76e8b7a9c7e2b874c3e300ba7cdeb8ca">&#9670;&nbsp;</a></span>control() <span class="overload">[9/9]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void franka::Robot::control </td>
+          <td>(</td>
+          <td class="paramtype">std::function&lt; <a class="el" href="classfranka_1_1Torques.html">Torques</a>(const <a class="el" href="structfranka_1_1RobotState.html">RobotState</a> &amp;, <a class="el" href="classfranka_1_1Duration.html">franka::Duration</a>)&gt;&#160;</td>
+          <td class="paramname"><em>control_callback</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; <a class="el" href="classfranka_1_1JointVelocities.html">JointVelocities</a>(const <a class="el" href="structfranka_1_1RobotState.html">RobotState</a> &amp;, <a class="el" href="classfranka_1_1Duration.html">franka::Duration</a>)&gt;&#160;</td>
+          <td class="paramname"><em>motion_generator_callback</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>limit_rate</em> = <code>false</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>cutoff_frequency</em> = <code>kDefaultCutoffFrequency</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Starts a control loop for sending joint-level torque commands and joint velocities. </p>
+<p>Sets realtime priority for the current thread. Cannot be executed while another control or motion generator loop is active.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">control_callback</td><td>Callback function providing joint-level torque commands. See <a class="el" href="classfranka_1_1Robot.html#callback-docs">here</a> for more details. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">motion_generator_callback</td><td>Callback function for motion generation. See <a class="el" href="classfranka_1_1Robot.html#callback-docs">here</a> for more details. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">limit_rate</td><td>True if rate limiting should be activated. False by default. This could distort your motion! </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">cutoff_frequency</td><td>Cutoff frequency for a first order low-pass filter applied on the user commanded signal. Set to franka::kMaxCutoffFrequency to disable.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1ControlException.html" title="ControlException is thrown if an error occurs during motion generation or torque control.">ControlException</a></td><td>if an error related to torque control or motion generation occurred. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1InvalidOperationException.html" title="InvalidOperationException is thrown if an operation cannot be performed.">InvalidOperationException</a></td><td>if a conflicting operation is already running. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1NetworkException.html" title="NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occu...">NetworkException</a></td><td>if the connection is lost, e.g. after a timeout. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1RealtimeException.html" title="RealtimeException is thrown if realtime priority cannot be set.">RealtimeException</a></td><td>if realtime priority cannot be set for the current thread. </td></tr>
+    <tr><td class="paramname">std::invalid_argument</td><td>if joint-level torque or joint velocity commands are NaN or infinity.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section see"><dt>See also</dt><dd><a class="el" href="classfranka_1_1Robot.html#ae63bc19390df3d54f3a270814df35eb6" title="Establishes a connection with the robot.">Robot::Robot</a> to change behavior if realtime priority cannot be set. </dd></dl>
+
+</div>
+</div>
+<a id="a2da598c539469827409ac7e3bb61d5da"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2da598c539469827409ac7e3bb61d5da">&#9670;&nbsp;</a></span>loadModel()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classfranka_1_1Model.html">Model</a> franka::Robot::loadModel </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Loads the model library from the robot. </p>
+<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classfranka_1_1Model.html" title="Calculates poses of joints and dynamic properties of the robot.">Model</a> instance.</dd></dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1ModelException.html" title="ModelException is thrown if an error occurs when loading the model library.">ModelException</a></td><td>if the model library cannot be loaded. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1NetworkException.html" title="NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occu...">NetworkException</a></td><td>if the connection is lost, e.g. after a timeout. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="cartesian_impedance_control_8cpp-example.html#a3">cartesian_impedance_control.cpp</a>, and <a class="el" href="force_control_8cpp-example.html#a3">force_control.cpp</a>.</dd>
+</dl>
+
+</div>
+</div>
+<a id="a35465b8497a7adbd277e70e98b7d97a7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a35465b8497a7adbd277e70e98b7d97a7">&#9670;&nbsp;</a></span>operator=()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classfranka_1_1Robot.html">Robot</a>&amp; franka::Robot::operator= </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="classfranka_1_1Robot.html">Robot</a> &amp;&amp;&#160;</td>
+          <td class="paramname"><em>other</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Move-assigns this <a class="el" href="classfranka_1_1Robot.html" title="Maintains a network connection to the robot, provides the current robot state, gives access to the mo...">Robot</a> from another <a class="el" href="classfranka_1_1Robot.html" title="Maintains a network connection to the robot, provides the current robot state, gives access to the mo...">Robot</a> instance. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">other</td><td>Other <a class="el" href="classfranka_1_1Robot.html" title="Maintains a network connection to the robot, provides the current robot state, gives access to the mo...">Robot</a> instance.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classfranka_1_1Robot.html" title="Maintains a network connection to the robot, provides the current robot state, gives access to the mo...">Robot</a> instance. </dd></dl>
+
+</div>
+</div>
+<a id="a82f85eed20426901a7e77b66c041664b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a82f85eed20426901a7e77b66c041664b">&#9670;&nbsp;</a></span>read()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void franka::Robot::read </td>
+          <td>(</td>
+          <td class="paramtype">std::function&lt; bool(const <a class="el" href="structfranka_1_1RobotState.html">RobotState</a> &amp;)&gt;&#160;</td>
+          <td class="paramname"><em>read_callback</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Starts a loop for reading the current robot state. </p>
+<p>Cannot be executed while a control or motion generator loop is running.</p>
+<p>This minimal example will print the robot state 100 times: </p><div class="fragment"><div class="line"><a class="code" href="classfranka_1_1Robot.html">franka::Robot</a> robot(<span class="stringliteral">&quot;robot.franka.de&quot;</span>);</div>
+<div class="line"><span class="keywordtype">size_t</span> count = 0;</div>
+<div class="line">robot.read([&amp;count](<span class="keyword">const</span> <a class="code" href="structfranka_1_1RobotState.html">franka::RobotState</a>&amp; robot_state) {</div>
+<div class="line">  std::cout &lt;&lt; robot_state &lt;&lt; std::endl;</div>
+<div class="line">  <span class="keywordflow">return</span> count++ &lt; 100;</div>
+<div class="line">});</div>
+<div class="ttc" id="aclassfranka_1_1Robot_html"><div class="ttname"><a href="classfranka_1_1Robot.html">franka::Robot</a></div><div class="ttdoc">Maintains a network connection to the robot, provides the current robot state, gives access to the mo...</div><div class="ttdef"><b>Definition:</b> robot.h:67</div></div>
+</div><!-- fragment --><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">read_callback</td><td>Callback function for robot state reading.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1InvalidOperationException.html" title="InvalidOperationException is thrown if an operation cannot be performed.">InvalidOperationException</a></td><td>if a conflicting operation is already running. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1NetworkException.html" title="NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occu...">NetworkException</a></td><td>if the connection is lost, e.g. after a timeout. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="echo_robot_state_8cpp-example.html#a1">echo_robot_state.cpp</a>.</dd>
+</dl>
+
+</div>
+</div>
+<a id="ae3c3d7c5c4491a1e96a0a543931e899a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae3c3d7c5c4491a1e96a0a543931e899a">&#9670;&nbsp;</a></span>readOnce()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual <a class="el" href="structfranka_1_1RobotState.html">RobotState</a> franka::Robot::readOnce </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Waits for a robot state update and returns it. </p>
+<p>Cannot be executed while a control or motion generator loop is running.</p>
+<dl class="section return"><dt>Returns</dt><dd>Current robot state.</dd></dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1InvalidOperationException.html" title="InvalidOperationException is thrown if an operation cannot be performed.">InvalidOperationException</a></td><td>if a conflicting operation is already running. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1NetworkException.html" title="NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occu...">NetworkException</a></td><td>if the connection is lost, e.g. after a timeout.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section see"><dt>See also</dt><dd><a class="el" href="classfranka_1_1Robot.html#a82f85eed20426901a7e77b66c041664b" title="Starts a loop for reading the current robot state.">Robot::read</a> for a way to repeatedly receive the robot state. </dd></dl>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="cartesian_impedance_control_8cpp-example.html#a5">cartesian_impedance_control.cpp</a>, and <a class="el" href="force_control_8cpp-example.html#a6">force_control.cpp</a>.</dd>
+</dl>
+
+</div>
+</div>
+<a id="a3b864e16b7accafdf1a755dc21765701"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3b864e16b7accafdf1a755dc21765701">&#9670;&nbsp;</a></span>serverVersion()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classfranka_1_1Robot.html#ad1dd3dccff6f33691d2c66eaa5ac5a10">ServerVersion</a> franka::Robot::serverVersion </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Returns the software version reported by the connected server. </p>
+<dl class="section return"><dt>Returns</dt><dd>Software version of the connected server. </dd></dl>
+
+</div>
+</div>
+<a id="ac2678c5c31cc8c0627ecda7485f81f6d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac2678c5c31cc8c0627ecda7485f81f6d">&#9670;&nbsp;</a></span>setCartesianImpedance()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void franka::Robot::setCartesianImpedance </td>
+          <td>(</td>
+          <td class="paramtype">const std::array&lt; double, 6 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>K_x</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Sets the Cartesian stiffness/compliance (for x, y, z, roll, pitch, yaw) in the internal controller. </p>
+<p>The values set using <a class="el" href="classfranka_1_1Robot.html#ac2678c5c31cc8c0627ecda7485f81f6d" title="Sets the Cartesian stiffness/compliance (for x, y, z, roll, pitch, yaw) in the internal controller.">Robot::setCartesianImpedance</a> are used in the direction of the stiffness frame, which can be set with <a class="el" href="classfranka_1_1Robot.html#ad1cf59d1b11306d80cd3c7144a989c56" title="Sets the transformation  from end effector frame to stiffness frame.">Robot::setK</a>.</p>
+<p>Inputs received by the torque controller are not affected by this setting.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">K_x</td><td>Cartesian impedance values \(K_x=(K_{x_{x,y,z}} \in [10,3000] \frac{N}{m}, K_{x_{R,P,Y}} \in [1,300] \frac{Nm}{rad})\) </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1CommandException.html" title="CommandException is thrown if an error occurs during command execution.">CommandException</a></td><td>if the Control reports an error. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1NetworkException.html" title="NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occu...">NetworkException</a></td><td>if the connection is lost, e.g. after a timeout. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="aa188f58c9025594be4d1700da744a962"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa188f58c9025594be4d1700da744a962">&#9670;&nbsp;</a></span>setCollisionBehavior() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void franka::Robot::setCollisionBehavior </td>
+          <td>(</td>
+          <td class="paramtype">const std::array&lt; double, 7 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>lower_torque_thresholds</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::array&lt; double, 7 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>upper_torque_thresholds</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::array&lt; double, 6 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>lower_force_thresholds</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::array&lt; double, 6 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>upper_force_thresholds</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Changes the collision behavior. </p>
+<p>Set common torque and force boundaries for acceleration/deceleration and constant velocity movement phases.</p>
+<p>Forces or torques between lower and upper threshold are shown as contacts in the <a class="el" href="structfranka_1_1RobotState.html" title="Describes the robot state.">RobotState</a>. Forces or torques above the upper threshold are registered as collision and cause the robot to stop moving.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">lower_torque_thresholds</td><td>Contact torque thresholds for each joint in \([Nm]\). </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">upper_torque_thresholds</td><td>Collision torque thresholds for each joint in \([Nm]\). </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">lower_force_thresholds</td><td>Contact force thresholds for \((x,y,z,R,P,Y)\) in \([N]\). </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">upper_force_thresholds</td><td>Collision force thresholds for \((x,y,z,R,P,Y)\) in \([N]\).</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1CommandException.html" title="CommandException is thrown if an error occurs during command execution.">CommandException</a></td><td>if the Control reports an error. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1NetworkException.html" title="NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occu...">NetworkException</a></td><td>if the connection is lost, e.g. after a timeout.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section see"><dt>See also</dt><dd><a class="el" href="structfranka_1_1RobotState.html#a7fc1f0358d2104d39d301d70544fa6c1" title="Indicates which contact level is activated in which Cartesian dimension .">RobotState::cartesian_contact</a> </dd>
+<dd>
+<a class="el" href="structfranka_1_1RobotState.html#a52c20478f4c1e162df38582ea9bda044" title="Indicates which contact level is activated in which Cartesian dimension .">RobotState::cartesian_collision</a> </dd>
+<dd>
+<a class="el" href="structfranka_1_1RobotState.html#a7243c652a8efe58c343a0d1252302fa4" title="Indicates which contact level is activated in which joint.">RobotState::joint_contact</a> </dd>
+<dd>
+<a class="el" href="structfranka_1_1RobotState.html#a38757bafd4dd8e138410de1dca0c36f8" title="Indicates which contact level is activated in which joint.">RobotState::joint_collision</a> </dd>
+<dd>
+<a class="el" href="classfranka_1_1Robot.html#af682aa673415718715bd859116bc2fed" title="Runs automatic error recovery on the robot.">Robot::automaticErrorRecovery</a> for performing a reset after a collision. </dd></dl>
+
+</div>
+</div>
+<a id="a168e1214ac36d74ac64f894332b84534"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a168e1214ac36d74ac64f894332b84534">&#9670;&nbsp;</a></span>setCollisionBehavior() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void franka::Robot::setCollisionBehavior </td>
+          <td>(</td>
+          <td class="paramtype">const std::array&lt; double, 7 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>lower_torque_thresholds_acceleration</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::array&lt; double, 7 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>upper_torque_thresholds_acceleration</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::array&lt; double, 7 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>lower_torque_thresholds_nominal</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::array&lt; double, 7 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>upper_torque_thresholds_nominal</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::array&lt; double, 6 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>lower_force_thresholds_acceleration</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::array&lt; double, 6 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>upper_force_thresholds_acceleration</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::array&lt; double, 6 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>lower_force_thresholds_nominal</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::array&lt; double, 6 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>upper_force_thresholds_nominal</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Changes the collision behavior. </p>
+<p>Set separate torque and force boundaries for acceleration/deceleration and constant velocity movement phases.</p>
+<p>Forces or torques between lower and upper threshold are shown as contacts in the <a class="el" href="structfranka_1_1RobotState.html" title="Describes the robot state.">RobotState</a>. Forces or torques above the upper threshold are registered as collision and cause the robot to stop moving.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">lower_torque_thresholds_acceleration</td><td>Contact torque thresholds during acceleration/deceleration for each joint in \([Nm]\). </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">upper_torque_thresholds_acceleration</td><td>Collision torque thresholds during acceleration/deceleration for each joint in \([Nm]\). </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">lower_torque_thresholds_nominal</td><td>Contact torque thresholds for each joint in \([Nm]\). </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">upper_torque_thresholds_nominal</td><td>Collision torque thresholds for each joint in \([Nm]\). </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">lower_force_thresholds_acceleration</td><td>Contact force thresholds during acceleration/deceleration for \((x,y,z,R,P,Y)\) in \([N]\). </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">upper_force_thresholds_acceleration</td><td>Collision force thresholds during acceleration/deceleration for \((x,y,z,R,P,Y)\) in \([N]\). </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">lower_force_thresholds_nominal</td><td>Contact force thresholds for \((x,y,z,R,P,Y)\) in \([N]\). </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">upper_force_thresholds_nominal</td><td>Collision force thresholds for \((x,y,z,R,P,Y)\) in \([N]\).</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1CommandException.html" title="CommandException is thrown if an error occurs during command execution.">CommandException</a></td><td>if the Control reports an error. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1NetworkException.html" title="NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occu...">NetworkException</a></td><td>if the connection is lost, e.g. after a timeout.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section see"><dt>See also</dt><dd><a class="el" href="structfranka_1_1RobotState.html#a7fc1f0358d2104d39d301d70544fa6c1" title="Indicates which contact level is activated in which Cartesian dimension .">RobotState::cartesian_contact</a> </dd>
+<dd>
+<a class="el" href="structfranka_1_1RobotState.html#a52c20478f4c1e162df38582ea9bda044" title="Indicates which contact level is activated in which Cartesian dimension .">RobotState::cartesian_collision</a> </dd>
+<dd>
+<a class="el" href="structfranka_1_1RobotState.html#a7243c652a8efe58c343a0d1252302fa4" title="Indicates which contact level is activated in which joint.">RobotState::joint_contact</a> </dd>
+<dd>
+<a class="el" href="structfranka_1_1RobotState.html#a38757bafd4dd8e138410de1dca0c36f8" title="Indicates which contact level is activated in which joint.">RobotState::joint_collision</a> </dd>
+<dd>
+<a class="el" href="classfranka_1_1Robot.html#af682aa673415718715bd859116bc2fed" title="Runs automatic error recovery on the robot.">Robot::automaticErrorRecovery</a> for performing a reset after a collision. </dd></dl>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="cartesian_impedance_control_8cpp-example.html#a7">cartesian_impedance_control.cpp</a>, <a class="el" href="communication_test_8cpp-example.html#a4">communication_test.cpp</a>, <a class="el" href="force_control_8cpp-example.html#a4">force_control.cpp</a>, <a class="el" href="generate_cartesian_pose_motion_8cpp-example.html#a4">generate_cartesian_pose_motion.cpp</a>, <a class="el" href="generate_cartesian_pose_motion_external_control_loop_8cpp-example.html#a4">generate_cartesian_pose_motion_external_control_loop.cpp</a>, <a class="el" href="generate_cartesian_velocity_motion_8cpp-example.html#a5">generate_cartesian_velocity_motion.cpp</a>, <a class="el" href="generate_cartesian_velocity_motion_external_control_loop_8cpp-example.html#a5">generate_cartesian_velocity_motion_external_control_loop.cpp</a>, <a class="el" href="generate_consecutive_motions_8cpp-example.html#a4">generate_consecutive_motions.cpp</a>, <a class="el" href="generate_elbow_motion_8cpp-example.html#a4">generate_elbow_motion.cpp</a>, <a class="el" href="generate_joint_position_motion_8cpp-example.html#a4">generate_joint_position_motion.cpp</a>, <a class="el" href="generate_joint_position_motion_external_control_loop_8cpp-example.html#a4">generate_joint_position_motion_external_control_loop.cpp</a>, <a class="el" href="generate_joint_velocity_motion_8cpp-example.html#a4">generate_joint_velocity_motion.cpp</a>, <a class="el" href="generate_joint_velocity_motion_external_control_loop_8cpp-example.html#a4">generate_joint_velocity_motion_external_control_loop.cpp</a>, and <a class="el" href="joint_point_to_point_motion_8cpp-example.html#a2">joint_point_to_point_motion.cpp</a>.</dd>
+</dl>
+
+</div>
+</div>
+<a id="aec4abdefbc0f9a7400a36bfa0a6068af"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aec4abdefbc0f9a7400a36bfa0a6068af">&#9670;&nbsp;</a></span>setEE()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void franka::Robot::setEE </td>
+          <td>(</td>
+          <td class="paramtype">const std::array&lt; double, 16 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>NE_T_EE</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Sets the transformation \(^{NE}T_{EE}\) from nominal end effector to end effector frame. </p>
+<p>The transformation matrix is represented as a vectorized 4x4 matrix in column-major format.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">NE_T_EE</td><td>Vectorized NE-to-EE transformation matrix \(^{NE}T_{EE}\), column-major.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1CommandException.html" title="CommandException is thrown if an error occurs during command execution.">CommandException</a></td><td>if the Control reports an error. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1NetworkException.html" title="NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occu...">NetworkException</a></td><td>if the connection is lost, e.g. after a timeout.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section see"><dt>See also</dt><dd><a class="el" href="structfranka_1_1RobotState.html#ac53f1046fe758cfdda438a8e3ba08fff" title="End effector frame pose in nominal end effector frame.">RobotState::NE_T_EE</a> for end effector pose in <a class="el" href="classfranka_1_1Robot.html#ne-frame">nominal end effector frame</a>NE".
+@see RobotState::O_T_EE for end effector pose in @ref o-frame "world base frame O".
+@see RobotState::F_T_EE for end effector pose in @ref f-frame "flange frame F". </dd></dl>
+
+</div>
+</div>
+<a id="a7992cee203e66f9a61fe2f318ef88a26"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7992cee203e66f9a61fe2f318ef88a26">&#9670;&nbsp;</a></span>setGuidingMode()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void franka::Robot::setGuidingMode </td>
+          <td>(</td>
+          <td class="paramtype">const std::array&lt; bool, 6 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>guiding_mode</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>elbow</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Locks or unlocks guiding mode movement in (x, y, z, roll, pitch, yaw). </p>
+<p>If a flag is set to true, movement is unlocked.</p>
+<dl class="section note"><dt>Note</dt><dd>Guiding mode can be enabled by pressing the two opposing buttons near the robot's flange.</dd></dl>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">guiding_mode</td><td>Unlocked movement in (x, y, z, R, P, Y) in guiding mode. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">elbow</td><td>True if the elbow is free in guiding mode, false otherwise.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1CommandException.html" title="CommandException is thrown if an error occurs during command execution.">CommandException</a></td><td>if the Control reports an error. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1NetworkException.html" title="NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occu...">NetworkException</a></td><td>if the connection is lost, e.g. after a timeout. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="aa18a28697cf6e3be16c6cff2dd839560"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa18a28697cf6e3be16c6cff2dd839560">&#9670;&nbsp;</a></span>setJointImpedance()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void franka::Robot::setJointImpedance </td>
+          <td>(</td>
+          <td class="paramtype">const std::array&lt; double, 7 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>K_theta</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Sets the impedance for each joint in the internal controller. </p>
+<p>User-provided torques are not affected by this setting.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">K_theta</td><td>Joint impedance values \(K_{\theta_{1-7}} = \in [0,14250] \frac{Nm}{rad}\)</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1CommandException.html" title="CommandException is thrown if an error occurs during command execution.">CommandException</a></td><td>if the Control reports an error. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1NetworkException.html" title="NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occu...">NetworkException</a></td><td>if the connection is lost, e.g. after a timeout. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="generate_cartesian_velocity_motion_8cpp-example.html#a4">generate_cartesian_velocity_motion.cpp</a>, and <a class="el" href="generate_cartesian_velocity_motion_external_control_loop_8cpp-example.html#a4">generate_cartesian_velocity_motion_external_control_loop.cpp</a>.</dd>
+</dl>
+
+</div>
+</div>
+<a id="ad1cf59d1b11306d80cd3c7144a989c56"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad1cf59d1b11306d80cd3c7144a989c56">&#9670;&nbsp;</a></span>setK()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void franka::Robot::setK </td>
+          <td>(</td>
+          <td class="paramtype">const std::array&lt; double, 16 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>EE_T_K</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Sets the transformation \(^{EE}T_K\) from end effector frame to stiffness frame. </p>
+<p>The transformation matrix is represented as a vectorized 4x4 matrix in column-major format.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">EE_T_K</td><td>Vectorized EE-to-K transformation matrix \(^{EE}T_K\), column-major.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1CommandException.html" title="CommandException is thrown if an error occurs during command execution.">CommandException</a></td><td>if the Control reports an error. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1NetworkException.html" title="NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occu...">NetworkException</a></td><td>if the connection is lost, e.g. after a timeout.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section see"><dt>See also</dt><dd><a class="el" href="classfranka_1_1Robot.html" title="Maintains a network connection to the robot, provides the current robot state, gives access to the mo...">Robot</a> for an explanation of the stiffness frame. </dd></dl>
+
+</div>
+</div>
+<a id="afcb708df10f24563dbcf7d5b907b4a15"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afcb708df10f24563dbcf7d5b907b4a15">&#9670;&nbsp;</a></span>setLoad()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void franka::Robot::setLoad </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>load_mass</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::array&lt; double, 3 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>F_x_Cload</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::array&lt; double, 9 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>load_inertia</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Sets dynamic parameters of a payload. </p>
+<dl class="section note"><dt>Note</dt><dd>This is not for setting end effector parameters, which have to be set in the administrator's interface.</dd></dl>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">load_mass</td><td>Mass of the load in \([kg]\). </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">F_x_Cload</td><td>Translation from flange to center of mass of load \(^Fx_{C_\text{load}}\) in \([m]\). </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">load_inertia</td><td>Inertia matrix \(I_\text{load}\) in \([kg \times m^2]\), column-major.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1CommandException.html" title="CommandException is thrown if an error occurs during command execution.">CommandException</a></td><td>if the Control reports an error. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1NetworkException.html" title="NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occu...">NetworkException</a></td><td>if the connection is lost, e.g. after a timeout. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a3822866cf931fab955d3dcfc6cf746e5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3822866cf931fab955d3dcfc6cf746e5">&#9670;&nbsp;</a></span>startCartesianPoseControl()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual std::unique_ptr&lt;<a class="el" href="classfranka_1_1ActiveControlBase.html">ActiveControlBase</a>&gt; franka::Robot::startCartesianPoseControl </td>
+          <td>(</td>
+          <td class="paramtype">const research_interface::robot::Move::ControllerMode &amp;&#160;</td>
+          <td class="paramname"><em>control_type</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Starts a new cartesian position motion generator. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">control_type</td><td>research_interface::robot::Move::ControllerMode control type for the operation </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>unique_ptr of <a class="el" href="classfranka_1_1ActiveMotionGenerator.html" title="Allows the user to read the state of a Robot and to send new motion generator commands after starting...">ActiveMotionGenerator</a> for the started motion </dd></dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1ControlException.html" title="ControlException is thrown if an error occurs during motion generation or torque control.">ControlException</a></td><td>if an error related to torque control or motion generation occurred. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1InvalidOperationException.html" title="InvalidOperationException is thrown if an operation cannot be performed.">InvalidOperationException</a></td><td>if a conflicting operation is already running. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1NetworkException.html" title="NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occu...">NetworkException</a></td><td>if the connection is lost, e.g. after a timeout. </td></tr>
+    <tr><td class="paramname">std::invalid_argument</td><td>if joint-level torque commands are NaN or infinity. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="generate_cartesian_pose_motion_external_control_loop_8cpp-example.html#a9">generate_cartesian_pose_motion_external_control_loop.cpp</a>.</dd>
+</dl>
+
+</div>
+</div>
+<a id="a838e2cfba6b08dd87742bbcfe62f15bf"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a838e2cfba6b08dd87742bbcfe62f15bf">&#9670;&nbsp;</a></span>startCartesianVelocityControl()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual std::unique_ptr&lt;<a class="el" href="classfranka_1_1ActiveControlBase.html">ActiveControlBase</a>&gt; franka::Robot::startCartesianVelocityControl </td>
+          <td>(</td>
+          <td class="paramtype">const research_interface::robot::Move::ControllerMode &amp;&#160;</td>
+          <td class="paramname"><em>control_type</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Starts a new cartesian velocity motion generator. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">control_type</td><td>research_interface::robot::Move::ControllerMode control type for the operation </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>unique_ptr of <a class="el" href="classfranka_1_1ActiveMotionGenerator.html" title="Allows the user to read the state of a Robot and to send new motion generator commands after starting...">ActiveMotionGenerator</a> for the started motion</dd></dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1ControlException.html" title="ControlException is thrown if an error occurs during motion generation or torque control.">ControlException</a></td><td>if an error related to torque control or motion generation occurred. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1InvalidOperationException.html" title="InvalidOperationException is thrown if an operation cannot be performed.">InvalidOperationException</a></td><td>if a conflicting operation is already running. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1NetworkException.html" title="NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occu...">NetworkException</a></td><td>if the connection is lost, e.g. after a timeout. </td></tr>
+    <tr><td class="paramname">std::invalid_argument</td><td>if joint-level torque commands are NaN or infinity. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="generate_cartesian_velocity_motion_external_control_loop_8cpp-example.html#a10">generate_cartesian_velocity_motion_external_control_loop.cpp</a>.</dd>
+</dl>
+
+</div>
+</div>
+<a id="aca7ecf76cf9c5af49cc5a878c91e19a9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aca7ecf76cf9c5af49cc5a878c91e19a9">&#9670;&nbsp;</a></span>startJointPositionControl()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual std::unique_ptr&lt;<a class="el" href="classfranka_1_1ActiveControlBase.html">ActiveControlBase</a>&gt; franka::Robot::startJointPositionControl </td>
+          <td>(</td>
+          <td class="paramtype">const research_interface::robot::Move::ControllerMode &amp;&#160;</td>
+          <td class="paramname"><em>control_type</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Starts a new joint position motion generator. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">control_type</td><td>research_interface::robot::Move::ControllerMode control type for the operation </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>unique_ptr of <a class="el" href="classfranka_1_1ActiveMotionGenerator.html" title="Allows the user to read the state of a Robot and to send new motion generator commands after starting...">ActiveMotionGenerator</a> for the started motion</dd></dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1ControlException.html" title="ControlException is thrown if an error occurs during motion generation or torque control.">ControlException</a></td><td>if an error related to torque control or motion generation occurred. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1InvalidOperationException.html" title="InvalidOperationException is thrown if an operation cannot be performed.">InvalidOperationException</a></td><td>if a conflicting operation is already running. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1NetworkException.html" title="NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occu...">NetworkException</a></td><td>if the connection is lost, e.g. after a timeout. </td></tr>
+    <tr><td class="paramname">std::invalid_argument</td><td>if joint-level torque commands are NaN or infinity. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="generate_joint_position_motion_external_control_loop_8cpp-example.html#a9">generate_joint_position_motion_external_control_loop.cpp</a>.</dd>
+</dl>
+
+</div>
+</div>
+<a id="ae9c867d10817b2485e306450f389a009"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae9c867d10817b2485e306450f389a009">&#9670;&nbsp;</a></span>startJointVelocityControl()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual std::unique_ptr&lt;<a class="el" href="classfranka_1_1ActiveControlBase.html">ActiveControlBase</a>&gt; franka::Robot::startJointVelocityControl </td>
+          <td>(</td>
+          <td class="paramtype">const research_interface::robot::Move::ControllerMode &amp;&#160;</td>
+          <td class="paramname"><em>control_type</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Starts a new joint velocity motion generator. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">control_type</td><td>research_interface::robot::Move::ControllerMode control type for the operation </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>unique_ptr of <a class="el" href="classfranka_1_1ActiveMotionGenerator.html" title="Allows the user to read the state of a Robot and to send new motion generator commands after starting...">ActiveMotionGenerator</a> for the started motion </dd></dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1ControlException.html" title="ControlException is thrown if an error occurs during motion generation or torque control.">ControlException</a></td><td>if an error related to torque control or motion generation occurred. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1InvalidOperationException.html" title="InvalidOperationException is thrown if an operation cannot be performed.">InvalidOperationException</a></td><td>if a conflicting operation is already running. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1NetworkException.html" title="NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occu...">NetworkException</a></td><td>if the connection is lost, e.g. after a timeout. </td></tr>
+    <tr><td class="paramname">std::invalid_argument</td><td>if joint-level torque commands are NaN or infinity. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="generate_joint_velocity_motion_external_control_loop_8cpp-example.html#a9">generate_joint_velocity_motion_external_control_loop.cpp</a>.</dd>
+</dl>
+
+</div>
+</div>
+<a id="a8146de9e50217068672b6f726a91de91"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8146de9e50217068672b6f726a91de91">&#9670;&nbsp;</a></span>startTorqueControl()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual std::unique_ptr&lt;<a class="el" href="classfranka_1_1ActiveControlBase.html">ActiveControlBase</a>&gt; franka::Robot::startTorqueControl </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Starts a new torque controller. </p>
+<dl class="section return"><dt>Returns</dt><dd>unique_ptr of <a class="el" href="classfranka_1_1ActiveTorqueControl.html" title="Allows the user to read the state of a Robot and to send new torque control commands after starting a...">ActiveTorqueControl</a> for the started motion</dd></dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1ControlException.html" title="ControlException is thrown if an error occurs during motion generation or torque control.">ControlException</a></td><td>if an error related to torque control or motion generation occurred. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1InvalidOperationException.html" title="InvalidOperationException is thrown if an operation cannot be performed.">InvalidOperationException</a></td><td>if a conflicting operation is already running. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1NetworkException.html" title="NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occu...">NetworkException</a></td><td>if the connection is lost, e.g. after a timeout. </td></tr>
+    <tr><td class="paramname">std::invalid_argument</td><td>if joint-level torque commands are NaN or infinity. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="communication_test_8cpp-example.html#a6">communication_test.cpp</a>.</dd>
+</dl>
+
+</div>
+</div>
+<a id="a69cb08e075a81ecf3f26e94d26a06296"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a69cb08e075a81ecf3f26e94d26a06296">&#9670;&nbsp;</a></span>stop()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void franka::Robot::stop </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Stops all currently running motions. </p>
+<p>If a control or motion generator loop is running in another thread, it will be preempted with a <a class="el" href="structfranka_1_1ControlException.html" title="ControlException is thrown if an error occurs during motion generation or torque control.">franka::ControlException</a>.</p>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1CommandException.html" title="CommandException is thrown if an error occurs during command execution.">CommandException</a></td><td>if the Control reports an error. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1NetworkException.html" title="NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occu...">NetworkException</a></td><td>if the connection is lost, e.g. after a timeout. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>include/franka/<a class="el" href="robot_8h_source.html">robot.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+</html>
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+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>franka</b></li><li class="navelem"><a class="el" href="classfranka_1_1Torques.html">Torques</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">franka::Torques Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classfranka_1_1Torques.html">franka::Torques</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="structfranka_1_1Finishable.html#a5d48028c0f912d4a089e6220d8715f7f">motion_finished</a></td><td class="entry"><a class="el" href="structfranka_1_1Finishable.html">franka::Finishable</a></td><td class="entry"></td></tr>
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+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1Torques.html#a509d63195827289ffc645e4b62a9750d">Torques</a>(const std::array&lt; double, 7 &gt; &amp;torques) noexcept</td><td class="entry"><a class="el" href="classfranka_1_1Torques.html">franka::Torques</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1Torques.html#a744a08e16dcfc40b3a90ab6a85bac0d8">Torques</a>(std::initializer_list&lt; double &gt; torques)</td><td class="entry"><a class="el" href="classfranka_1_1Torques.html">franka::Torques</a></td><td class="entry"></td></tr>
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+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
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+<li class="navelem"><b>franka</b></li><li class="navelem"><a class="el" href="classfranka_1_1Torques.html">Torques</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classfranka_1_1Torques-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">franka::Torques Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Stores joint-level torque commands without gravity and friction.  
+ <a href="classfranka_1_1Torques.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="control__types_8h_source.html">control_types.h</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for franka::Torques:</div>
+<div class="dyncontent">
+<div class="center"><img src="classfranka_1_1Torques__inherit__graph.png" border="0" usemap="#afranka_1_1Torques_inherit__map" alt="Inheritance graph"/></div>
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+<area shape="rect" title="Stores joint&#45;level torque commands without gravity and friction." alt="" coords="13,80,135,107"/>
+<area shape="rect" href="structfranka_1_1Finishable.html" title="Helper type for control and motion generation loops." alt="" coords="5,5,143,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for franka::Torques:</div>
+<div class="dyncontent">
+<div class="center"><img src="classfranka_1_1Torques__coll__graph.png" border="0" usemap="#afranka_1_1Torques_coll__map" alt="Collaboration graph"/></div>
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+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a509d63195827289ffc645e4b62a9750d"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Torques.html#a509d63195827289ffc645e4b62a9750d">Torques</a> (const std::array&lt; double, 7 &gt; &amp;torques) noexcept</td></tr>
+<tr class="memdesc:a509d63195827289ffc645e4b62a9750d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Creates a new <a class="el" href="classfranka_1_1Torques.html" title="Stores joint-level torque commands without gravity and friction.">Torques</a> instance.  <a href="classfranka_1_1Torques.html#a509d63195827289ffc645e4b62a9750d">More...</a><br /></td></tr>
+<tr class="separator:a509d63195827289ffc645e4b62a9750d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a744a08e16dcfc40b3a90ab6a85bac0d8"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Torques.html#a744a08e16dcfc40b3a90ab6a85bac0d8">Torques</a> (std::initializer_list&lt; double &gt; torques)</td></tr>
+<tr class="memdesc:a744a08e16dcfc40b3a90ab6a85bac0d8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Creates a new <a class="el" href="classfranka_1_1Torques.html" title="Stores joint-level torque commands without gravity and friction.">Torques</a> instance.  <a href="classfranka_1_1Torques.html#a744a08e16dcfc40b3a90ab6a85bac0d8">More...</a><br /></td></tr>
+<tr class="separator:a744a08e16dcfc40b3a90ab6a85bac0d8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:ac2a266cc2d3b7e0fb4f8eff045dbaed8"><td class="memItemLeft" align="right" valign="top"><a id="ac2a266cc2d3b7e0fb4f8eff045dbaed8"></a>
+std::array&lt; double, 7 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Torques.html#ac2a266cc2d3b7e0fb4f8eff045dbaed8">tau_J</a> {}</td></tr>
+<tr class="memdesc:ac2a266cc2d3b7e0fb4f8eff045dbaed8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Desired torques in [Nm]. <br /></td></tr>
+<tr class="separator:ac2a266cc2d3b7e0fb4f8eff045dbaed8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_structfranka_1_1Finishable"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_structfranka_1_1Finishable')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="structfranka_1_1Finishable.html">franka::Finishable</a></td></tr>
+<tr class="memitem:a5d48028c0f912d4a089e6220d8715f7f inherit pub_attribs_structfranka_1_1Finishable"><td class="memItemLeft" align="right" valign="top"><a id="a5d48028c0f912d4a089e6220d8715f7f"></a>
+bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1Finishable.html#a5d48028c0f912d4a089e6220d8715f7f">motion_finished</a> = false</td></tr>
+<tr class="memdesc:a5d48028c0f912d4a089e6220d8715f7f inherit pub_attribs_structfranka_1_1Finishable"><td class="mdescLeft">&#160;</td><td class="mdescRight">Determines whether to finish a currently running motion. <br /></td></tr>
+<tr class="separator:a5d48028c0f912d4a089e6220d8715f7f inherit pub_attribs_structfranka_1_1Finishable"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Stores joint-level torque commands without gravity and friction. </p>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="cartesian_impedance_control_8cpp-example.html#_a8">cartesian_impedance_control.cpp</a>, <a class="el" href="communication_test_8cpp-example.html#_a5">communication_test.cpp</a>, <a class="el" href="force_control_8cpp-example.html#_a10">force_control.cpp</a>, <a class="el" href="joint_impedance_control_8cpp-example.html#_a10">joint_impedance_control.cpp</a>, <a class="el" href="motion_with_control_8cpp-example.html#_a0">motion_with_control.cpp</a>, and <a class="el" href="motion_with_control_external_control_loop_8cpp-example.html#_a0">motion_with_control_external_control_loop.cpp</a>.</dd>
+</dl>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a509d63195827289ffc645e4b62a9750d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a509d63195827289ffc645e4b62a9750d">&#9670;&nbsp;</a></span>Torques() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">franka::Torques::Torques </td>
+          <td>(</td>
+          <td class="paramtype">const std::array&lt; double, 7 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>torques</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Creates a new <a class="el" href="classfranka_1_1Torques.html" title="Stores joint-level torque commands without gravity and friction.">Torques</a> instance. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">torques</td><td>Desired joint-level torques without gravity and friction in \([Nm]\). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a744a08e16dcfc40b3a90ab6a85bac0d8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a744a08e16dcfc40b3a90ab6a85bac0d8">&#9670;&nbsp;</a></span>Torques() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">franka::Torques::Torques </td>
+          <td>(</td>
+          <td class="paramtype">std::initializer_list&lt; double &gt;&#160;</td>
+          <td class="paramname"><em>torques</em></td><td>)</td>
+          <td></td>
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+</div><div class="memdoc">
+
+<p>Creates a new <a class="el" href="classfranka_1_1Torques.html" title="Stores joint-level torque commands without gravity and friction.">Torques</a> instance. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">torques</td><td>Desired joint-level torques without gravity and friction in \([Nm]\).</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname">std::invalid_argument</td><td>if the given initializer list has an invalid number of arguments. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>include/franka/<a class="el" href="control__types_8h_source.html">control_types.h</a></li>
+</ul>
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+<script type="text/javascript" src="dynsections.js"></script>
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+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>franka</b></li><li class="navelem"><a class="el" href="classfranka_1_1VacuumGripper.html">VacuumGripper</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">franka::VacuumGripper Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classfranka_1_1VacuumGripper.html">franka::VacuumGripper</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1VacuumGripper.html#a04645348e97b946a788205c8b1168cac">dropOff</a>(std::chrono::milliseconds timeout) const</td><td class="entry"><a class="el" href="classfranka_1_1VacuumGripper.html">franka::VacuumGripper</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1VacuumGripper.html#a21d59603ac4deb8d9de5e074a57d080d">operator=</a>(VacuumGripper &amp;&amp;vacuum_gripper) noexcept</td><td class="entry"><a class="el" href="classfranka_1_1VacuumGripper.html">franka::VacuumGripper</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1VacuumGripper.html#a0c81171a75c385780a82ff8dc36ef51e">ProductionSetupProfile</a> enum name</td><td class="entry"><a class="el" href="classfranka_1_1VacuumGripper.html">franka::VacuumGripper</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1VacuumGripper.html#aaa61bfd1027cf5dc2eb9e96536a9fabf">readOnce</a>() const</td><td class="entry"><a class="el" href="classfranka_1_1VacuumGripper.html">franka::VacuumGripper</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1VacuumGripper.html#a7b1d752680134e2a9df347002c6ace61">ServerVersion</a> typedef</td><td class="entry"><a class="el" href="classfranka_1_1VacuumGripper.html">franka::VacuumGripper</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1VacuumGripper.html#a19abac44be2fc6df7f54fa11078a13ca">serverVersion</a>() const noexcept</td><td class="entry"><a class="el" href="classfranka_1_1VacuumGripper.html">franka::VacuumGripper</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1VacuumGripper.html#a3722fe5488c516b4082c878a083cc865">stop</a>() const</td><td class="entry"><a class="el" href="classfranka_1_1VacuumGripper.html">franka::VacuumGripper</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1VacuumGripper.html#a517d95d9800990ca1a5892473c2def89">vacuum</a>(uint8_t vacuum, std::chrono::milliseconds timeout, ProductionSetupProfile profile=ProductionSetupProfile::kP0) const</td><td class="entry"><a class="el" href="classfranka_1_1VacuumGripper.html">franka::VacuumGripper</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1VacuumGripper.html#ab5d8483a0bb16136da684cfac721eae1">VacuumGripper</a>(const std::string &amp;franka_address)</td><td class="entry"><a class="el" href="classfranka_1_1VacuumGripper.html">franka::VacuumGripper</a></td><td class="entry"><span class="mlabel">explicit</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classfranka_1_1VacuumGripper.html#ab80730b14b5948eea37395e87800ce5f">VacuumGripper</a>(VacuumGripper &amp;&amp;vacuum_gripper) noexcept</td><td class="entry"><a class="el" href="classfranka_1_1VacuumGripper.html">franka::VacuumGripper</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classfranka_1_1VacuumGripper.html#af43f640f3cb9ca873b02bb464d3c279b">~VacuumGripper</a>() noexcept</td><td class="entry"><a class="el" href="classfranka_1_1VacuumGripper.html">franka::VacuumGripper</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
+  </td>
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+<!-- Generated by Doxygen 1.9.1 -->
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+  <ul>
+<li class="navelem"><b>franka</b></li><li class="navelem"><a class="el" href="classfranka_1_1VacuumGripper.html">VacuumGripper</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classfranka_1_1VacuumGripper-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">franka::VacuumGripper Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Maintains a network connection to the vacuum gripper, provides the current vacuum gripper state, and allows the execution of commands.  
+ <a href="classfranka_1_1VacuumGripper.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="vacuum__gripper_8h_source.html">vacuum_gripper.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
+Public Types</h2></td></tr>
+<tr class="memitem:a0c81171a75c385780a82ff8dc36ef51e"><td class="memItemLeft" align="right" valign="top"><a id="a0c81171a75c385780a82ff8dc36ef51e"></a>enum class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1VacuumGripper.html#a0c81171a75c385780a82ff8dc36ef51e">ProductionSetupProfile</a> { <b>kP0</b>
+, <b>kP1</b>
+, <b>kP2</b>
+, <b>kP3</b>
+ }</td></tr>
+<tr class="memdesc:a0c81171a75c385780a82ff8dc36ef51e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Vacuum production setup profile. <br /></td></tr>
+<tr class="separator:a0c81171a75c385780a82ff8dc36ef51e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7b1d752680134e2a9df347002c6ace61"><td class="memItemLeft" align="right" valign="top"><a id="a7b1d752680134e2a9df347002c6ace61"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1VacuumGripper.html#a7b1d752680134e2a9df347002c6ace61">ServerVersion</a> = uint16_t</td></tr>
+<tr class="memdesc:a7b1d752680134e2a9df347002c6ace61"><td class="mdescLeft">&#160;</td><td class="mdescRight">Version of the vacuum gripper server. <br /></td></tr>
+<tr class="separator:a7b1d752680134e2a9df347002c6ace61"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:ab5d8483a0bb16136da684cfac721eae1"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1VacuumGripper.html#ab5d8483a0bb16136da684cfac721eae1">VacuumGripper</a> (const std::string &amp;franka_address)</td></tr>
+<tr class="memdesc:ab5d8483a0bb16136da684cfac721eae1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Establishes a connection with a vacuum gripper connected to a robot.  <a href="classfranka_1_1VacuumGripper.html#ab5d8483a0bb16136da684cfac721eae1">More...</a><br /></td></tr>
+<tr class="separator:ab5d8483a0bb16136da684cfac721eae1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab80730b14b5948eea37395e87800ce5f"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1VacuumGripper.html#ab80730b14b5948eea37395e87800ce5f">VacuumGripper</a> (<a class="el" href="classfranka_1_1VacuumGripper.html">VacuumGripper</a> &amp;&amp;vacuum_gripper) noexcept</td></tr>
+<tr class="memdesc:ab80730b14b5948eea37395e87800ce5f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Move-constructs a new <a class="el" href="classfranka_1_1VacuumGripper.html" title="Maintains a network connection to the vacuum gripper, provides the current vacuum gripper state,...">VacuumGripper</a> instance.  <a href="classfranka_1_1VacuumGripper.html#ab80730b14b5948eea37395e87800ce5f">More...</a><br /></td></tr>
+<tr class="separator:ab80730b14b5948eea37395e87800ce5f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a21d59603ac4deb8d9de5e074a57d080d"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classfranka_1_1VacuumGripper.html">VacuumGripper</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1VacuumGripper.html#a21d59603ac4deb8d9de5e074a57d080d">operator=</a> (<a class="el" href="classfranka_1_1VacuumGripper.html">VacuumGripper</a> &amp;&amp;vacuum_gripper) noexcept</td></tr>
+<tr class="memdesc:a21d59603ac4deb8d9de5e074a57d080d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Move-assigns this <a class="el" href="classfranka_1_1VacuumGripper.html" title="Maintains a network connection to the vacuum gripper, provides the current vacuum gripper state,...">VacuumGripper</a> from another <a class="el" href="classfranka_1_1VacuumGripper.html" title="Maintains a network connection to the vacuum gripper, provides the current vacuum gripper state,...">VacuumGripper</a> instance.  <a href="classfranka_1_1VacuumGripper.html#a21d59603ac4deb8d9de5e074a57d080d">More...</a><br /></td></tr>
+<tr class="separator:a21d59603ac4deb8d9de5e074a57d080d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af43f640f3cb9ca873b02bb464d3c279b"><td class="memItemLeft" align="right" valign="top"><a id="af43f640f3cb9ca873b02bb464d3c279b"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1VacuumGripper.html#af43f640f3cb9ca873b02bb464d3c279b">~VacuumGripper</a> () noexcept</td></tr>
+<tr class="memdesc:af43f640f3cb9ca873b02bb464d3c279b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Closes the connection. <br /></td></tr>
+<tr class="separator:af43f640f3cb9ca873b02bb464d3c279b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a517d95d9800990ca1a5892473c2def89"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1VacuumGripper.html#a517d95d9800990ca1a5892473c2def89">vacuum</a> (uint8_t vacuum, std::chrono::milliseconds timeout, <a class="el" href="classfranka_1_1VacuumGripper.html#a0c81171a75c385780a82ff8dc36ef51e">ProductionSetupProfile</a> profile=ProductionSetupProfile::kP0) const</td></tr>
+<tr class="memdesc:a517d95d9800990ca1a5892473c2def89"><td class="mdescLeft">&#160;</td><td class="mdescRight">Vacuums an object.  <a href="classfranka_1_1VacuumGripper.html#a517d95d9800990ca1a5892473c2def89">More...</a><br /></td></tr>
+<tr class="separator:a517d95d9800990ca1a5892473c2def89"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a04645348e97b946a788205c8b1168cac"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1VacuumGripper.html#a04645348e97b946a788205c8b1168cac">dropOff</a> (std::chrono::milliseconds timeout) const</td></tr>
+<tr class="memdesc:a04645348e97b946a788205c8b1168cac"><td class="mdescLeft">&#160;</td><td class="mdescRight">Drops the grasped object off.  <a href="classfranka_1_1VacuumGripper.html#a04645348e97b946a788205c8b1168cac">More...</a><br /></td></tr>
+<tr class="separator:a04645348e97b946a788205c8b1168cac"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3722fe5488c516b4082c878a083cc865"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1VacuumGripper.html#a3722fe5488c516b4082c878a083cc865">stop</a> () const</td></tr>
+<tr class="memdesc:a3722fe5488c516b4082c878a083cc865"><td class="mdescLeft">&#160;</td><td class="mdescRight">Stops a currently running vacuum gripper vacuum or drop off operation.  <a href="classfranka_1_1VacuumGripper.html#a3722fe5488c516b4082c878a083cc865">More...</a><br /></td></tr>
+<tr class="separator:a3722fe5488c516b4082c878a083cc865"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aaa61bfd1027cf5dc2eb9e96536a9fabf"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structfranka_1_1VacuumGripperState.html">VacuumGripperState</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1VacuumGripper.html#aaa61bfd1027cf5dc2eb9e96536a9fabf">readOnce</a> () const</td></tr>
+<tr class="memdesc:aaa61bfd1027cf5dc2eb9e96536a9fabf"><td class="mdescLeft">&#160;</td><td class="mdescRight">Waits for a vacuum gripper state update and returns it.  <a href="classfranka_1_1VacuumGripper.html#aaa61bfd1027cf5dc2eb9e96536a9fabf">More...</a><br /></td></tr>
+<tr class="separator:aaa61bfd1027cf5dc2eb9e96536a9fabf"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a19abac44be2fc6df7f54fa11078a13ca"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classfranka_1_1VacuumGripper.html#a7b1d752680134e2a9df347002c6ace61">ServerVersion</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1VacuumGripper.html#a19abac44be2fc6df7f54fa11078a13ca">serverVersion</a> () const noexcept</td></tr>
+<tr class="memdesc:a19abac44be2fc6df7f54fa11078a13ca"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the software version reported by the connected server.  <a href="classfranka_1_1VacuumGripper.html#a19abac44be2fc6df7f54fa11078a13ca">More...</a><br /></td></tr>
+<tr class="separator:a19abac44be2fc6df7f54fa11078a13ca"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Maintains a network connection to the vacuum gripper, provides the current vacuum gripper state, and allows the execution of commands. </p>
+<dl class="section note"><dt>Note</dt><dd>The members of this class are threadsafe. </dd></dl>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="vacuum_object_8cpp-example.html#_a0">vacuum_object.cpp</a>.</dd>
+</dl>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ab5d8483a0bb16136da684cfac721eae1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab5d8483a0bb16136da684cfac721eae1">&#9670;&nbsp;</a></span>VacuumGripper() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">franka::VacuumGripper::VacuumGripper </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>franka_address</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">explicit</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Establishes a connection with a vacuum gripper connected to a robot. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">franka_address</td><td>IP/hostname of the robot the vacuum gripper is connected to.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1NetworkException.html" title="NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occu...">NetworkException</a></td><td>if the connection is unsuccessful. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1IncompatibleVersionException.html" title="IncompatibleVersionException is thrown if the robot does not support this version of libfranka.">IncompatibleVersionException</a></td><td>if this version of <code>libfranka</code> is not supported. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="ab80730b14b5948eea37395e87800ce5f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab80730b14b5948eea37395e87800ce5f">&#9670;&nbsp;</a></span>VacuumGripper() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">franka::VacuumGripper::VacuumGripper </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="classfranka_1_1VacuumGripper.html">VacuumGripper</a> &amp;&amp;&#160;</td>
+          <td class="paramname"><em>vacuum_gripper</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Move-constructs a new <a class="el" href="classfranka_1_1VacuumGripper.html" title="Maintains a network connection to the vacuum gripper, provides the current vacuum gripper state,...">VacuumGripper</a> instance. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">vacuum_gripper</td><td>Other <a class="el" href="classfranka_1_1VacuumGripper.html" title="Maintains a network connection to the vacuum gripper, provides the current vacuum gripper state,...">VacuumGripper</a> instance. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a04645348e97b946a788205c8b1168cac"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a04645348e97b946a788205c8b1168cac">&#9670;&nbsp;</a></span>dropOff()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool franka::VacuumGripper::dropOff </td>
+          <td>(</td>
+          <td class="paramtype">std::chrono::milliseconds&#160;</td>
+          <td class="paramname"><em>timeout</em></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Drops the grasped object off. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">timeout</td><td>Dropoff timeout. Unit: \([ms]\).</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>True if command was successful, false otherwise.</dd></dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1CommandException.html" title="CommandException is thrown if an error occurs during command execution.">CommandException</a></td><td>if an error occurred. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1NetworkException.html" title="NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occu...">NetworkException</a></td><td>if the connection is lost, e.g. after a timeout. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="vacuum_object_8cpp-example.html#a5">vacuum_object.cpp</a>.</dd>
+</dl>
+
+</div>
+</div>
+<a id="a21d59603ac4deb8d9de5e074a57d080d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a21d59603ac4deb8d9de5e074a57d080d">&#9670;&nbsp;</a></span>operator=()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classfranka_1_1VacuumGripper.html">VacuumGripper</a>&amp; franka::VacuumGripper::operator= </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="classfranka_1_1VacuumGripper.html">VacuumGripper</a> &amp;&amp;&#160;</td>
+          <td class="paramname"><em>vacuum_gripper</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Move-assigns this <a class="el" href="classfranka_1_1VacuumGripper.html" title="Maintains a network connection to the vacuum gripper, provides the current vacuum gripper state,...">VacuumGripper</a> from another <a class="el" href="classfranka_1_1VacuumGripper.html" title="Maintains a network connection to the vacuum gripper, provides the current vacuum gripper state,...">VacuumGripper</a> instance. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">vacuum_gripper</td><td>Other <a class="el" href="classfranka_1_1VacuumGripper.html" title="Maintains a network connection to the vacuum gripper, provides the current vacuum gripper state,...">VacuumGripper</a> instance.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classfranka_1_1Model.html" title="Calculates poses of joints and dynamic properties of the robot.">Model</a> instance. </dd></dl>
+
+</div>
+</div>
+<a id="aaa61bfd1027cf5dc2eb9e96536a9fabf"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aaa61bfd1027cf5dc2eb9e96536a9fabf">&#9670;&nbsp;</a></span>readOnce()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structfranka_1_1VacuumGripperState.html">VacuumGripperState</a> franka::VacuumGripper::readOnce </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Waits for a vacuum gripper state update and returns it. </p>
+<dl class="section return"><dt>Returns</dt><dd>Current vacuum gripper state.</dd></dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1NetworkException.html" title="NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occu...">NetworkException</a></td><td>if the connection is lost, e.g. after a timeout. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1InvalidOperationException.html" title="InvalidOperationException is thrown if an operation cannot be performed.">InvalidOperationException</a></td><td>if another readOnce is already running. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="vacuum_object_8cpp-example.html#a2">vacuum_object.cpp</a>.</dd>
+</dl>
+
+</div>
+</div>
+<a id="a19abac44be2fc6df7f54fa11078a13ca"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a19abac44be2fc6df7f54fa11078a13ca">&#9670;&nbsp;</a></span>serverVersion()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classfranka_1_1VacuumGripper.html#a7b1d752680134e2a9df347002c6ace61">ServerVersion</a> franka::VacuumGripper::serverVersion </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Returns the software version reported by the connected server. </p>
+<dl class="section return"><dt>Returns</dt><dd>Software version of the connected server. </dd></dl>
+
+</div>
+</div>
+<a id="a3722fe5488c516b4082c878a083cc865"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3722fe5488c516b4082c878a083cc865">&#9670;&nbsp;</a></span>stop()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool franka::VacuumGripper::stop </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Stops a currently running vacuum gripper vacuum or drop off operation. </p>
+<dl class="section return"><dt>Returns</dt><dd>True if command was successful, false otherwise.</dd></dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1CommandException.html" title="CommandException is thrown if an error occurs during command execution.">CommandException</a></td><td>if an error occurred. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1NetworkException.html" title="NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occu...">NetworkException</a></td><td>if the connection is lost, e.g. after a timeout. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="vacuum_object_8cpp-example.html#a7">vacuum_object.cpp</a>.</dd>
+</dl>
+
+</div>
+</div>
+<a id="a517d95d9800990ca1a5892473c2def89"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a517d95d9800990ca1a5892473c2def89">&#9670;&nbsp;</a></span>vacuum()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool franka::VacuumGripper::vacuum </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t&#160;</td>
+          <td class="paramname"><em>vacuum</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::chrono::milliseconds&#160;</td>
+          <td class="paramname"><em>timeout</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classfranka_1_1VacuumGripper.html#a0c81171a75c385780a82ff8dc36ef51e">ProductionSetupProfile</a>&#160;</td>
+          <td class="paramname"><em>profile</em> = <code>ProductionSetupProfile::kP0</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Vacuums an object. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">vacuum</td><td>Setpoint for control mode. Unit: \([10*mbar]\). </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">timeout</td><td>Vacuum timeout. Unit: \([ms]\). </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">profile</td><td>Production setup profile P0 to P3. Default: P0.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>True if the vacuum has been established, false otherwise.</dd></dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1CommandException.html" title="CommandException is thrown if an error occurs during command execution.">CommandException</a></td><td>if an error occurred. </td></tr>
+    <tr><td class="paramname"><a class="el" href="structfranka_1_1NetworkException.html" title="NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occu...">NetworkException</a></td><td>if the connection is lost, e.g. after a timeout. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="vacuum_object_8cpp-example.html#a3">vacuum_object.cpp</a>.</dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>include/franka/<a class="el" href="vacuum__gripper_8h_source.html">vacuum_gripper.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
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+<div id="titlearea">
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+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
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+
+<div class="header">
+  <div class="headertitle">
+<div class="title">communication_test.cpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<p>An example indicating the network performance.</p><dl class="section warning"><dt>Warning</dt><dd>Before executing this example, make sure there is enough space in front of the robot.</dd></dl>
+<div class="fragment"><div class="line"><span class="comment">// Copyright (c) 2023 Franka Robotics GmbH</span></div>
+<div class="line"><span class="comment">// Use of this source code is governed by the Apache-2.0 license, see LICENSE</span></div>
+<div class="line"><span class="preprocessor">#include &lt;chrono&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;iostream&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;thread&gt;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="active__control_8h.html">franka/active_control.h</a>&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="active__torque__control_8h.html">franka/active_torque_control.h</a>&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="duration_8h.html">franka/duration.h</a>&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="exception_8h.html">franka/exception.h</a>&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="robot_8h.html">franka/robot.h</a>&gt;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="preprocessor">#include &quot;<a class="code" href="examples__common_8h.html">examples_common.h</a>&quot;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="keywordtype">int</span> main(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span>** argv) {</div>
+<div class="line">  <span class="keywordflow">if</span> (argc != 2) {</div>
+<div class="line">    std::cerr &lt;&lt; <span class="stringliteral">&quot;Usage: &quot;</span> &lt;&lt; argv[0] &lt;&lt; <span class="stringliteral">&quot; &lt;robot-hostname&gt;&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">    <span class="keywordflow">return</span> -1;</div>
+<div class="line">  }</div>
+<div class="line"> </div>
+<div class="line">  uint64_t counter = 0;</div>
+<div class="line">  <span class="keywordtype">double</span> avg_success_rate = 0.0;</div>
+<div class="line">  <span class="keywordtype">double</span> min_success_rate = 1.0;</div>
+<div class="line">  <span class="keywordtype">double</span> max_success_rate = 0.0;</div>
+<div class="line">  uint64_t time = 0;</div>
+<div class="line">  std::cout.precision(2);</div>
+<div class="line">  std::cout &lt;&lt; std::fixed;</div>
+<div class="line"> </div>
+<div class="line">  <span class="keywordflow">try</span> {</div>
+<div class="line">    <a name="_a0"></a><a class="code" href="classfranka_1_1Robot.html">franka::Robot</a> robot(argv[1]);</div>
+<div class="line">    <a name="a1"></a><a class="code" href="examples__common_8h.html#ad0c6e1cb044845ee8a01b5aa1e801a45">setDefaultBehavior</a>(robot);</div>
+<div class="line"> </div>
+<div class="line">    <span class="comment">// First move the robot to a suitable joint configuration</span></div>
+<div class="line">    std::array&lt;double, 7&gt; q_goal = {{0, -M_PI_4, 0, -3 * M_PI_4, 0, M_PI_2, M_PI_4}};</div>
+<div class="line">    <a name="_a2"></a><a class="code" href="classMotionGenerator.html">MotionGenerator</a> motion_generator(0.5, q_goal);</div>
+<div class="line">    std::cout &lt;&lt; <span class="stringliteral">&quot;WARNING: This example will move the robot! &quot;</span></div>
+<div class="line">              &lt;&lt; <span class="stringliteral">&quot;Please make sure to have the user stop button at hand!&quot;</span> &lt;&lt; std::endl</div>
+<div class="line">              &lt;&lt; <span class="stringliteral">&quot;Press Enter to continue...&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">    std::cin.ignore();</div>
+<div class="line">    robot.<a name="a3"></a><a class="code" href="classfranka_1_1Robot.html#a0d5effba5daff2fee123802bbd5f95d1">control</a>(motion_generator);</div>
+<div class="line">    std::cout &lt;&lt; <span class="stringliteral">&quot;Finished moving to initial joint configuration.&quot;</span> &lt;&lt; std::endl &lt;&lt; std::endl;</div>
+<div class="line">    std::cout &lt;&lt; <span class="stringliteral">&quot;Starting communication test.&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"> </div>
+<div class="line">    robot.<a name="a4"></a><a class="code" href="classfranka_1_1Robot.html#a168e1214ac36d74ac64f894332b84534">setCollisionBehavior</a>(</div>
+<div class="line">        {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}}, {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}},</div>
+<div class="line">        {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}}, {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}},</div>
+<div class="line">        {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}}, {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}},</div>
+<div class="line">        {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}}, {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}});</div>
+<div class="line"> </div>
+<div class="line">    <a name="_a5"></a><a class="code" href="classfranka_1_1Torques.html">franka::Torques</a> zero_torques{{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}};</div>
+<div class="line">    <span class="keyword">auto</span> rw_interface = robot.<a name="a6"></a><a class="code" href="classfranka_1_1Robot.html#a8146de9e50217068672b6f726a91de91">startTorqueControl</a>();</div>
+<div class="line"> </div>
+<div class="line">    <a name="_a7"></a><a class="code" href="structfranka_1_1RobotState.html">franka::RobotState</a> robot_state;</div>
+<div class="line">    <a name="_a8"></a><a class="code" href="classfranka_1_1Duration.html">franka::Duration</a> period;</div>
+<div class="line"> </div>
+<div class="line">    <span class="keywordflow">while</span> (!zero_torques.motion_finished) {</div>
+<div class="line">      std::tie(robot_state, period) = rw_interface-&gt;readOnce();</div>
+<div class="line"> </div>
+<div class="line">      time += period.<a name="a9"></a><a class="code" href="classfranka_1_1Duration.html#a2a25ae33c8739b8f705f13798aa9e162">toMSec</a>();</div>
+<div class="line">      <span class="keywordflow">if</span> (time == 0.0) {</div>
+<div class="line">        rw_interface-&gt;writeOnce(zero_torques);</div>
+<div class="line">        <span class="keywordflow">continue</span>;</div>
+<div class="line">      }</div>
+<div class="line">      counter++;</div>
+<div class="line"> </div>
+<div class="line">      <span class="keywordflow">if</span> (counter % 100 == 0) {</div>
+<div class="line">        std::cout &lt;&lt; <span class="stringliteral">&quot;#&quot;</span> &lt;&lt; counter</div>
+<div class="line">                  &lt;&lt; <span class="stringliteral">&quot; Current success rate: &quot;</span> &lt;&lt; robot_state.<a name="a10"></a><a class="code" href="structfranka_1_1RobotState.html#af208572613a6afcdc61a24970c71fa28">control_command_success_rate</a></div>
+<div class="line">                  &lt;&lt; std::endl;</div>
+<div class="line">      }</div>
+<div class="line">      std::this_thread::sleep_for(std::chrono::microseconds(100));</div>
+<div class="line"> </div>
+<div class="line">      avg_success_rate += robot_state.<a class="code" href="structfranka_1_1RobotState.html#af208572613a6afcdc61a24970c71fa28">control_command_success_rate</a>;</div>
+<div class="line">      <span class="keywordflow">if</span> (robot_state.<a class="code" href="structfranka_1_1RobotState.html#af208572613a6afcdc61a24970c71fa28">control_command_success_rate</a> &gt; max_success_rate) {</div>
+<div class="line">        max_success_rate = robot_state.<a class="code" href="structfranka_1_1RobotState.html#af208572613a6afcdc61a24970c71fa28">control_command_success_rate</a>;</div>
+<div class="line">      }</div>
+<div class="line">      <span class="keywordflow">if</span> (robot_state.<a class="code" href="structfranka_1_1RobotState.html#af208572613a6afcdc61a24970c71fa28">control_command_success_rate</a> &lt; min_success_rate) {</div>
+<div class="line">        min_success_rate = robot_state.<a class="code" href="structfranka_1_1RobotState.html#af208572613a6afcdc61a24970c71fa28">control_command_success_rate</a>;</div>
+<div class="line">      }</div>
+<div class="line"> </div>
+<div class="line">      <span class="keywordflow">if</span> (time &gt;= 10000) {</div>
+<div class="line">        std::cout &lt;&lt; std::endl &lt;&lt; <span class="stringliteral">&quot;Finished test, shutting down example&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">        zero_torques.motion_finished = <span class="keyword">true</span>;</div>
+<div class="line">      }</div>
+<div class="line">      <span class="comment">// Sending zero torques - if EE is configured correctly, robot should not move</span></div>
+<div class="line">      rw_interface-&gt;writeOnce(zero_torques);</div>
+<div class="line">    }</div>
+<div class="line">  } <span class="keywordflow">catch</span> (<span class="keyword">const</span> <a name="_a11"></a><a class="code" href="structfranka_1_1Exception.html">franka::Exception</a>&amp; e) {</div>
+<div class="line">    std::cout &lt;&lt; e.what() &lt;&lt; std::endl;</div>
+<div class="line">    <span class="keywordflow">return</span> -1;</div>
+<div class="line">  }</div>
+<div class="line"> </div>
+<div class="line">  avg_success_rate = avg_success_rate / counter;</div>
+<div class="line"> </div>
+<div class="line">  std::cout &lt;&lt; std::endl</div>
+<div class="line">            &lt;&lt; std::endl</div>
+<div class="line">            &lt;&lt; <span class="stringliteral">&quot;#######################################################&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">  uint64_t lost_robot_states = time - counter;</div>
+<div class="line">  <span class="keywordflow">if</span> (lost_robot_states &gt; 0) {</div>
+<div class="line">    std::cout &lt;&lt; <span class="stringliteral">&quot;The control loop did not get executed &quot;</span> &lt;&lt; lost_robot_states &lt;&lt; <span class="stringliteral">&quot; times in the&quot;</span></div>
+<div class="line">              &lt;&lt; std::endl</div>
+<div class="line">              &lt;&lt; <span class="stringliteral">&quot;last &quot;</span> &lt;&lt; time &lt;&lt; <span class="stringliteral">&quot; milliseconds! (lost &quot;</span> &lt;&lt; lost_robot_states &lt;&lt; <span class="stringliteral">&quot; robot states)&quot;</span></div>
+<div class="line">              &lt;&lt; std::endl</div>
+<div class="line">              &lt;&lt; std::endl;</div>
+<div class="line">  }</div>
+<div class="line"> </div>
+<div class="line">  std::cout &lt;&lt; <span class="stringliteral">&quot;Control command success rate of &quot;</span> &lt;&lt; counter &lt;&lt; <span class="stringliteral">&quot; samples: &quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">  std::cout &lt;&lt; <span class="stringliteral">&quot;Max: &quot;</span> &lt;&lt; max_success_rate &lt;&lt; std::endl;</div>
+<div class="line">  std::cout &lt;&lt; <span class="stringliteral">&quot;Avg: &quot;</span> &lt;&lt; avg_success_rate &lt;&lt; std::endl;</div>
+<div class="line">  std::cout &lt;&lt; <span class="stringliteral">&quot;Min: &quot;</span> &lt;&lt; min_success_rate &lt;&lt; std::endl;</div>
+<div class="line"> </div>
+<div class="line">  <span class="keywordflow">if</span> (avg_success_rate &lt; 0.90) {</div>
+<div class="line">    std::cout &lt;&lt; std::endl</div>
+<div class="line">              &lt;&lt; <span class="stringliteral">&quot;WARNING: THIS SETUP IS PROBABLY NOT SUFFICIENT FOR FCI!&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">    std::cout &lt;&lt; <span class="stringliteral">&quot;PLEASE TRY OUT A DIFFERENT PC / NIC&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (avg_success_rate &lt; 0.95) {</div>
+<div class="line">    std::cout &lt;&lt; std::endl &lt;&lt; <span class="stringliteral">&quot;WARNING: MANY PACKETS GOT LOST!&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">    std::cout &lt;&lt; <span class="stringliteral">&quot;PLEASE INSPECT YOUR SETUP AND FOLLOW ADVICE ON&quot;</span> &lt;&lt; std::endl</div>
+<div class="line">              &lt;&lt; <span class="stringliteral">&quot;https://frankaemika.github.io/docs/troubleshooting.html&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">  }</div>
+<div class="line">  std::cout &lt;&lt; <span class="stringliteral">&quot;#######################################################&quot;</span> &lt;&lt; std::endl &lt;&lt; std::endl;</div>
+<div class="line"> </div>
+<div class="line">  <span class="keywordflow">return</span> 0;</div>
+<div class="line">}</div>
+<div class="ttc" id="aactive__control_8h_html"><div class="ttname"><a href="active__control_8h.html">active_control.h</a></div><div class="ttdoc">Implements the ActiveControlBase abstract class.</div></div>
+<div class="ttc" id="aactive__torque__control_8h_html"><div class="ttname"><a href="active__torque__control_8h.html">active_torque_control.h</a></div><div class="ttdoc">Contains the franka::ActiveTorqueControl type.</div></div>
+<div class="ttc" id="aclassMotionGenerator_html"><div class="ttname"><a href="classMotionGenerator.html">MotionGenerator</a></div><div class="ttdoc">An example showing how to generate a joint pose motion to a goal position.</div><div class="ttdef"><b>Definition:</b> examples_common.h:31</div></div>
+<div class="ttc" id="aclassfranka_1_1Duration_html"><div class="ttname"><a href="classfranka_1_1Duration.html">franka::Duration</a></div><div class="ttdoc">Represents a duration with millisecond resolution.</div><div class="ttdef"><b>Definition:</b> duration.h:19</div></div>
+<div class="ttc" id="aclassfranka_1_1Duration_html_a2a25ae33c8739b8f705f13798aa9e162"><div class="ttname"><a href="classfranka_1_1Duration.html#a2a25ae33c8739b8f705f13798aa9e162">franka::Duration::toMSec</a></div><div class="ttdeci">uint64_t toMSec() const noexcept</div><div class="ttdoc">Returns the stored duration in .</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html"><div class="ttname"><a href="classfranka_1_1Robot.html">franka::Robot</a></div><div class="ttdoc">Maintains a network connection to the robot, provides the current robot state, gives access to the mo...</div><div class="ttdef"><b>Definition:</b> robot.h:67</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_a0d5effba5daff2fee123802bbd5f95d1"><div class="ttname"><a href="classfranka_1_1Robot.html#a0d5effba5daff2fee123802bbd5f95d1">franka::Robot::control</a></div><div class="ttdeci">void control(std::function&lt; Torques(const RobotState &amp;, franka::Duration)&gt; control_callback, bool limit_rate=false, double cutoff_frequency=kDefaultCutoffFrequency)</div><div class="ttdoc">Starts a control loop for sending joint-level torque commands.</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_a168e1214ac36d74ac64f894332b84534"><div class="ttname"><a href="classfranka_1_1Robot.html#a168e1214ac36d74ac64f894332b84534">franka::Robot::setCollisionBehavior</a></div><div class="ttdeci">void setCollisionBehavior(const std::array&lt; double, 7 &gt; &amp;lower_torque_thresholds_acceleration, const std::array&lt; double, 7 &gt; &amp;upper_torque_thresholds_acceleration, const std::array&lt; double, 7 &gt; &amp;lower_torque_thresholds_nominal, const std::array&lt; double, 7 &gt; &amp;upper_torque_thresholds_nominal, const std::array&lt; double, 6 &gt; &amp;lower_force_thresholds_acceleration, const std::array&lt; double, 6 &gt; &amp;upper_force_thresholds_acceleration, const std::array&lt; double, 6 &gt; &amp;lower_force_thresholds_nominal, const std::array&lt; double, 6 &gt; &amp;upper_force_thresholds_nominal)</div><div class="ttdoc">Changes the collision behavior.</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_a8146de9e50217068672b6f726a91de91"><div class="ttname"><a href="classfranka_1_1Robot.html#a8146de9e50217068672b6f726a91de91">franka::Robot::startTorqueControl</a></div><div class="ttdeci">virtual std::unique_ptr&lt; ActiveControlBase &gt; startTorqueControl()</div><div class="ttdoc">Starts a new torque controller.</div></div>
+<div class="ttc" id="aclassfranka_1_1Torques_html"><div class="ttname"><a href="classfranka_1_1Torques.html">franka::Torques</a></div><div class="ttdoc">Stores joint-level torque commands without gravity and friction.</div><div class="ttdef"><b>Definition:</b> control_types.h:45</div></div>
+<div class="ttc" id="aduration_8h_html"><div class="ttname"><a href="duration_8h.html">duration.h</a></div><div class="ttdoc">Contains the franka::Duration type.</div></div>
+<div class="ttc" id="aexamples__common_8h_html"><div class="ttname"><a href="examples__common_8h.html">examples_common.h</a></div><div class="ttdoc">Contains common types and functions for the examples.</div></div>
+<div class="ttc" id="aexamples__common_8h_html_ad0c6e1cb044845ee8a01b5aa1e801a45"><div class="ttname"><a href="examples__common_8h.html#ad0c6e1cb044845ee8a01b5aa1e801a45">setDefaultBehavior</a></div><div class="ttdeci">void setDefaultBehavior(franka::Robot &amp;robot)</div><div class="ttdoc">Sets a default collision behavior, joint impedance and Cartesian impedance.</div><div class="ttdef"><b>Definition:</b> examples_common.cpp:12</div></div>
+<div class="ttc" id="aexception_8h_html"><div class="ttname"><a href="exception_8h.html">exception.h</a></div><div class="ttdoc">Contains exception definitions.</div></div>
+<div class="ttc" id="arobot_8h_html"><div class="ttname"><a href="robot_8h.html">robot.h</a></div><div class="ttdoc">Contains the franka::Robot type.</div></div>
+<div class="ttc" id="astructfranka_1_1Exception_html"><div class="ttname"><a href="structfranka_1_1Exception.html">franka::Exception</a></div><div class="ttdoc">Base class for all exceptions used by libfranka.</div><div class="ttdef"><b>Definition:</b> exception.h:20</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html"><div class="ttname"><a href="structfranka_1_1RobotState.html">franka::RobotState</a></div><div class="ttdoc">Describes the robot state.</div><div class="ttdef"><b>Definition:</b> robot_state.h:34</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_af208572613a6afcdc61a24970c71fa28"><div class="ttname"><a href="structfranka_1_1RobotState.html#af208572613a6afcdc61a24970c71fa28">franka::RobotState::control_command_success_rate</a></div><div class="ttdeci">double control_command_success_rate</div><div class="ttdoc">Percentage of the last 100 control commands that were successfully received by the robot.</div><div class="ttdef"><b>Definition:</b> robot_state.h:388</div></div>
+</div><!-- fragment --> </div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
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+<!-- Generated by Doxygen 1.9.1 -->
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+        name="MSearchResults" id="MSearchResults">
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_5f30c89189ebb3336d6b33aa932838ba.html">franka</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#func-members">Functions</a>  </div>
+  <div class="headertitle">
+<div class="title">control_tools.h File Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Contains helper functions for writing control loops.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &lt;algorithm&gt;</code><br />
+<code>#include &lt;array&gt;</code><br />
+<code>#include &lt;cmath&gt;</code><br />
+<code>#include &lt;stdexcept&gt;</code><br />
+<code>#include &lt;string&gt;</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for control_tools.h:</div>
+<div class="dyncontent">
+<div class="center"><img src="control__tools_8h__incl.png" border="0" usemap="#ainclude_2franka_2control__tools_8h" alt=""/></div>
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+</div>
+</div>
+<p><a href="control__tools_8h_source.html">Go to the source code of this file.</a></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
+Functions</h2></td></tr>
+<tr class="memitem:a4eda3eda0514fabf6d630a6d8c0373a0"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="control__tools_8h.html#a4eda3eda0514fabf6d630a6d8c0373a0">franka::isValidElbow</a> (const std::array&lt; double, 2 &gt; &amp;elbow) noexcept</td></tr>
+<tr class="memdesc:a4eda3eda0514fabf6d630a6d8c0373a0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Determines whether the given elbow configuration is valid or not.  <a href="control__tools_8h.html#a4eda3eda0514fabf6d630a6d8c0373a0">More...</a><br /></td></tr>
+<tr class="separator:a4eda3eda0514fabf6d630a6d8c0373a0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad81c99e8af3f2536ae3c6ec1ce8dce1e"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="control__tools_8h.html#ad81c99e8af3f2536ae3c6ec1ce8dce1e">franka::isHomogeneousTransformation</a> (const std::array&lt; double, 16 &gt; &amp;transform) noexcept</td></tr>
+<tr class="memdesc:ad81c99e8af3f2536ae3c6ec1ce8dce1e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Determines whether the given array represents a valid homogeneous transformation matrix.  <a href="control__tools_8h.html#ad81c99e8af3f2536ae3c6ec1ce8dce1e">More...</a><br /></td></tr>
+<tr class="separator:ad81c99e8af3f2536ae3c6ec1ce8dce1e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad165a74da105c78586c0cd4c1ed57bd2"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="control__tools_8h.html#ad165a74da105c78586c0cd4c1ed57bd2">franka::hasRealtimeKernel</a> ()</td></tr>
+<tr class="memdesc:ad165a74da105c78586c0cd4c1ed57bd2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Determines whether the current OS kernel is a realtime kernel.  <a href="control__tools_8h.html#ad165a74da105c78586c0cd4c1ed57bd2">More...</a><br /></td></tr>
+<tr class="separator:ad165a74da105c78586c0cd4c1ed57bd2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5c090196bc50ead82194d3e594e61e65"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="control__tools_8h.html#a5c090196bc50ead82194d3e594e61e65">franka::setCurrentThreadToHighestSchedulerPriority</a> (std::string *error_message)</td></tr>
+<tr class="memdesc:a5c090196bc50ead82194d3e594e61e65"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the current thread to the highest possible scheduler priority.  <a href="control__tools_8h.html#a5c090196bc50ead82194d3e594e61e65">More...</a><br /></td></tr>
+<tr class="separator:a5c090196bc50ead82194d3e594e61e65"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a80d02c11ba41e5973ee76624bf1d4466"><td class="memTemplParams" colspan="2">template&lt;size_t N&gt; </td></tr>
+<tr class="memitem:a80d02c11ba41e5973ee76624bf1d4466"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="control__tools_8h.html#a80d02c11ba41e5973ee76624bf1d4466">franka::checkFinite</a> (const std::array&lt; double, N &gt; &amp;array)</td></tr>
+<tr class="memdesc:a80d02c11ba41e5973ee76624bf1d4466"><td class="mdescLeft">&#160;</td><td class="mdescRight">Checks if all elements of an array of the size N have a finite value.  <a href="control__tools_8h.html#a80d02c11ba41e5973ee76624bf1d4466">More...</a><br /></td></tr>
+<tr class="separator:a80d02c11ba41e5973ee76624bf1d4466"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab38ee604eecfedfb591ddb8327805ea4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="control__tools_8h.html#ab38ee604eecfedfb591ddb8327805ea4">franka::checkMatrix</a> (const std::array&lt; double, 16 &gt; &amp;transform)</td></tr>
+<tr class="memdesc:ab38ee604eecfedfb591ddb8327805ea4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Checks if all elements of the transformation matrix are finite and if it is a homogeneous transformation.  <a href="control__tools_8h.html#ab38ee604eecfedfb591ddb8327805ea4">More...</a><br /></td></tr>
+<tr class="separator:ab38ee604eecfedfb591ddb8327805ea4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:add0cd2cd1401ac0b2393a84ca1577cde"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="control__tools_8h.html#add0cd2cd1401ac0b2393a84ca1577cde">franka::checkElbow</a> (const std::array&lt; double, 2 &gt; &amp;elbow)</td></tr>
+<tr class="memdesc:add0cd2cd1401ac0b2393a84ca1577cde"><td class="mdescLeft">&#160;</td><td class="mdescRight">Checks if all elements of the elbow vector are finite and if the elbow configuration is valid.  <a href="control__tools_8h.html#add0cd2cd1401ac0b2393a84ca1577cde">More...</a><br /></td></tr>
+<tr class="separator:add0cd2cd1401ac0b2393a84ca1577cde"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Contains helper functions for writing control loops. </p>
+</div><h2 class="groupheader">Function Documentation</h2>
+<a id="add0cd2cd1401ac0b2393a84ca1577cde"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#add0cd2cd1401ac0b2393a84ca1577cde">&#9670;&nbsp;</a></span>checkElbow()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void franka::checkElbow </td>
+          <td>(</td>
+          <td class="paramtype">const std::array&lt; double, 2 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>elbow</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Checks if all elements of the elbow vector are finite and if the elbow configuration is valid. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">elbow</td><td>the elbow vector to check </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a80d02c11ba41e5973ee76624bf1d4466"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a80d02c11ba41e5973ee76624bf1d4466">&#9670;&nbsp;</a></span>checkFinite()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;size_t N&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void franka::checkFinite </td>
+          <td>(</td>
+          <td class="paramtype">const std::array&lt; double, N &gt; &amp;&#160;</td>
+          <td class="paramname"><em>array</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Checks if all elements of an array of the size N have a finite value. </p>
+<dl class="tparams"><dt>Template Parameters</dt><dd>
+  <table class="tparams">
+    <tr><td class="paramname">N</td><td>the size of the array </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">array</td><td>the array to be checked </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="ab38ee604eecfedfb591ddb8327805ea4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab38ee604eecfedfb591ddb8327805ea4">&#9670;&nbsp;</a></span>checkMatrix()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void franka::checkMatrix </td>
+          <td>(</td>
+          <td class="paramtype">const std::array&lt; double, 16 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>transform</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Checks if all elements of the transformation matrix are finite and if it is a homogeneous transformation. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">transform</td><td>the transformation matrix to check </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="ad165a74da105c78586c0cd4c1ed57bd2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad165a74da105c78586c0cd4c1ed57bd2">&#9670;&nbsp;</a></span>hasRealtimeKernel()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool franka::hasRealtimeKernel </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Determines whether the current OS kernel is a realtime kernel. </p>
+<p>On Linux, this checks for the existence of <code>/sys/kernel/realtime</code>. On Windows, this always returns true.</p>
+<dl class="section return"><dt>Returns</dt><dd>True if running a realtime kernel, false otherwise. </dd></dl>
+
+</div>
+</div>
+<a id="ad81c99e8af3f2536ae3c6ec1ce8dce1e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad81c99e8af3f2536ae3c6ec1ce8dce1e">&#9670;&nbsp;</a></span>isHomogeneousTransformation()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool franka::isHomogeneousTransformation </td>
+          <td>(</td>
+          <td class="paramtype">const std::array&lt; double, 16 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>transform</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Determines whether the given array represents a valid homogeneous transformation matrix. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">transform</td><td>4x4 matrix in column-major format.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>True if the array represents a homogeneous transformation matrix, otherwise false. </dd></dl>
+
+</div>
+</div>
+<a id="a4eda3eda0514fabf6d630a6d8c0373a0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4eda3eda0514fabf6d630a6d8c0373a0">&#9670;&nbsp;</a></span>isValidElbow()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool franka::isValidElbow </td>
+          <td>(</td>
+          <td class="paramtype">const std::array&lt; double, 2 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>elbow</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Determines whether the given elbow configuration is valid or not. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">elbow</td><td>Elbow configuration.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>True if valid, otherwise false. </dd></dl>
+
+</div>
+</div>
+<a id="a5c090196bc50ead82194d3e594e61e65"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5c090196bc50ead82194d3e594e61e65">&#9670;&nbsp;</a></span>setCurrentThreadToHighestSchedulerPriority()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool franka::setCurrentThreadToHighestSchedulerPriority </td>
+          <td>(</td>
+          <td class="paramtype">std::string *&#160;</td>
+          <td class="paramname"><em>error_message</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Sets the current thread to the highest possible scheduler priority. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">error_message</td><td>Contains an error message if the scheduler priority cannot be set successfully.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>True if successful, false otherwise. </dd></dl>
+
+</div>
+</div>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
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+  <ul>
+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_5f30c89189ebb3336d6b33aa932838ba.html">franka</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">control_tools.h</div>  </div>
+</div><!--header-->
+<div class="contents">
+<a href="control__tools_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// Copyright (c) 2023 Franka Robotics GmbH</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Use of this source code is governed by the Apache-2.0 license, see LICENSE</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160; </div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;algorithm&gt;</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;array&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;cmath&gt;</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;stdexcept&gt;</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;string&gt;</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="keyword">namespace </span>franka {</div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160; </div>
+<div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="control__tools_8h.html#a4eda3eda0514fabf6d630a6d8c0373a0">   25</a></span>&#160;<span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="control__tools_8h.html#a4eda3eda0514fabf6d630a6d8c0373a0">isValidElbow</a>(<span class="keyword">const</span> std::array&lt;double, 2&gt;&amp; elbow) noexcept {</div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;  <span class="keywordflow">return</span> elbow[1] == -1.0 || elbow[1] == 1.0;</div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;}</div>
+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160; </div>
+<div class="line"><a name="l00036"></a><span class="lineno"><a class="line" href="control__tools_8h.html#ad81c99e8af3f2536ae3c6ec1ce8dce1e">   36</a></span>&#160;<span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="control__tools_8h.html#ad81c99e8af3f2536ae3c6ec1ce8dce1e">isHomogeneousTransformation</a>(<span class="keyword">const</span> std::array&lt;double, 16&gt;&amp; transform) noexcept {</div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  constexpr <span class="keywordtype">double</span> kOrthonormalThreshold = 1e-5;</div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  <span class="keywordflow">if</span> (transform[3] != 0.0 || transform[7] != 0.0 || transform[11] != 0.0 || transform[15] != 1.0) {</div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;  }</div>
+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 0; j &lt; 3; ++j) {  <span class="comment">// i..column</span></div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    <span class="keywordflow">if</span> (std::abs(std::sqrt(std::pow(transform[j * 4 + 0], 2) + std::pow(transform[j * 4 + 1], 2) +</div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;                           std::pow(transform[j * 4 + 2], 2)) -</div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;                 1.0) &gt; kOrthonormalThreshold) {</div>
+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    }</div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  }</div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; 3; ++i) {  <span class="comment">// j..row</span></div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    <span class="keywordflow">if</span> (std::abs(std::sqrt(std::pow(transform[0 * 4 + i], 2) + std::pow(transform[1 * 4 + i], 2) +</div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;                           std::pow(transform[2 * 4 + i], 2)) -</div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;                 1.0) &gt; kOrthonormalThreshold) {</div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    }</div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  }</div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;}</div>
+<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
+<div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="control__tools_8h.html#ad165a74da105c78586c0cd4c1ed57bd2">   67</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="control__tools_8h.html#ad165a74da105c78586c0cd4c1ed57bd2">hasRealtimeKernel</a>();</div>
+<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
+<div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="control__tools_8h.html#a5c090196bc50ead82194d3e594e61e65">   77</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="control__tools_8h.html#a5c090196bc50ead82194d3e594e61e65">setCurrentThreadToHighestSchedulerPriority</a>(std::string* error_message);</div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
+<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;<span class="keyword">template</span> &lt;<span class="keywordtype">size_t</span> N&gt;</div>
+<div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="control__tools_8h.html#a80d02c11ba41e5973ee76624bf1d4466">   86</a></span>&#160;<span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="control__tools_8h.html#a80d02c11ba41e5973ee76624bf1d4466">checkFinite</a>(<span class="keyword">const</span> std::array&lt;double, N&gt;&amp; array) {</div>
+<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  <span class="keywordflow">if</span> (!std::all_of(array.begin(), array.end(),</div>
+<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;                   [](<span class="keywordtype">double</span> array_element) { return std::isfinite(array_element); })) {</div>
+<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    <span class="keywordflow">throw</span> std::invalid_argument(<span class="stringliteral">&quot;Commanding value is infinite or NaN.&quot;</span>);</div>
+<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  }</div>
+<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;}</div>
+<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
+<div class="line"><a name="l00099"></a><span class="lineno"><a class="line" href="control__tools_8h.html#ab38ee604eecfedfb591ddb8327805ea4">   99</a></span>&#160;<span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="control__tools_8h.html#ab38ee604eecfedfb591ddb8327805ea4">checkMatrix</a>(<span class="keyword">const</span> std::array&lt;double, 16&gt;&amp; transform) {</div>
+<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  <a class="code" href="control__tools_8h.html#a80d02c11ba41e5973ee76624bf1d4466">checkFinite</a>(transform);</div>
+<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="control__tools_8h.html#ad81c99e8af3f2536ae3c6ec1ce8dce1e">isHomogeneousTransformation</a>(transform)) {</div>
+<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    <span class="keywordflow">throw</span> std::invalid_argument(</div>
+<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;        <span class="stringliteral">&quot;libfranka: Attempt to set invalid transformation in motion generator. Has to be column &quot;</span></div>
+<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        <span class="stringliteral">&quot;major!&quot;</span>);</div>
+<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  }</div>
+<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;}</div>
+<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160; </div>
+<div class="line"><a name="l00113"></a><span class="lineno"><a class="line" href="control__tools_8h.html#add0cd2cd1401ac0b2393a84ca1577cde">  113</a></span>&#160;<span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="control__tools_8h.html#add0cd2cd1401ac0b2393a84ca1577cde">checkElbow</a>(<span class="keyword">const</span> std::array&lt;double, 2&gt;&amp; elbow) {</div>
+<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  <a class="code" href="control__tools_8h.html#a80d02c11ba41e5973ee76624bf1d4466">checkFinite</a>(elbow);</div>
+<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="control__tools_8h.html#a4eda3eda0514fabf6d630a6d8c0373a0">isValidElbow</a>(elbow)) {</div>
+<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    <span class="keywordflow">throw</span> std::invalid_argument(</div>
+<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        <span class="stringliteral">&quot;Invalid elbow configuration given! Only +1 or -1 are allowed for the sign of the 4th &quot;</span></div>
+<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;        <span class="stringliteral">&quot;joint.&quot;</span>);</div>
+<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  }</div>
+<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;}</div>
+<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
+<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;}  <span class="comment">// namespace franka</span></div>
+<div class="ttc" id="acontrol__tools_8h_html_a4eda3eda0514fabf6d630a6d8c0373a0"><div class="ttname"><a href="control__tools_8h.html#a4eda3eda0514fabf6d630a6d8c0373a0">franka::isValidElbow</a></div><div class="ttdeci">bool isValidElbow(const std::array&lt; double, 2 &gt; &amp;elbow) noexcept</div><div class="ttdoc">Determines whether the given elbow configuration is valid or not.</div><div class="ttdef"><b>Definition:</b> control_tools.h:25</div></div>
+<div class="ttc" id="acontrol__tools_8h_html_a5c090196bc50ead82194d3e594e61e65"><div class="ttname"><a href="control__tools_8h.html#a5c090196bc50ead82194d3e594e61e65">franka::setCurrentThreadToHighestSchedulerPriority</a></div><div class="ttdeci">bool setCurrentThreadToHighestSchedulerPriority(std::string *error_message)</div><div class="ttdoc">Sets the current thread to the highest possible scheduler priority.</div></div>
+<div class="ttc" id="acontrol__tools_8h_html_a80d02c11ba41e5973ee76624bf1d4466"><div class="ttname"><a href="control__tools_8h.html#a80d02c11ba41e5973ee76624bf1d4466">franka::checkFinite</a></div><div class="ttdeci">void checkFinite(const std::array&lt; double, N &gt; &amp;array)</div><div class="ttdoc">Checks if all elements of an array of the size N have a finite value.</div><div class="ttdef"><b>Definition:</b> control_tools.h:86</div></div>
+<div class="ttc" id="acontrol__tools_8h_html_ab38ee604eecfedfb591ddb8327805ea4"><div class="ttname"><a href="control__tools_8h.html#ab38ee604eecfedfb591ddb8327805ea4">franka::checkMatrix</a></div><div class="ttdeci">void checkMatrix(const std::array&lt; double, 16 &gt; &amp;transform)</div><div class="ttdoc">Checks if all elements of the transformation matrix are finite and if it is a homogeneous transformat...</div><div class="ttdef"><b>Definition:</b> control_tools.h:99</div></div>
+<div class="ttc" id="acontrol__tools_8h_html_ad165a74da105c78586c0cd4c1ed57bd2"><div class="ttname"><a href="control__tools_8h.html#ad165a74da105c78586c0cd4c1ed57bd2">franka::hasRealtimeKernel</a></div><div class="ttdeci">bool hasRealtimeKernel()</div><div class="ttdoc">Determines whether the current OS kernel is a realtime kernel.</div></div>
+<div class="ttc" id="acontrol__tools_8h_html_ad81c99e8af3f2536ae3c6ec1ce8dce1e"><div class="ttname"><a href="control__tools_8h.html#ad81c99e8af3f2536ae3c6ec1ce8dce1e">franka::isHomogeneousTransformation</a></div><div class="ttdeci">bool isHomogeneousTransformation(const std::array&lt; double, 16 &gt; &amp;transform) noexcept</div><div class="ttdoc">Determines whether the given array represents a valid homogeneous transformation matrix.</div><div class="ttdef"><b>Definition:</b> control_tools.h:36</div></div>
+<div class="ttc" id="acontrol__tools_8h_html_add0cd2cd1401ac0b2393a84ca1577cde"><div class="ttname"><a href="control__tools_8h.html#add0cd2cd1401ac0b2393a84ca1577cde">franka::checkElbow</a></div><div class="ttdeci">void checkElbow(const std::array&lt; double, 2 &gt; &amp;elbow)</div><div class="ttdoc">Checks if all elements of the elbow vector are finite and if the elbow configuration is valid.</div><div class="ttdef"><b>Definition:</b> control_tools.h:113</div></div>
+</div><!-- fragment --></div><!-- contents -->
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+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
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+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
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+  <ul>
+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_5f30c89189ebb3336d6b33aa932838ba.html">franka</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#enum-members">Enumerations</a> &#124;
+<a href="#func-members">Functions</a>  </div>
+  <div class="headertitle">
+<div class="title">control_types.h File Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Contains helper types for returning motion generation and joint-level torque commands.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &lt;array&gt;</code><br />
+<code>#include &lt;cmath&gt;</code><br />
+<code>#include &lt;initializer_list&gt;</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for control_types.h:</div>
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+<area shape="rect" href="robot_8h.html" title="Contains the franka::Robot type." alt="" coords="316,95,480,121"/>
+<area shape="rect" href="examples__common_8h.html" title="Contains common types and functions for the examples." alt="" coords="528,169,759,196"/>
+<area shape="rect" href="active__control_8h.html" title="Implements the ActiveControlBase abstract class." alt="" coords="123,333,281,375"/>
+<area shape="rect" href="active__motion__generator_8h.html" title="Contains the franka::ActiveMotionGenerator type." alt="" coords="32,423,191,464"/>
+<area shape="rect" href="active__torque__control_8h.html" title="Contains the franka::ActiveTorqueControl type." alt="" coords="215,423,373,464"/>
+<area shape="rect" href="exception_8h.html" title="Contains exception definitions." alt="" coords="63,169,258,196"/>
+<area shape="rect" href="model_8h.html" title="Contains model library types." alt="" coords="333,169,503,196"/>
+</map>
+</div>
+</div>
+<p><a href="control__types_8h_source.html">Go to the source code of this file.</a></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1Finishable.html">franka::Finishable</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Helper type for control and motion generation loops.  <a href="structfranka_1_1Finishable.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Torques.html">franka::Torques</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Stores joint-level torque commands without gravity and friction.  <a href="classfranka_1_1Torques.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1JointPositions.html">franka::JointPositions</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Stores values for joint position motion generation.  <a href="classfranka_1_1JointPositions.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1JointVelocities.html">franka::JointVelocities</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Stores values for joint velocity motion generation.  <a href="classfranka_1_1JointVelocities.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1CartesianPose.html">franka::CartesianPose</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Stores values for Cartesian pose motion generation.  <a href="classfranka_1_1CartesianPose.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1CartesianVelocities.html">franka::CartesianVelocities</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Stores values for Cartesian velocity motion generation.  <a href="classfranka_1_1CartesianVelocities.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="enum-members"></a>
+Enumerations</h2></td></tr>
+<tr class="memitem:a3e20bc77587e2c0c53598753e3f4816b"><td class="memItemLeft" align="right" valign="top"><a id="a3e20bc77587e2c0c53598753e3f4816b"></a>enum class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="control__types_8h.html#a3e20bc77587e2c0c53598753e3f4816b">franka::ControllerMode</a> { <b>kJointImpedance</b>
+, <b>kCartesianImpedance</b>
+ }</td></tr>
+<tr class="memdesc:a3e20bc77587e2c0c53598753e3f4816b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Available controller modes for a <a class="el" href="classfranka_1_1Robot.html" title="Maintains a network connection to the robot, provides the current robot state, gives access to the mo...">franka::Robot</a>. <br /></td></tr>
+<tr class="separator:a3e20bc77587e2c0c53598753e3f4816b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aeede4f4629390fea21ca5e5a35a8a943"><td class="memItemLeft" align="right" valign="top">enum class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="control__types_8h.html#aeede4f4629390fea21ca5e5a35a8a943">franka::RealtimeConfig</a> { <b>kEnforce</b>
+, <b>kIgnore</b>
+ }</td></tr>
+<tr class="memdesc:aeede4f4629390fea21ca5e5a35a8a943"><td class="mdescLeft">&#160;</td><td class="mdescRight">Used to decide whether to enforce realtime mode for a control loop thread.  <a href="control__types_8h.html#aeede4f4629390fea21ca5e5a35a8a943">More...</a><br /></td></tr>
+<tr class="separator:aeede4f4629390fea21ca5e5a35a8a943"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
+Functions</h2></td></tr>
+<tr class="memitem:a20791f7142d78bbbe3c957cc66a23ade"><td class="memItemLeft" align="right" valign="top">Torques&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="control__types_8h.html#a20791f7142d78bbbe3c957cc66a23ade">franka::MotionFinished</a> (Torques command) noexcept</td></tr>
+<tr class="memdesc:a20791f7142d78bbbe3c957cc66a23ade"><td class="mdescLeft">&#160;</td><td class="mdescRight">Helper method to indicate that a motion should stop after processing the given command.  <a href="control__types_8h.html#a20791f7142d78bbbe3c957cc66a23ade">More...</a><br /></td></tr>
+<tr class="separator:a20791f7142d78bbbe3c957cc66a23ade"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7f505509951b6568b08b3aec8ffb9098"><td class="memItemLeft" align="right" valign="top">JointPositions&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="control__types_8h.html#a7f505509951b6568b08b3aec8ffb9098">franka::MotionFinished</a> (JointPositions command) noexcept</td></tr>
+<tr class="memdesc:a7f505509951b6568b08b3aec8ffb9098"><td class="mdescLeft">&#160;</td><td class="mdescRight">Helper method to indicate that a motion should stop after processing the given command.  <a href="control__types_8h.html#a7f505509951b6568b08b3aec8ffb9098">More...</a><br /></td></tr>
+<tr class="separator:a7f505509951b6568b08b3aec8ffb9098"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab478c128d691a46c0ab85bbf3b5caac5"><td class="memItemLeft" align="right" valign="top">JointVelocities&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="control__types_8h.html#ab478c128d691a46c0ab85bbf3b5caac5">franka::MotionFinished</a> (JointVelocities command) noexcept</td></tr>
+<tr class="memdesc:ab478c128d691a46c0ab85bbf3b5caac5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Helper method to indicate that a motion should stop after processing the given command.  <a href="control__types_8h.html#ab478c128d691a46c0ab85bbf3b5caac5">More...</a><br /></td></tr>
+<tr class="separator:ab478c128d691a46c0ab85bbf3b5caac5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab0b308e2a9348fd3eb5fd1d08db12dcf"><td class="memItemLeft" align="right" valign="top">CartesianPose&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="control__types_8h.html#ab0b308e2a9348fd3eb5fd1d08db12dcf">franka::MotionFinished</a> (CartesianPose command) noexcept</td></tr>
+<tr class="memdesc:ab0b308e2a9348fd3eb5fd1d08db12dcf"><td class="mdescLeft">&#160;</td><td class="mdescRight">Helper method to indicate that a motion should stop after processing the given command.  <a href="control__types_8h.html#ab0b308e2a9348fd3eb5fd1d08db12dcf">More...</a><br /></td></tr>
+<tr class="separator:ab0b308e2a9348fd3eb5fd1d08db12dcf"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5898ad5e3bbc2682c24c0415bf7e9a95"><td class="memItemLeft" align="right" valign="top">CartesianVelocities&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="control__types_8h.html#a5898ad5e3bbc2682c24c0415bf7e9a95">franka::MotionFinished</a> (CartesianVelocities command) noexcept</td></tr>
+<tr class="memdesc:a5898ad5e3bbc2682c24c0415bf7e9a95"><td class="mdescLeft">&#160;</td><td class="mdescRight">Helper method to indicate that a motion should stop after processing the given command.  <a href="control__types_8h.html#a5898ad5e3bbc2682c24c0415bf7e9a95">More...</a><br /></td></tr>
+<tr class="separator:a5898ad5e3bbc2682c24c0415bf7e9a95"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Contains helper types for returning motion generation and joint-level torque commands. </p>
+</div><h2 class="groupheader">Enumeration Type Documentation</h2>
+<a id="aeede4f4629390fea21ca5e5a35a8a943"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aeede4f4629390fea21ca5e5a35a8a943">&#9670;&nbsp;</a></span>RealtimeConfig</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">enum <a class="el" href="control__types_8h.html#aeede4f4629390fea21ca5e5a35a8a943">franka::RealtimeConfig</a></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">strong</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Used to decide whether to enforce realtime mode for a control loop thread. </p>
+<dl class="section see"><dt>See also</dt><dd>Robot::Robot </dd></dl>
+
+</div>
+</div>
+<h2 class="groupheader">Function Documentation</h2>
+<a id="ab0b308e2a9348fd3eb5fd1d08db12dcf"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab0b308e2a9348fd3eb5fd1d08db12dcf">&#9670;&nbsp;</a></span>MotionFinished() <span class="overload">[1/5]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">CartesianPose franka::MotionFinished </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="classfranka_1_1CartesianPose.html">CartesianPose</a>&#160;</td>
+          <td class="paramname"><em>command</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Helper method to indicate that a motion should stop after processing the given command. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">command</td><td>Last command to be executed before the motion terminates.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Command with motion_finished set to true.</dd></dl>
+<dl class="section see"><dt>See also</dt><dd><a class="el" href="classfranka_1_1Robot.html#callback-docs">Documentation on callbacks</a> </dd></dl>
+
+</div>
+</div>
+<a id="a5898ad5e3bbc2682c24c0415bf7e9a95"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5898ad5e3bbc2682c24c0415bf7e9a95">&#9670;&nbsp;</a></span>MotionFinished() <span class="overload">[2/5]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">CartesianVelocities franka::MotionFinished </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="classfranka_1_1CartesianVelocities.html">CartesianVelocities</a>&#160;</td>
+          <td class="paramname"><em>command</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Helper method to indicate that a motion should stop after processing the given command. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">command</td><td>Last command to be executed before the motion terminates.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Command with motion_finished set to true.</dd></dl>
+<dl class="section see"><dt>See also</dt><dd><a class="el" href="classfranka_1_1Robot.html#callback-docs">Documentation on callbacks</a> </dd></dl>
+
+</div>
+</div>
+<a id="a7f505509951b6568b08b3aec8ffb9098"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7f505509951b6568b08b3aec8ffb9098">&#9670;&nbsp;</a></span>MotionFinished() <span class="overload">[3/5]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">JointPositions franka::MotionFinished </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="classfranka_1_1JointPositions.html">JointPositions</a>&#160;</td>
+          <td class="paramname"><em>command</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Helper method to indicate that a motion should stop after processing the given command. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">command</td><td>Last command to be executed before the motion terminates.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Command with motion_finished set to true.</dd></dl>
+<dl class="section see"><dt>See also</dt><dd><a class="el" href="classfranka_1_1Robot.html#callback-docs">Documentation on callbacks</a> </dd></dl>
+
+</div>
+</div>
+<a id="ab478c128d691a46c0ab85bbf3b5caac5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab478c128d691a46c0ab85bbf3b5caac5">&#9670;&nbsp;</a></span>MotionFinished() <span class="overload">[4/5]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">JointVelocities franka::MotionFinished </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="classfranka_1_1JointVelocities.html">JointVelocities</a>&#160;</td>
+          <td class="paramname"><em>command</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Helper method to indicate that a motion should stop after processing the given command. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">command</td><td>Last command to be executed before the motion terminates.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Command with motion_finished set to true.</dd></dl>
+<dl class="section see"><dt>See also</dt><dd><a class="el" href="classfranka_1_1Robot.html#callback-docs">Documentation on callbacks</a> </dd></dl>
+
+</div>
+</div>
+<a id="a20791f7142d78bbbe3c957cc66a23ade"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a20791f7142d78bbbe3c957cc66a23ade">&#9670;&nbsp;</a></span>MotionFinished() <span class="overload">[5/5]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">Torques franka::MotionFinished </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="classfranka_1_1Torques.html">Torques</a>&#160;</td>
+          <td class="paramname"><em>command</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Helper method to indicate that a motion should stop after processing the given command. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">command</td><td>Last command to be executed before the motion terminates.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Command with motion_finished set to true.</dd></dl>
+<dl class="section see"><dt>See also</dt><dd><a class="el" href="classfranka_1_1Robot.html#callback-docs">Documentation on callbacks</a> </dd></dl>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="generate_cartesian_pose_motion_8cpp-example.html#a10">generate_cartesian_pose_motion.cpp</a>, <a class="el" href="generate_cartesian_pose_motion_external_control_loop_8cpp-example.html#a8">generate_cartesian_pose_motion_external_control_loop.cpp</a>, <a class="el" href="generate_cartesian_velocity_motion_8cpp-example.html#a10">generate_cartesian_velocity_motion.cpp</a>, <a class="el" href="generate_cartesian_velocity_motion_external_control_loop_8cpp-example.html#a9">generate_cartesian_velocity_motion_external_control_loop.cpp</a>, <a class="el" href="generate_consecutive_motions_8cpp-example.html#a9">generate_consecutive_motions.cpp</a>, <a class="el" href="generate_elbow_motion_8cpp-example.html#a11">generate_elbow_motion.cpp</a>, <a class="el" href="generate_joint_position_motion_8cpp-example.html#a10">generate_joint_position_motion.cpp</a>, <a class="el" href="generate_joint_position_motion_external_control_loop_8cpp-example.html#a8">generate_joint_position_motion_external_control_loop.cpp</a>, <a class="el" href="generate_joint_velocity_motion_8cpp-example.html#a9">generate_joint_velocity_motion.cpp</a>, <a class="el" href="generate_joint_velocity_motion_external_control_loop_8cpp-example.html#a8">generate_joint_velocity_motion_external_control_loop.cpp</a>, <a class="el" href="joint_impedance_control_8cpp-example.html#a9">joint_impedance_control.cpp</a>, <a class="el" href="motion_with_control_8cpp-example.html#a11">motion_with_control.cpp</a>, and <a class="el" href="motion_with_control_external_control_loop_8cpp-example.html#a11">motion_with_control_external_control_loop.cpp</a>.</dd>
+</dl>
+
+</div>
+</div>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+</html>
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+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_5f30c89189ebb3336d6b33aa932838ba.html">franka</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">control_types.h</div>  </div>
+</div><!--header-->
+<div class="contents">
+<a href="control__types_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// Copyright (c) 2023 Franka Robotics GmbH</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Use of this source code is governed by the Apache-2.0 license, see LICENSE</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160; </div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;array&gt;</span></div>
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+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;initializer_list&gt;</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160; </div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="keyword">namespace </span>franka {</div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160; </div>
+<div class="line"><a name="l00019"></a><span class="lineno"><a class="line" href="control__types_8h.html#a3e20bc77587e2c0c53598753e3f4816b">   19</a></span>&#160;<span class="keyword">enum class</span> <a class="code" href="control__types_8h.html#a3e20bc77587e2c0c53598753e3f4816b">ControllerMode</a> { kJointImpedance, kCartesianImpedance };</div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160; </div>
+<div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="control__types_8h.html#aeede4f4629390fea21ca5e5a35a8a943">   26</a></span>&#160;<span class="keyword">enum class</span> <a class="code" href="control__types_8h.html#aeede4f4629390fea21ca5e5a35a8a943">RealtimeConfig</a> { kEnforce, kIgnore };</div>
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+<div class="line"><a name="l00242"></a><span class="lineno"><a class="line" href="classfranka_1_1CartesianVelocities.html#a39c4b06c315c963460e24324de8ad079">  242</a></span>&#160;  <a class="code" href="classfranka_1_1CartesianVelocities.html#a39c4b06c315c963460e24324de8ad079">CartesianVelocities</a>(std::initializer_list&lt;double&gt; cartesian_velocities);</div>
+<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160; </div>
+<div class="line"><a name="l00254"></a><span class="lineno"><a class="line" href="classfranka_1_1CartesianVelocities.html#aec434afa3f92e462ad3ab4766d3456a4">  254</a></span>&#160;  <a class="code" href="classfranka_1_1CartesianVelocities.html#aec434afa3f92e462ad3ab4766d3456a4">CartesianVelocities</a>(std::initializer_list&lt;double&gt; cartesian_velocities,</div>
+<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;                      std::initializer_list&lt;double&gt; <a class="code" href="classfranka_1_1CartesianPose.html#abef660743df9cf94d11c556d9c3d25be">elbow</a>);</div>
+<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160; </div>
+<div class="line"><a name="l00261"></a><span class="lineno"><a class="line" href="classfranka_1_1CartesianVelocities.html#ab7a42c7c1ee7109025aff5c43a56b398">  261</a></span>&#160;  std::array&lt;double, 6&gt; O_dP_EE{};  <span class="comment">// NOLINT(readability-identifier-naming)</span></div>
+<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160; </div>
+<div class="line"><a name="l00275"></a><span class="lineno"><a class="line" href="classfranka_1_1CartesianVelocities.html#a6419df1399d3dfab79b1654b94ced344">  275</a></span>&#160;  std::array&lt;double, 2&gt; <a class="code" href="classfranka_1_1CartesianPose.html#abef660743df9cf94d11c556d9c3d25be">elbow</a>{};</div>
+<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160; </div>
+<div class="line"><a name="l00282"></a><span class="lineno"><a class="line" href="classfranka_1_1CartesianVelocities.html#a51a41893b10250982597fe367abb2ca6">  282</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classfranka_1_1CartesianVelocities.html#a51a41893b10250982597fe367abb2ca6">hasElbow</a>() const noexcept;</div>
+<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;};</div>
+<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160; </div>
+<div class="line"><a name="l00294"></a><span class="lineno"><a class="line" href="control__types_8h.html#a20791f7142d78bbbe3c957cc66a23ade">  294</a></span>&#160;inline <a class="code" href="classfranka_1_1Torques.html">Torques</a> MotionFinished(<a class="code" href="classfranka_1_1Torques.html">Torques</a> command) noexcept {  <span class="comment">// NOLINT(readability-identifier-naming)</span></div>
+<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;  command.<a class="code" href="structfranka_1_1Finishable.html#a5d48028c0f912d4a089e6220d8715f7f">motion_finished</a> = <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;  <span class="keywordflow">return</span> command;</div>
+<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;}</div>
+<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160; </div>
+<div class="line"><a name="l00308"></a><span class="lineno"><a class="line" href="control__types_8h.html#a7f505509951b6568b08b3aec8ffb9098">  308</a></span>&#160;<span class="keyword">inline</span> <a class="code" href="classfranka_1_1JointPositions.html">JointPositions</a> <a class="code" href="control__types_8h.html#a20791f7142d78bbbe3c957cc66a23ade">MotionFinished</a>(  <span class="comment">// NOLINT(readability-identifier-naming)</span></div>
+<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;    <a class="code" href="classfranka_1_1JointPositions.html">JointPositions</a> command) noexcept {</div>
+<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;  command.<a class="code" href="structfranka_1_1Finishable.html#a5d48028c0f912d4a089e6220d8715f7f">motion_finished</a> = <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;  <span class="keywordflow">return</span> command;</div>
+<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;}</div>
+<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160; </div>
+<div class="line"><a name="l00323"></a><span class="lineno"><a class="line" href="control__types_8h.html#ab478c128d691a46c0ab85bbf3b5caac5">  323</a></span>&#160;<span class="keyword">inline</span> <a class="code" href="classfranka_1_1JointVelocities.html">JointVelocities</a> <a class="code" href="control__types_8h.html#a20791f7142d78bbbe3c957cc66a23ade">MotionFinished</a>(  <span class="comment">// NOLINT(readability-identifier-naming)</span></div>
+<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;    <a class="code" href="classfranka_1_1JointVelocities.html">JointVelocities</a> command) noexcept {</div>
+<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;  command.<a class="code" href="structfranka_1_1Finishable.html#a5d48028c0f912d4a089e6220d8715f7f">motion_finished</a> = <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;  <span class="keywordflow">return</span> command;</div>
+<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;}</div>
+<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160; </div>
+<div class="line"><a name="l00338"></a><span class="lineno"><a class="line" href="control__types_8h.html#ab0b308e2a9348fd3eb5fd1d08db12dcf">  338</a></span>&#160;<span class="keyword">inline</span> <a class="code" href="classfranka_1_1CartesianPose.html">CartesianPose</a> <a class="code" href="control__types_8h.html#a20791f7142d78bbbe3c957cc66a23ade">MotionFinished</a>(  <span class="comment">// NOLINT(readability-identifier-naming)</span></div>
+<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;    <a class="code" href="classfranka_1_1CartesianPose.html">CartesianPose</a> command) noexcept {</div>
+<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;  command.<a class="code" href="structfranka_1_1Finishable.html#a5d48028c0f912d4a089e6220d8715f7f">motion_finished</a> = <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;  <span class="keywordflow">return</span> command;</div>
+<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;}</div>
+<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160; </div>
+<div class="line"><a name="l00353"></a><span class="lineno"><a class="line" href="control__types_8h.html#a5898ad5e3bbc2682c24c0415bf7e9a95">  353</a></span>&#160;<span class="keyword">inline</span> <a class="code" href="classfranka_1_1CartesianVelocities.html">CartesianVelocities</a> <a class="code" href="control__types_8h.html#a20791f7142d78bbbe3c957cc66a23ade">MotionFinished</a>(  <span class="comment">// NOLINT(readability-identifier-naming)</span></div>
+<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;    <a class="code" href="classfranka_1_1CartesianVelocities.html">CartesianVelocities</a> command) noexcept {</div>
+<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;  command.<a class="code" href="structfranka_1_1Finishable.html#a5d48028c0f912d4a089e6220d8715f7f">motion_finished</a> = <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;  <span class="keywordflow">return</span> command;</div>
+<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;}</div>
+<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160; </div>
+<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;}  <span class="comment">// namespace franka</span></div>
+<div class="ttc" id="aclassfranka_1_1CartesianPose_html"><div class="ttname"><a href="classfranka_1_1CartesianPose.html">franka::CartesianPose</a></div><div class="ttdoc">Stores values for Cartesian pose motion generation.</div><div class="ttdef"><b>Definition:</b> control_types.h:127</div></div>
+<div class="ttc" id="aclassfranka_1_1CartesianPose_html_a17272cb33af9aa4b726fa96b31cf0101"><div class="ttname"><a href="classfranka_1_1CartesianPose.html#a17272cb33af9aa4b726fa96b31cf0101">franka::CartesianPose::CartesianPose</a></div><div class="ttdeci">CartesianPose(const std::array&lt; double, 16 &gt; &amp;cartesian_pose, const std::array&lt; double, 2 &gt; &amp;elbow) noexcept</div><div class="ttdoc">Creates a new CartesianPose instance.</div></div>
+<div class="ttc" id="aclassfranka_1_1CartesianPose_html_a406e53e3d8fe594a11888f516eb4bf7d"><div class="ttname"><a href="classfranka_1_1CartesianPose.html#a406e53e3d8fe594a11888f516eb4bf7d">franka::CartesianPose::O_T_EE</a></div><div class="ttdeci">std::array&lt; double, 16 &gt; O_T_EE</div><div class="ttdoc">Homogeneous transformation , column major, that transforms from the end effector frame  to base frame...</div><div class="ttdef"><b>Definition:</b> control_types.h:178</div></div>
+<div class="ttc" id="aclassfranka_1_1CartesianPose_html_a5559a53a898f9b369b1df9d51f9351b5"><div class="ttname"><a href="classfranka_1_1CartesianPose.html#a5559a53a898f9b369b1df9d51f9351b5">franka::CartesianPose::CartesianPose</a></div><div class="ttdeci">CartesianPose(const std::array&lt; double, 16 &gt; &amp;cartesian_pose) noexcept</div><div class="ttdoc">Creates a new CartesianPose instance.</div></div>
+<div class="ttc" id="aclassfranka_1_1CartesianPose_html_a5fa9f47dbf73ab45f671d89e11f89ccf"><div class="ttname"><a href="classfranka_1_1CartesianPose.html#a5fa9f47dbf73ab45f671d89e11f89ccf">franka::CartesianPose::hasElbow</a></div><div class="ttdeci">bool hasElbow() const noexcept</div><div class="ttdoc">Determines whether there is a stored elbow configuration.</div></div>
+<div class="ttc" id="aclassfranka_1_1CartesianPose_html_a70b6460e98bc763a49c53accd48d54a2"><div class="ttname"><a href="classfranka_1_1CartesianPose.html#a70b6460e98bc763a49c53accd48d54a2">franka::CartesianPose::CartesianPose</a></div><div class="ttdeci">CartesianPose(std::initializer_list&lt; double &gt; cartesian_pose)</div><div class="ttdoc">Creates a new CartesianPose instance.</div></div>
+<div class="ttc" id="aclassfranka_1_1CartesianPose_html_ab7fb1dfd7cdb89c0caebab95c669ba49"><div class="ttname"><a href="classfranka_1_1CartesianPose.html#ab7fb1dfd7cdb89c0caebab95c669ba49">franka::CartesianPose::CartesianPose</a></div><div class="ttdeci">CartesianPose(std::initializer_list&lt; double &gt; cartesian_pose, std::initializer_list&lt; double &gt; elbow)</div><div class="ttdoc">Creates a new CartesianPose instance.</div></div>
+<div class="ttc" id="aclassfranka_1_1CartesianPose_html_abef660743df9cf94d11c556d9c3d25be"><div class="ttname"><a href="classfranka_1_1CartesianPose.html#abef660743df9cf94d11c556d9c3d25be">franka::CartesianPose::elbow</a></div><div class="ttdeci">std::array&lt; double, 2 &gt; elbow</div><div class="ttdoc">Elbow configuration.</div><div class="ttdef"><b>Definition:</b> control_types.h:193</div></div>
+<div class="ttc" id="aclassfranka_1_1CartesianVelocities_html"><div class="ttname"><a href="classfranka_1_1CartesianVelocities.html">franka::CartesianVelocities</a></div><div class="ttdoc">Stores values for Cartesian velocity motion generation.</div><div class="ttdef"><b>Definition:</b> control_types.h:211</div></div>
+<div class="ttc" id="aclassfranka_1_1CartesianVelocities_html_a39c4b06c315c963460e24324de8ad079"><div class="ttname"><a href="classfranka_1_1CartesianVelocities.html#a39c4b06c315c963460e24324de8ad079">franka::CartesianVelocities::CartesianVelocities</a></div><div class="ttdeci">CartesianVelocities(std::initializer_list&lt; double &gt; cartesian_velocities)</div><div class="ttdoc">Creates a new CartesianVelocities instance.</div></div>
+<div class="ttc" id="aclassfranka_1_1CartesianVelocities_html_a51a41893b10250982597fe367abb2ca6"><div class="ttname"><a href="classfranka_1_1CartesianVelocities.html#a51a41893b10250982597fe367abb2ca6">franka::CartesianVelocities::hasElbow</a></div><div class="ttdeci">bool hasElbow() const noexcept</div><div class="ttdoc">Determines whether there is a stored elbow configuration.</div></div>
+<div class="ttc" id="aclassfranka_1_1CartesianVelocities_html_a713380954e1f10c1be3033b95ca00657"><div class="ttname"><a href="classfranka_1_1CartesianVelocities.html#a713380954e1f10c1be3033b95ca00657">franka::CartesianVelocities::CartesianVelocities</a></div><div class="ttdeci">CartesianVelocities(const std::array&lt; double, 6 &gt; &amp;cartesian_velocities) noexcept</div><div class="ttdoc">Creates a new CartesianVelocities instance.</div></div>
+<div class="ttc" id="aclassfranka_1_1CartesianVelocities_html_a95f6feec3539ed9f96d555447717eb72"><div class="ttname"><a href="classfranka_1_1CartesianVelocities.html#a95f6feec3539ed9f96d555447717eb72">franka::CartesianVelocities::CartesianVelocities</a></div><div class="ttdeci">CartesianVelocities(const std::array&lt; double, 6 &gt; &amp;cartesian_velocities, const std::array&lt; double, 2 &gt; &amp;elbow) noexcept</div><div class="ttdoc">Creates a new CartesianVelocities instance.</div></div>
+<div class="ttc" id="aclassfranka_1_1CartesianVelocities_html_aec434afa3f92e462ad3ab4766d3456a4"><div class="ttname"><a href="classfranka_1_1CartesianVelocities.html#aec434afa3f92e462ad3ab4766d3456a4">franka::CartesianVelocities::CartesianVelocities</a></div><div class="ttdeci">CartesianVelocities(std::initializer_list&lt; double &gt; cartesian_velocities, std::initializer_list&lt; double &gt; elbow)</div><div class="ttdoc">Creates a new CartesianVelocities instance.</div></div>
+<div class="ttc" id="aclassfranka_1_1JointPositions_html"><div class="ttname"><a href="classfranka_1_1JointPositions.html">franka::JointPositions</a></div><div class="ttdoc">Stores values for joint position motion generation.</div><div class="ttdef"><b>Definition:</b> control_types.h:72</div></div>
+<div class="ttc" id="aclassfranka_1_1JointPositions_html_a1e2006bccc9de89d8eb1a4d1c4da2fb8"><div class="ttname"><a href="classfranka_1_1JointPositions.html#a1e2006bccc9de89d8eb1a4d1c4da2fb8">franka::JointPositions::JointPositions</a></div><div class="ttdeci">JointPositions(std::initializer_list&lt; double &gt; joint_positions)</div><div class="ttdoc">Creates a new JointPositions instance.</div></div>
+<div class="ttc" id="aclassfranka_1_1JointPositions_html_a40e9098abe1c51cd48e17e41fbf78337"><div class="ttname"><a href="classfranka_1_1JointPositions.html#a40e9098abe1c51cd48e17e41fbf78337">franka::JointPositions::q</a></div><div class="ttdeci">std::array&lt; double, 7 &gt; q</div><div class="ttdoc">Desired joint angles in [rad].</div><div class="ttdef"><b>Definition:</b> control_types.h:93</div></div>
+<div class="ttc" id="aclassfranka_1_1JointPositions_html_a57bc9d7e033493b1182333276af5ce84"><div class="ttname"><a href="classfranka_1_1JointPositions.html#a57bc9d7e033493b1182333276af5ce84">franka::JointPositions::JointPositions</a></div><div class="ttdeci">JointPositions(const std::array&lt; double, 7 &gt; &amp;joint_positions) noexcept</div><div class="ttdoc">Creates a new JointPositions instance.</div></div>
+<div class="ttc" id="aclassfranka_1_1JointVelocities_html"><div class="ttname"><a href="classfranka_1_1JointVelocities.html">franka::JointVelocities</a></div><div class="ttdoc">Stores values for joint velocity motion generation.</div><div class="ttdef"><b>Definition:</b> control_types.h:99</div></div>
+<div class="ttc" id="aclassfranka_1_1JointVelocities_html_a1130f851055de3b7ebe9e6fbac960826"><div class="ttname"><a href="classfranka_1_1JointVelocities.html#a1130f851055de3b7ebe9e6fbac960826">franka::JointVelocities::JointVelocities</a></div><div class="ttdeci">JointVelocities(const std::array&lt; double, 7 &gt; &amp;joint_velocities) noexcept</div><div class="ttdoc">Creates a new JointVelocities instance.</div></div>
+<div class="ttc" id="aclassfranka_1_1JointVelocities_html_a14fddb6fe7a7c4034dc82c283de8c2d3"><div class="ttname"><a href="classfranka_1_1JointVelocities.html#a14fddb6fe7a7c4034dc82c283de8c2d3">franka::JointVelocities::dq</a></div><div class="ttdeci">std::array&lt; double, 7 &gt; dq</div><div class="ttdoc">Desired joint velocities in .</div><div class="ttdef"><b>Definition:</b> control_types.h:121</div></div>
+<div class="ttc" id="aclassfranka_1_1JointVelocities_html_aed384fad8e302638c2e5baea6378c2d2"><div class="ttname"><a href="classfranka_1_1JointVelocities.html#aed384fad8e302638c2e5baea6378c2d2">franka::JointVelocities::JointVelocities</a></div><div class="ttdeci">JointVelocities(std::initializer_list&lt; double &gt; joint_velocities)</div><div class="ttdoc">Creates a new JointVelocities instance.</div></div>
+<div class="ttc" id="aclassfranka_1_1Torques_html"><div class="ttname"><a href="classfranka_1_1Torques.html">franka::Torques</a></div><div class="ttdoc">Stores joint-level torque commands without gravity and friction.</div><div class="ttdef"><b>Definition:</b> control_types.h:45</div></div>
+<div class="ttc" id="aclassfranka_1_1Torques_html_a509d63195827289ffc645e4b62a9750d"><div class="ttname"><a href="classfranka_1_1Torques.html#a509d63195827289ffc645e4b62a9750d">franka::Torques::Torques</a></div><div class="ttdeci">Torques(const std::array&lt; double, 7 &gt; &amp;torques) noexcept</div><div class="ttdoc">Creates a new Torques instance.</div></div>
+<div class="ttc" id="aclassfranka_1_1Torques_html_a744a08e16dcfc40b3a90ab6a85bac0d8"><div class="ttname"><a href="classfranka_1_1Torques.html#a744a08e16dcfc40b3a90ab6a85bac0d8">franka::Torques::Torques</a></div><div class="ttdeci">Torques(std::initializer_list&lt; double &gt; torques)</div><div class="ttdoc">Creates a new Torques instance.</div></div>
+<div class="ttc" id="aclassfranka_1_1Torques_html_ac2a266cc2d3b7e0fb4f8eff045dbaed8"><div class="ttname"><a href="classfranka_1_1Torques.html#ac2a266cc2d3b7e0fb4f8eff045dbaed8">franka::Torques::tau_J</a></div><div class="ttdeci">std::array&lt; double, 7 &gt; tau_J</div><div class="ttdoc">Desired torques in [Nm].</div><div class="ttdef"><b>Definition:</b> control_types.h:66</div></div>
+<div class="ttc" id="acontrol__types_8h_html_a20791f7142d78bbbe3c957cc66a23ade"><div class="ttname"><a href="control__types_8h.html#a20791f7142d78bbbe3c957cc66a23ade">franka::MotionFinished</a></div><div class="ttdeci">Torques MotionFinished(Torques command) noexcept</div><div class="ttdoc">Helper method to indicate that a motion should stop after processing the given command.</div><div class="ttdef"><b>Definition:</b> control_types.h:294</div></div>
+<div class="ttc" id="acontrol__types_8h_html_a3e20bc77587e2c0c53598753e3f4816b"><div class="ttname"><a href="control__types_8h.html#a3e20bc77587e2c0c53598753e3f4816b">franka::ControllerMode</a></div><div class="ttdeci">ControllerMode</div><div class="ttdoc">Available controller modes for a franka::Robot.</div><div class="ttdef"><b>Definition:</b> control_types.h:19</div></div>
+<div class="ttc" id="acontrol__types_8h_html_aeede4f4629390fea21ca5e5a35a8a943"><div class="ttname"><a href="control__types_8h.html#aeede4f4629390fea21ca5e5a35a8a943">franka::RealtimeConfig</a></div><div class="ttdeci">RealtimeConfig</div><div class="ttdoc">Used to decide whether to enforce realtime mode for a control loop thread.</div><div class="ttdef"><b>Definition:</b> control_types.h:26</div></div>
+<div class="ttc" id="astructfranka_1_1Finishable_html"><div class="ttname"><a href="structfranka_1_1Finishable.html">franka::Finishable</a></div><div class="ttdoc">Helper type for control and motion generation loops.</div><div class="ttdef"><b>Definition:</b> control_types.h:35</div></div>
+<div class="ttc" id="astructfranka_1_1Finishable_html_a5d48028c0f912d4a089e6220d8715f7f"><div class="ttname"><a href="structfranka_1_1Finishable.html#a5d48028c0f912d4a089e6220d8715f7f">franka::Finishable::motion_finished</a></div><div class="ttdeci">bool motion_finished</div><div class="ttdoc">Determines whether to finish a currently running motion.</div><div class="ttdef"><b>Definition:</b> control_types.h:39</div></div>
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+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
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+   <div id="projectbrief">FCI C++ API</div>
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+</div><!-- top -->
+<div class="contents">
+<h3>examples &rarr; include Relation</h3><table class="dirtab"><tr class="dirtab"><th class="dirtab">File in examples</th><th class="dirtab">Includes file in include</th></tr><tr class="dirtab"><td class="dirtab"><b>cartesian_impedance_control.cpp</b></td><td class="dirtab"><a class="el" href="dir_5f30c89189ebb3336d6b33aa932838ba.html">franka</a>&#160;/&#160;<a class="el" href="duration_8h.html">duration.h</a></td></tr><tr class="dirtab"><td class="dirtab"><b>cartesian_impedance_control.cpp</b></td><td class="dirtab"><a class="el" href="dir_5f30c89189ebb3336d6b33aa932838ba.html">franka</a>&#160;/&#160;<a class="el" href="exception_8h.html">exception.h</a></td></tr><tr class="dirtab"><td class="dirtab"><b>cartesian_impedance_control.cpp</b></td><td class="dirtab"><a class="el" href="dir_5f30c89189ebb3336d6b33aa932838ba.html">franka</a>&#160;/&#160;<a class="el" href="model_8h.html">model.h</a></td></tr><tr class="dirtab"><td class="dirtab"><b>cartesian_impedance_control.cpp</b></td><td 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class="dirtab"><a class="el" href="dir_5f30c89189ebb3336d6b33aa932838ba.html">franka</a>&#160;/&#160;<a class="el" href="exception_8h.html">exception.h</a></td></tr><tr class="dirtab"><td class="dirtab"><b>communication_test.cpp</b></td><td class="dirtab"><a class="el" href="dir_5f30c89189ebb3336d6b33aa932838ba.html">franka</a>&#160;/&#160;<a class="el" href="robot_8h.html">robot.h</a></td></tr><tr class="dirtab"><td class="dirtab"><b>echo_robot_state.cpp</b></td><td class="dirtab"><a class="el" href="dir_5f30c89189ebb3336d6b33aa932838ba.html">franka</a>&#160;/&#160;<a class="el" href="exception_8h.html">exception.h</a></td></tr><tr class="dirtab"><td class="dirtab"><b>echo_robot_state.cpp</b></td><td class="dirtab"><a class="el" href="dir_5f30c89189ebb3336d6b33aa932838ba.html">franka</a>&#160;/&#160;<a class="el" href="robot_8h.html">robot.h</a></td></tr><tr class="dirtab"><td class="dirtab"><b>examples_common.cpp</b></td><td class="dirtab"><a class="el" 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class="dirtab"><b>force_control.cpp</b></td><td class="dirtab"><a class="el" href="dir_5f30c89189ebb3336d6b33aa932838ba.html">franka</a>&#160;/&#160;<a class="el" href="model_8h.html">model.h</a></td></tr><tr class="dirtab"><td class="dirtab"><b>force_control.cpp</b></td><td class="dirtab"><a class="el" href="dir_5f30c89189ebb3336d6b33aa932838ba.html">franka</a>&#160;/&#160;<a class="el" href="robot_8h.html">robot.h</a></td></tr><tr class="dirtab"><td class="dirtab"><b>generate_cartesian_pose_motion.cpp</b></td><td class="dirtab"><a class="el" href="dir_5f30c89189ebb3336d6b33aa932838ba.html">franka</a>&#160;/&#160;<a class="el" href="exception_8h.html">exception.h</a></td></tr><tr class="dirtab"><td class="dirtab"><b>generate_cartesian_pose_motion.cpp</b></td><td class="dirtab"><a class="el" href="dir_5f30c89189ebb3336d6b33aa932838ba.html">franka</a>&#160;/&#160;<a class="el" href="robot_8h.html">robot.h</a></td></tr><tr class="dirtab"><td class="dirtab"><b>generate_cartesian_pose_motion_external_control_loop.cpp</b></td><td class="dirtab"><a class="el" href="dir_5f30c89189ebb3336d6b33aa932838ba.html">franka</a>&#160;/&#160;<a class="el" href="active__control_8h.html">active_control.h</a></td></tr><tr class="dirtab"><td class="dirtab"><b>generate_cartesian_pose_motion_external_control_loop.cpp</b></td><td class="dirtab"><a class="el" href="dir_5f30c89189ebb3336d6b33aa932838ba.html">franka</a>&#160;/&#160;<a class="el" href="active__motion__generator_8h.html">active_motion_generator.h</a></td></tr><tr class="dirtab"><td class="dirtab"><b>generate_cartesian_pose_motion_external_control_loop.cpp</b></td><td class="dirtab"><a class="el" href="dir_5f30c89189ebb3336d6b33aa932838ba.html">franka</a>&#160;/&#160;<a class="el" href="exception_8h.html">exception.h</a></td></tr><tr class="dirtab"><td class="dirtab"><b>generate_cartesian_pose_motion_external_control_loop.cpp</b></td><td class="dirtab"><a class="el" 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class="dirtab"><b>generate_cartesian_velocity_motion_external_control_loop.cpp</b></td><td class="dirtab"><a class="el" href="dir_5f30c89189ebb3336d6b33aa932838ba.html">franka</a>&#160;/&#160;<a class="el" href="active__motion__generator_8h.html">active_motion_generator.h</a></td></tr><tr class="dirtab"><td class="dirtab"><b>generate_cartesian_velocity_motion_external_control_loop.cpp</b></td><td class="dirtab"><a class="el" href="dir_5f30c89189ebb3336d6b33aa932838ba.html">franka</a>&#160;/&#160;<a class="el" href="exception_8h.html">exception.h</a></td></tr><tr class="dirtab"><td class="dirtab"><b>generate_cartesian_velocity_motion_external_control_loop.cpp</b></td><td class="dirtab"><a class="el" href="dir_5f30c89189ebb3336d6b33aa932838ba.html">franka</a>&#160;/&#160;<a class="el" href="robot_8h.html">robot.h</a></td></tr><tr class="dirtab"><td class="dirtab"><b>generate_consecutive_motions.cpp</b></td><td class="dirtab"><a class="el" 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+<tr class="memdesc:vacuum__gripper_8h"><td class="mdescLeft">&#160;</td><td class="mdescRight">Contains the <a class="el" href="classfranka_1_1VacuumGripper.html" title="Maintains a network connection to the vacuum gripper, provides the current vacuum gripper state,...">franka::VacuumGripper</a> type. <br /></td></tr>
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+<tr class="memdesc:vacuum__gripper__state_8h"><td class="mdescLeft">&#160;</td><td class="mdescRight">Contains the <a class="el" href="structfranka_1_1VacuumGripperState.html" title="Describes the vacuum gripper state.">franka::VacuumGripperState</a> type. <br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+	white-space: nowrap;
+}
+
+span.mlabels {
+        margin-left: 8px;
+}
+
+span.mlabel {
+        background-color: #728DC1;
+        border-top:1px solid #5373B4;
+        border-left:1px solid #5373B4;
+        border-right:1px solid #C4CFE5;
+        border-bottom:1px solid #C4CFE5;
+	text-shadow: none;
+	color: white;
+	margin-right: 4px;
+	padding: 2px 3px;
+	border-radius: 3px;
+	font-size: 7pt;
+	white-space: nowrap;
+	vertical-align: middle;
+}
+
+
+
+/* @end */
+
+/* these are for tree view inside a (index) page */
+
+div.directory {
+        margin: 10px 0px;
+        border-top: 1px solid #9CAFD4;
+        border-bottom: 1px solid #9CAFD4;
+        width: 100%;
+}
+
+.directory table {
+        border-collapse:collapse;
+}
+
+.directory td {
+        margin: 0px;
+        padding: 0px;
+	vertical-align: top;
+}
+
+.directory td.entry {
+        white-space: nowrap;
+        padding-right: 6px;
+	padding-top: 3px;
+}
+
+.directory td.entry a {
+        outline:none;
+}
+
+.directory td.entry a img {
+        border: none;
+}
+
+.directory td.desc {
+        width: 100%;
+        padding-left: 6px;
+	padding-right: 6px;
+	padding-top: 3px;
+	border-left: 1px solid rgba(0,0,0,0.05);
+}
+
+.directory tr.even {
+	padding-left: 6px;
+	background-color: #F7F8FB;
+}
+
+.directory img {
+	vertical-align: -30%;
+}
+
+.directory .levels {
+        white-space: nowrap;
+        width: 100%;
+        text-align: right;
+        font-size: 9pt;
+}
+
+.directory .levels span {
+        cursor: pointer;
+        padding-left: 2px;
+        padding-right: 2px;
+	color: #3D578C;
+}
+
+.arrow {
+    color: #9CAFD4;
+    -webkit-user-select: none;
+    -khtml-user-select: none;
+    -moz-user-select: none;
+    -ms-user-select: none;
+    user-select: none;
+    cursor: pointer;
+    font-size: 80%;
+    display: inline-block;
+    width: 16px;
+    height: 22px;
+}
+
+.icon {
+    font-family: Arial, Helvetica;
+    font-weight: bold;
+    font-size: 12px;
+    height: 14px;
+    width: 16px;
+    display: inline-block;
+    background-color: #728DC1;
+    color: white;
+    text-align: center;
+    border-radius: 4px;
+    margin-left: 2px;
+    margin-right: 2px;
+}
+
+.icona {
+    width: 24px;
+    height: 22px;
+    display: inline-block;
+}
+
+.iconfopen {
+    width: 24px;
+    height: 18px;
+    margin-bottom: 4px;
+    background-image:url('folderopen.png');
+    background-position: 0px -4px;
+    background-repeat: repeat-y;
+    vertical-align:top;
+    display: inline-block;
+}
+
+.iconfclosed {
+    width: 24px;
+    height: 18px;
+    margin-bottom: 4px;
+    background-image:url('folderclosed.png');
+    background-position: 0px -4px;
+    background-repeat: repeat-y;
+    vertical-align:top;
+    display: inline-block;
+}
+
+.icondoc {
+    width: 24px;
+    height: 18px;
+    margin-bottom: 4px;
+    background-image:url('doc.png');
+    background-position: 0px -4px;
+    background-repeat: repeat-y;
+    vertical-align:top;
+    display: inline-block;
+}
+
+table.directory {
+    font: 400 14px Roboto,sans-serif;
+}
+
+/* @end */
+
+div.dynheader {
+        margin-top: 8px;
+	-webkit-touch-callout: none;
+	-webkit-user-select: none;
+	-khtml-user-select: none;
+	-moz-user-select: none;
+	-ms-user-select: none;
+	user-select: none;
+}
+
+address {
+	font-style: normal;
+	color: #2A3D61;
+}
+
+table.doxtable caption {
+	caption-side: top;
+}
+
+table.doxtable {
+	border-collapse:collapse;
+        margin-top: 4px;
+        margin-bottom: 4px;
+}
+
+table.doxtable td, table.doxtable th {
+	border: 1px solid #2D4068;
+	padding: 3px 7px 2px;
+}
+
+table.doxtable th {
+	background-color: #374F7F;
+	color: #FFFFFF;
+	font-size: 110%;
+	padding-bottom: 4px;
+	padding-top: 5px;
+}
+
+table.fieldtable {
+        /*width: 100%;*/
+        margin-bottom: 10px;
+        border: 1px solid #A8B8D9;
+        border-spacing: 0px;
+        -moz-border-radius: 4px;
+        -webkit-border-radius: 4px;
+        border-radius: 4px;
+        -moz-box-shadow: rgba(0, 0, 0, 0.15) 2px 2px 2px;
+        -webkit-box-shadow: 2px 2px 2px rgba(0, 0, 0, 0.15);
+        box-shadow: 2px 2px 2px rgba(0, 0, 0, 0.15);
+}
+
+.fieldtable td, .fieldtable th {
+        padding: 3px 7px 2px;
+}
+
+.fieldtable td.fieldtype, .fieldtable td.fieldname {
+        white-space: nowrap;
+        border-right: 1px solid #A8B8D9;
+        border-bottom: 1px solid #A8B8D9;
+        vertical-align: top;
+}
+
+.fieldtable td.fieldname {
+        padding-top: 3px;
+}
+
+.fieldtable td.fielddoc {
+        border-bottom: 1px solid #A8B8D9;
+        /*width: 100%;*/
+}
+
+.fieldtable td.fielddoc p:first-child {
+        margin-top: 0px;
+}       
+        
+.fieldtable td.fielddoc p:last-child {
+        margin-bottom: 2px;
+}
+
+.fieldtable tr:last-child td {
+        border-bottom: none;
+}
+
+.fieldtable th {
+        background-image:url('nav_f.png');
+        background-repeat:repeat-x;
+        background-color: #E2E8F2;
+        font-size: 90%;
+        color: #253555;
+        padding-bottom: 4px;
+        padding-top: 5px;
+        text-align:left;
+        font-weight: 400;
+        -moz-border-radius-topleft: 4px;
+        -moz-border-radius-topright: 4px;
+        -webkit-border-top-left-radius: 4px;
+        -webkit-border-top-right-radius: 4px;
+        border-top-left-radius: 4px;
+        border-top-right-radius: 4px;
+        border-bottom: 1px solid #A8B8D9;
+}
+
+
+.tabsearch {
+	top: 0px;
+	left: 10px;
+	height: 36px;
+	background-image: url('tab_b.png');
+	z-index: 101;
+	overflow: hidden;
+	font-size: 13px;
+}
+
+.navpath ul
+{
+	font-size: 11px;
+	background-image:url('tab_b.png');
+	background-repeat:repeat-x;
+	background-position: 0 -5px;
+	height:30px;
+	line-height:30px;
+	color:#8AA0CC;
+	border:solid 1px #C2CDE4;
+	overflow:hidden;
+	margin:0px;
+	padding:0px;
+}
+
+.navpath li
+{
+	list-style-type:none;
+	float:left;
+	padding-left:10px;
+	padding-right:15px;
+	background-image:url('bc_s.png');
+	background-repeat:no-repeat;
+	background-position:right;
+	color:#364D7C;
+}
+
+.navpath li.navelem a
+{
+	height:32px;
+	display:block;
+	text-decoration: none;
+	outline: none;
+	color: #283A5D;
+	font-family: 'Lucida Grande',Geneva,Helvetica,Arial,sans-serif;
+	text-shadow: 0px 1px 1px rgba(255, 255, 255, 0.9);
+	text-decoration: none;        
+}
+
+.navpath li.navelem a:hover
+{
+	color:#6884BD;
+}
+
+.navpath li.footer
+{
+        list-style-type:none;
+        float:right;
+        padding-left:10px;
+        padding-right:15px;
+        background-image:none;
+        background-repeat:no-repeat;
+        background-position:right;
+        color:#364D7C;
+        font-size: 8pt;
+}
+
+
+div.summary
+{
+	float: right;
+	font-size: 8pt;
+	padding-right: 5px;
+	width: 50%;
+	text-align: right;
+}       
+
+div.summary a
+{
+	white-space: nowrap;
+}
+
+table.classindex
+{
+        margin: 10px;
+        white-space: nowrap;
+        margin-left: 3%;
+        margin-right: 3%;
+        width: 94%;
+        border: 0;
+        border-spacing: 0; 
+        padding: 0;
+}
+
+div.ingroups
+{
+	font-size: 8pt;
+	width: 50%;
+	text-align: left;
+}
+
+div.ingroups a
+{
+	white-space: nowrap;
+}
+
+div.header
+{
+        background-image:url('nav_h.png');
+        background-repeat:repeat-x;
+	background-color: #F9FAFC;
+	margin:  0px;
+	border-bottom: 1px solid #C4CFE5;
+}
+
+div.headertitle
+{
+	padding: 5px 5px 5px 10px;
+}
+
+.PageDocRTL-title div.headertitle {
+  text-align: right;
+  direction: rtl;
+}
+
+dl {
+        padding: 0 0 0 0;
+}
+
+/* dl.note, dl.warning, dl.attention, dl.pre, dl.post, dl.invariant, dl.deprecated, dl.todo, dl.test, dl.bug, dl.examples */
+dl.section {
+	margin-left: 0px;
+	padding-left: 0px;
+}
+
+dl.section.DocNodeRTL {
+  margin-right: 0px;
+  padding-right: 0px;
+}
+
+dl.note {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #D0C000;
+}
+
+dl.note.DocNodeRTL {
+  margin-left: 0;
+  padding-left: 0;
+  border-left: 0;
+  margin-right: -7px;
+  padding-right: 3px;
+  border-right: 4px solid;
+  border-color: #D0C000;
+}
+
+dl.warning, dl.attention {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #FF0000;
+}
+
+dl.warning.DocNodeRTL, dl.attention.DocNodeRTL {
+  margin-left: 0;
+  padding-left: 0;
+  border-left: 0;
+  margin-right: -7px;
+  padding-right: 3px;
+  border-right: 4px solid;
+  border-color: #FF0000;
+}
+
+dl.pre, dl.post, dl.invariant {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #00D000;
+}
+
+dl.pre.DocNodeRTL, dl.post.DocNodeRTL, dl.invariant.DocNodeRTL {
+  margin-left: 0;
+  padding-left: 0;
+  border-left: 0;
+  margin-right: -7px;
+  padding-right: 3px;
+  border-right: 4px solid;
+  border-color: #00D000;
+}
+
+dl.deprecated {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #505050;
+}
+
+dl.deprecated.DocNodeRTL {
+  margin-left: 0;
+  padding-left: 0;
+  border-left: 0;
+  margin-right: -7px;
+  padding-right: 3px;
+  border-right: 4px solid;
+  border-color: #505050;
+}
+
+dl.todo {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #00C0E0;
+}
+
+dl.todo.DocNodeRTL {
+  margin-left: 0;
+  padding-left: 0;
+  border-left: 0;
+  margin-right: -7px;
+  padding-right: 3px;
+  border-right: 4px solid;
+  border-color: #00C0E0;
+}
+
+dl.test {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #3030E0;
+}
+
+dl.test.DocNodeRTL {
+  margin-left: 0;
+  padding-left: 0;
+  border-left: 0;
+  margin-right: -7px;
+  padding-right: 3px;
+  border-right: 4px solid;
+  border-color: #3030E0;
+}
+
+dl.bug {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #C08050;
+}
+
+dl.bug.DocNodeRTL {
+  margin-left: 0;
+  padding-left: 0;
+  border-left: 0;
+  margin-right: -7px;
+  padding-right: 3px;
+  border-right: 4px solid;
+  border-color: #C08050;
+}
+
+dl.section dd {
+	margin-bottom: 6px;
+}
+
+
+#projectlogo
+{
+	text-align: center;
+	vertical-align: bottom;
+	border-collapse: separate;
+}
+ 
+#projectlogo img
+{ 
+	border: 0px none;
+}
+ 
+#projectalign
+{
+        vertical-align: middle;
+}
+
+#projectname
+{
+	font: 300% Tahoma, Arial,sans-serif;
+	margin: 0px;
+	padding: 2px 0px;
+}
+    
+#projectbrief
+{
+	font: 120% Tahoma, Arial,sans-serif;
+	margin: 0px;
+	padding: 0px;
+}
+
+#projectnumber
+{
+	font: 50% Tahoma, Arial,sans-serif;
+	margin: 0px;
+	padding: 0px;
+}
+
+#titlearea
+{
+	padding: 0px;
+	margin: 0px;
+	width: 100%;
+	border-bottom: 1px solid #5373B4;
+}
+
+.image
+{
+        text-align: center;
+}
+
+.dotgraph
+{
+        text-align: center;
+}
+
+.mscgraph
+{
+        text-align: center;
+}
+
+.plantumlgraph
+{
+        text-align: center;
+}
+
+.diagraph
+{
+        text-align: center;
+}
+
+.caption
+{
+	font-weight: bold;
+}
+
+div.zoom
+{
+	border: 1px solid #90A5CE;
+}
+
+dl.citelist {
+        margin-bottom:50px;
+}
+
+dl.citelist dt {
+        color:#334975;
+        float:left;
+        font-weight:bold;
+        margin-right:10px;
+        padding:5px;
+        text-align:right;
+        width:52px;
+}
+
+dl.citelist dd {
+        margin:2px 0 2px 72px;
+        padding:5px 0;
+}
+
+div.toc {
+        padding: 14px 25px;
+        background-color: #F4F6FA;
+        border: 1px solid #D8DFEE;
+        border-radius: 7px 7px 7px 7px;
+        float: right;
+        height: auto;
+        margin: 0 8px 10px 10px;
+        width: 200px;
+}
+
+.PageDocRTL-title div.toc {
+  float: left !important;
+  text-align: right;
+}
+
+div.toc li {
+        background: url("bdwn.png") no-repeat scroll 0 5px transparent;
+        font: 10px/1.2 Verdana,DejaVu Sans,Geneva,sans-serif;
+        margin-top: 5px;
+        padding-left: 10px;
+        padding-top: 2px;
+}
+
+.PageDocRTL-title div.toc li {
+  background-position-x: right !important;
+  padding-left: 0 !important;
+  padding-right: 10px;
+}
+
+div.toc h3 {
+        font: bold 12px/1.2 Arial,FreeSans,sans-serif;
+	color: #4665A2;
+        border-bottom: 0 none;
+        margin: 0;
+}
+
+div.toc ul {
+        list-style: none outside none;
+        border: medium none;
+        padding: 0px;
+}       
+
+div.toc li.level1 {
+        margin-left: 0px;
+}
+
+div.toc li.level2 {
+        margin-left: 15px;
+}
+
+div.toc li.level3 {
+        margin-left: 30px;
+}
+
+div.toc li.level4 {
+        margin-left: 45px;
+}
+
+span.emoji {
+        /* font family used at the site: https://unicode.org/emoji/charts/full-emoji-list.html
+         * font-family: "Noto Color Emoji", "Apple Color Emoji", "Segoe UI Emoji", Times, Symbola, Aegyptus, Code2000, Code2001, Code2002, Musica, serif, LastResort;
+         */
+}
+
+.PageDocRTL-title div.toc li.level1 {
+  margin-left: 0 !important;
+  margin-right: 0;
+}
+
+.PageDocRTL-title div.toc li.level2 {
+  margin-left: 0 !important;
+  margin-right: 15px;
+}
+
+.PageDocRTL-title div.toc li.level3 {
+  margin-left: 0 !important;
+  margin-right: 30px;
+}
+
+.PageDocRTL-title div.toc li.level4 {
+  margin-left: 0 !important;
+  margin-right: 45px;
+}
+
+.inherit_header {
+        font-weight: bold;
+        color: gray;
+        cursor: pointer;
+	-webkit-touch-callout: none;
+	-webkit-user-select: none;
+	-khtml-user-select: none;
+	-moz-user-select: none;
+	-ms-user-select: none;
+	user-select: none;
+}
+
+.inherit_header td {
+        padding: 6px 0px 2px 5px;
+}
+
+.inherit {
+        display: none;
+}
+
+tr.heading h2 {
+        margin-top: 12px;
+        margin-bottom: 4px;
+}
+
+/* tooltip related style info */
+
+.ttc {
+        position: absolute;
+        display: none;
+}
+
+#powerTip {
+	cursor: default;
+	white-space: nowrap;
+	background-color: white;
+	border: 1px solid gray;
+	border-radius: 4px 4px 4px 4px;
+	box-shadow: 1px 1px 7px gray;
+	display: none;
+	font-size: smaller;
+	max-width: 80%;
+	opacity: 0.9;
+	padding: 1ex 1em 1em;
+	position: absolute;
+	z-index: 2147483647;
+}
+
+#powerTip div.ttdoc {
+        color: grey;
+	font-style: italic;
+}
+
+#powerTip div.ttname a {
+        font-weight: bold;
+}
+
+#powerTip div.ttname {
+        font-weight: bold;
+}
+
+#powerTip div.ttdeci {
+        color: #006318;
+}
+
+#powerTip div {
+        margin: 0px;
+        padding: 0px;
+        font: 12px/16px Roboto,sans-serif;
+}
+
+#powerTip:before, #powerTip:after {
+	content: "";
+	position: absolute;
+	margin: 0px;
+}
+
+#powerTip.n:after,  #powerTip.n:before,
+#powerTip.s:after,  #powerTip.s:before,
+#powerTip.w:after,  #powerTip.w:before,
+#powerTip.e:after,  #powerTip.e:before,
+#powerTip.ne:after, #powerTip.ne:before,
+#powerTip.se:after, #powerTip.se:before,
+#powerTip.nw:after, #powerTip.nw:before,
+#powerTip.sw:after, #powerTip.sw:before {
+	border: solid transparent;
+	content: " ";
+	height: 0;
+	width: 0;
+	position: absolute;
+}
+
+#powerTip.n:after,  #powerTip.s:after,
+#powerTip.w:after,  #powerTip.e:after,
+#powerTip.nw:after, #powerTip.ne:after,
+#powerTip.sw:after, #powerTip.se:after {
+	border-color: rgba(255, 255, 255, 0);
+}
+
+#powerTip.n:before,  #powerTip.s:before,
+#powerTip.w:before,  #powerTip.e:before,
+#powerTip.nw:before, #powerTip.ne:before,
+#powerTip.sw:before, #powerTip.se:before {
+	border-color: rgba(128, 128, 128, 0);
+}
+
+#powerTip.n:after,  #powerTip.n:before,
+#powerTip.ne:after, #powerTip.ne:before,
+#powerTip.nw:after, #powerTip.nw:before {
+	top: 100%;
+}
+
+#powerTip.n:after, #powerTip.ne:after, #powerTip.nw:after {
+	border-top-color: #FFFFFF;
+	border-width: 10px;
+	margin: 0px -10px;
+}
+#powerTip.n:before {
+	border-top-color: #808080;
+	border-width: 11px;
+	margin: 0px -11px;
+}
+#powerTip.n:after, #powerTip.n:before {
+	left: 50%;
+}
+
+#powerTip.nw:after, #powerTip.nw:before {
+	right: 14px;
+}
+
+#powerTip.ne:after, #powerTip.ne:before {
+	left: 14px;
+}
+
+#powerTip.s:after,  #powerTip.s:before,
+#powerTip.se:after, #powerTip.se:before,
+#powerTip.sw:after, #powerTip.sw:before {
+	bottom: 100%;
+}
+
+#powerTip.s:after, #powerTip.se:after, #powerTip.sw:after {
+	border-bottom-color: #FFFFFF;
+	border-width: 10px;
+	margin: 0px -10px;
+}
+
+#powerTip.s:before, #powerTip.se:before, #powerTip.sw:before {
+	border-bottom-color: #808080;
+	border-width: 11px;
+	margin: 0px -11px;
+}
+
+#powerTip.s:after, #powerTip.s:before {
+	left: 50%;
+}
+
+#powerTip.sw:after, #powerTip.sw:before {
+	right: 14px;
+}
+
+#powerTip.se:after, #powerTip.se:before {
+	left: 14px;
+}
+
+#powerTip.e:after, #powerTip.e:before {
+	left: 100%;
+}
+#powerTip.e:after {
+	border-left-color: #FFFFFF;
+	border-width: 10px;
+	top: 50%;
+	margin-top: -10px;
+}
+#powerTip.e:before {
+	border-left-color: #808080;
+	border-width: 11px;
+	top: 50%;
+	margin-top: -11px;
+}
+
+#powerTip.w:after, #powerTip.w:before {
+	right: 100%;
+}
+#powerTip.w:after {
+	border-right-color: #FFFFFF;
+	border-width: 10px;
+	top: 50%;
+	margin-top: -10px;
+}
+#powerTip.w:before {
+	border-right-color: #808080;
+	border-width: 11px;
+	top: 50%;
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+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_5f30c89189ebb3336d6b33aa932838ba.html">franka</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#func-members">Functions</a>  </div>
+  <div class="headertitle">
+<div class="title">duration.h File Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Contains the <a class="el" href="classfranka_1_1Duration.html" title="Represents a duration with millisecond resolution.">franka::Duration</a> type.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &lt;chrono&gt;</code><br />
+<code>#include &lt;cstdint&gt;</code><br />
+<code>#include &lt;ratio&gt;</code><br />
+</div><div class="textblock"><div class="dynheader">
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+<p><a href="duration_8h_source.html">Go to the source code of this file.</a></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Duration.html">franka::Duration</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Represents a duration with millisecond resolution.  <a href="classfranka_1_1Duration.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
+Functions</h2></td></tr>
+<tr class="memitem:ab3a36a47682756845ef855994aadd7b6"><td class="memItemLeft" align="right" valign="top">Duration&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="duration_8h.html#ab3a36a47682756845ef855994aadd7b6">franka::operator*</a> (uint64_t lhs, const Duration &amp;rhs) noexcept</td></tr>
+<tr class="memdesc:ab3a36a47682756845ef855994aadd7b6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Performs multiplication.  <a href="duration_8h.html#ab3a36a47682756845ef855994aadd7b6">More...</a><br /></td></tr>
+<tr class="separator:ab3a36a47682756845ef855994aadd7b6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Contains the <a class="el" href="classfranka_1_1Duration.html" title="Represents a duration with millisecond resolution.">franka::Duration</a> type. </p>
+</div><h2 class="groupheader">Function Documentation</h2>
+<a id="ab3a36a47682756845ef855994aadd7b6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab3a36a47682756845ef855994aadd7b6">&#9670;&nbsp;</a></span>operator*()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">Duration franka::operator* </td>
+          <td>(</td>
+          <td class="paramtype">uint64_t&#160;</td>
+          <td class="paramname"><em>lhs</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classfranka_1_1Duration.html">Duration</a> &amp;&#160;</td>
+          <td class="paramname"><em>rhs</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Performs multiplication. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">lhs</td><td>Left-hand side of the multiplication. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">rhs</td><td>Right-hand side of the multiplication.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Result of the multiplication. </dd></dl>
+
+</div>
+</div>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
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+++ b/0.13.6/duration_8h__dep__incl.md5
@@ -0,0 +1 @@
+2419ea66674e4bc3b2d7066dd96a693e
\ No newline at end of file
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new file mode 100644
index 00000000..601f0873
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diff --git a/0.13.6/duration_8h__incl.md5 b/0.13.6/duration_8h__incl.md5
new file mode 100644
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+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
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+   <div id="projectbrief">FCI C++ API</div>
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_5f30c89189ebb3336d6b33aa932838ba.html">franka</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">duration.h</div>  </div>
+</div><!--header-->
+<div class="contents">
+<a href="duration_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// Copyright (c) 2023 Franka Robotics GmbH</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Use of this source code is governed by the Apache-2.0 license, see LICENSE</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160; </div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;chrono&gt;</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;cstdint&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;ratio&gt;</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160; </div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="keyword">namespace </span>franka {</div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160; </div>
+<div class="line"><a name="l00019"></a><span class="lineno"><a class="line" href="classfranka_1_1Duration.html">   19</a></span>&#160;<span class="keyword">class </span><a class="code" href="classfranka_1_1Duration.html">Duration</a> {</div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160; <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00024"></a><span class="lineno"><a class="line" href="classfranka_1_1Duration.html#af721da321423772b4ce7ff11280d38d5">   24</a></span>&#160;  <a class="code" href="classfranka_1_1Duration.html#af721da321423772b4ce7ff11280d38d5">Duration</a>() noexcept;</div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160; </div>
+<div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="classfranka_1_1Duration.html#a46f0cea3e05c27cdaaba5ff25e0e6cd6">   31</a></span>&#160;  explicit <a class="code" href="classfranka_1_1Duration.html">Duration</a>(uint64_t milliseconds) noexcept;</div>
+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160; </div>
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+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
+<div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="classfranka_1_1Duration.html#ae58e283f511f9de8ac7e145db5cac1cf">   57</a></span>&#160;  operator std::chrono::duration&lt;uint64_t, std::milli&gt;() const noexcept;</div>
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+<div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="classfranka_1_1Duration.html#a2a25ae33c8739b8f705f13798aa9e162">   71</a></span>&#160;  uint64_t <a class="code" href="classfranka_1_1Duration.html#a2a25ae33c8739b8f705f13798aa9e162">toMSec</a>() const noexcept;</div>
+<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
+<div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="classfranka_1_1Duration.html#adb459e7bf5c6b02f9e72c808f5f30237">   85</a></span>&#160;  <a class="code" href="classfranka_1_1Duration.html">Duration</a> operator+(const <a class="code" href="classfranka_1_1Duration.html">Duration</a>&amp; rhs) const noexcept;</div>
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+<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;};</div>
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+<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;}  <span class="comment">// namespace franka</span></div>
+<div class="ttc" id="aclassfranka_1_1Duration_html"><div class="ttname"><a href="classfranka_1_1Duration.html">franka::Duration</a></div><div class="ttdoc">Represents a duration with millisecond resolution.</div><div class="ttdef"><b>Definition:</b> duration.h:19</div></div>
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>libfranka: echo_robot_state.cpp</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
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+/* @license-end */
+</script>
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+<script type="text/javascript" src="menu.js"></script>
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+<div class="header">
+  <div class="headertitle">
+<div class="title">echo_robot_state.cpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<p>An example showing how to continuously read the robot state.</p>
+<div class="fragment"><div class="line"><span class="comment">// Copyright (c) 2023 Franka Robotics GmbH</span></div>
+<div class="line"><span class="comment">// Use of this source code is governed by the Apache-2.0 license, see LICENSE</span></div>
+<div class="line"><span class="preprocessor">#include &lt;iostream&gt;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="exception_8h.html">franka/exception.h</a>&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="robot_8h.html">franka/robot.h</a>&gt;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="keywordtype">int</span> main(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span>** argv) {</div>
+<div class="line">  <span class="keywordflow">if</span> (argc != 2) {</div>
+<div class="line">    std::cerr &lt;&lt; <span class="stringliteral">&quot;Usage: &quot;</span> &lt;&lt; argv[0] &lt;&lt; <span class="stringliteral">&quot; &lt;robot-hostname&gt;&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">    <span class="keywordflow">return</span> -1;</div>
+<div class="line">  }</div>
+<div class="line"> </div>
+<div class="line">  <span class="keywordflow">try</span> {</div>
+<div class="line">    <a name="_a0"></a><a class="code" href="classfranka_1_1Robot.html">franka::Robot</a> robot(argv[1]);</div>
+<div class="line"> </div>
+<div class="line">    <span class="keywordtype">size_t</span> count = 0;</div>
+<div class="line">    robot.<a name="a1"></a><a class="code" href="classfranka_1_1Robot.html#a82f85eed20426901a7e77b66c041664b">read</a>([&amp;count](<span class="keyword">const</span> <a name="_a2"></a><a class="code" href="structfranka_1_1RobotState.html">franka::RobotState</a>&amp; robot_state) {</div>
+<div class="line">      <span class="comment">// Printing to std::cout adds a delay. This is acceptable for a read loop such as this, but</span></div>
+<div class="line">      <span class="comment">// should not be done in a control loop.</span></div>
+<div class="line">      std::cout &lt;&lt; robot_state &lt;&lt; std::endl;</div>
+<div class="line">      <span class="keywordflow">return</span> count++ &lt; 100;</div>
+<div class="line">    });</div>
+<div class="line"> </div>
+<div class="line">    std::cout &lt;&lt; <span class="stringliteral">&quot;Done.&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">  } <span class="keywordflow">catch</span> (<a name="_a3"></a><a class="code" href="structfranka_1_1Exception.html">franka::Exception</a> <span class="keyword">const</span>&amp; e) {</div>
+<div class="line">    std::cout &lt;&lt; e.what() &lt;&lt; std::endl;</div>
+<div class="line">    <span class="keywordflow">return</span> -1;</div>
+<div class="line">  }</div>
+<div class="line"> </div>
+<div class="line">  <span class="keywordflow">return</span> 0;</div>
+<div class="line">}</div>
+<div class="ttc" id="aclassfranka_1_1Robot_html"><div class="ttname"><a href="classfranka_1_1Robot.html">franka::Robot</a></div><div class="ttdoc">Maintains a network connection to the robot, provides the current robot state, gives access to the mo...</div><div class="ttdef"><b>Definition:</b> robot.h:67</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_a82f85eed20426901a7e77b66c041664b"><div class="ttname"><a href="classfranka_1_1Robot.html#a82f85eed20426901a7e77b66c041664b">franka::Robot::read</a></div><div class="ttdeci">void read(std::function&lt; bool(const RobotState &amp;)&gt; read_callback)</div><div class="ttdoc">Starts a loop for reading the current robot state.</div></div>
+<div class="ttc" id="aexception_8h_html"><div class="ttname"><a href="exception_8h.html">exception.h</a></div><div class="ttdoc">Contains exception definitions.</div></div>
+<div class="ttc" id="arobot_8h_html"><div class="ttname"><a href="robot_8h.html">robot.h</a></div><div class="ttdoc">Contains the franka::Robot type.</div></div>
+<div class="ttc" id="astructfranka_1_1Exception_html"><div class="ttname"><a href="structfranka_1_1Exception.html">franka::Exception</a></div><div class="ttdoc">Base class for all exceptions used by libfranka.</div><div class="ttdef"><b>Definition:</b> exception.h:20</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html"><div class="ttname"><a href="structfranka_1_1RobotState.html">franka::RobotState</a></div><div class="ttdoc">Describes the robot state.</div><div class="ttdef"><b>Definition:</b> robot_state.h:34</div></div>
+</div><!-- fragment --> </div><!-- contents -->
+<!-- start footer part -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>libfranka: include/franka/errors.h File Reference</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
+  </td>
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+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
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+/* @license-end */
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+<script type="text/javascript" src="menudata.js"></script>
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+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#func-members">Functions</a>  </div>
+  <div class="headertitle">
+<div class="title">errors.h File Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Contains the <a class="el" href="structfranka_1_1Errors.html" title="Enumerates errors that can occur while controlling a franka::Robot.">franka::Errors</a> type.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &lt;array&gt;</code><br />
+<code>#include &lt;ostream&gt;</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for errors.h:</div>
+<div class="dyncontent">
+<div class="center"><img src="errors_8h__incl.png" border="0" usemap="#ainclude_2franka_2errors_8h" alt=""/></div>
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+<div class="dyncontent">
+<div class="center"><img src="errors_8h__dep__incl.png" border="0" usemap="#ainclude_2franka_2errors_8hdep" alt=""/></div>
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+<area shape="rect" href="robot__state_8h.html" title="Contains the franka::RobotState types." alt="" coords="274,80,426,121"/>
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+<area shape="rect" href="log_8h.html" title="Contains helper types for logging sent commands and received robot states." alt="" coords="115,169,265,196"/>
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+<area shape="rect" href="robot_8h.html" title="Contains the franka::Robot type." alt="" coords="389,169,553,196"/>
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+</div>
+</div>
+<p><a href="errors_8h_source.html">Go to the source code of this file.</a></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1Errors.html">franka::Errors</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enumerates errors that can occur while controlling a <a class="el" href="classfranka_1_1Robot.html" title="Maintains a network connection to the robot, provides the current robot state, gives access to the mo...">franka::Robot</a>.  <a href="structfranka_1_1Errors.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
+Functions</h2></td></tr>
+<tr class="memitem:ad1027058086c3c154f4bbc9cade1f197"><td class="memItemLeft" align="right" valign="top">std::ostream &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="errors_8h.html#ad1027058086c3c154f4bbc9cade1f197">franka::operator&lt;&lt;</a> (std::ostream &amp;ostream, const Errors &amp;errors)</td></tr>
+<tr class="memdesc:ad1027058086c3c154f4bbc9cade1f197"><td class="mdescLeft">&#160;</td><td class="mdescRight">Streams the errors as JSON array.  <a href="errors_8h.html#ad1027058086c3c154f4bbc9cade1f197">More...</a><br /></td></tr>
+<tr class="separator:ad1027058086c3c154f4bbc9cade1f197"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Contains the <a class="el" href="structfranka_1_1Errors.html" title="Enumerates errors that can occur while controlling a franka::Robot.">franka::Errors</a> type. </p>
+</div><h2 class="groupheader">Function Documentation</h2>
+<a id="ad1027058086c3c154f4bbc9cade1f197"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad1027058086c3c154f4bbc9cade1f197">&#9670;&nbsp;</a></span>operator&lt;&lt;()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::ostream&amp; franka::operator&lt;&lt; </td>
+          <td>(</td>
+          <td class="paramtype">std::ostream &amp;&#160;</td>
+          <td class="paramname"><em>ostream</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="structfranka_1_1Errors.html">Errors</a> &amp;&#160;</td>
+          <td class="paramname"><em>errors</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Streams the errors as JSON array. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">ostream</td><td>Ostream instance </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">errors</td><td>Errors struct instance to stream</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Ostream instance </dd></dl>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="joint_impedance_control_8cpp-example.html#a0">joint_impedance_control.cpp</a>, and <a class="el" href="print_joint_poses_8cpp-example.html#a0">print_joint_poses.cpp</a>.</dd>
+</dl>
+
+</div>
+</div>
+</div><!-- contents -->
+<!-- start footer part -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
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+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_5f30c89189ebb3336d6b33aa932838ba.html">franka</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">errors.h</div>  </div>
+</div><!--header-->
+<div class="contents">
+<a href="errors_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// Copyright (c) 2023 Franka Robotics GmbH</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Use of this source code is governed by the Apache-2.0 license, see LICENSE</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160; </div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;array&gt;</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;ostream&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="keyword">namespace </span>franka {</div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160; </div>
+<div class="line"><a name="l00018"></a><span class="lineno"><a class="line" href="structfranka_1_1Errors.html">   18</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structfranka_1_1Errors.html">Errors</a> {</div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160; <span class="keyword">private</span>:</div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;  std::array&lt;bool, 41&gt; errors_{};</div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160; </div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160; <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="structfranka_1_1Errors.html#aedd6b6af230c01b6f106b5050b29d9ae">   26</a></span>&#160;  <a class="code" href="structfranka_1_1Errors.html#aedd6b6af230c01b6f106b5050b29d9ae">Errors</a>();</div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160; </div>
+<div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="structfranka_1_1Errors.html#a4548a72089cc6d61c9249a1b8f4cc480">   33</a></span>&#160;  <a class="code" href="structfranka_1_1Errors.html#a4548a72089cc6d61c9249a1b8f4cc480">Errors</a>(<span class="keyword">const</span> <a class="code" href="structfranka_1_1Errors.html">Errors</a>&amp; other);</div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160; </div>
+<div class="line"><a name="l00042"></a><span class="lineno"><a class="line" href="structfranka_1_1Errors.html#a6fefa4083d79362080b79f3492fd4cb6">   42</a></span>&#160;  <a class="code" href="structfranka_1_1Errors.html">Errors</a>&amp; <a class="code" href="structfranka_1_1Errors.html#a6fefa4083d79362080b79f3492fd4cb6">operator=</a>(<a class="code" href="structfranka_1_1Errors.html">Errors</a> other);</div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
+<div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="structfranka_1_1Errors.html#adffc6f8b2235e566c4a43ce69a86634e">   49</a></span>&#160;  <a class="code" href="structfranka_1_1Errors.html#adffc6f8b2235e566c4a43ce69a86634e">Errors</a>(<span class="keyword">const</span> std::array&lt;bool, 41&gt;&amp; errors);</div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; </div>
+<div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="structfranka_1_1Errors.html#a50cb6e50c1ce2b5ec281dcad83f1779e">   56</a></span>&#160;  <span class="keyword">explicit</span> <span class="keyword">operator</span> bool() const noexcept;</div>
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+<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="structfranka_1_1Errors.html#a63ed1948f69db5be95a9c70107955d68">   65</a></span>&#160;  explicit operator std::<span class="keywordtype">string</span>() const;</div>
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+<div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="structfranka_1_1Errors.html#a41c8b50ecbb015a2dba1a3dbbff694b6">   74</a></span>&#160;  const <span class="keywordtype">bool</span>&amp; <a class="code" href="structfranka_1_1Errors.html#a41c8b50ecbb015a2dba1a3dbbff694b6">cartesian_position_limits_violation</a>;</div>
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+<div class="line"><a name="l00112"></a><span class="lineno"><a class="line" href="structfranka_1_1Errors.html#afc093fc5f99e1f6cab6de4fa9bc32692">  112</a></span>&#160;  const <span class="keywordtype">bool</span>&amp; <a class="code" href="structfranka_1_1Errors.html#afc093fc5f99e1f6cab6de4fa9bc32692">cartesian_velocity_profile_safety_violation</a>;</div>
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+<div class="line"><a name="l00216"></a><span class="lineno"><a class="line" href="structfranka_1_1Errors.html#a1c78be870253b510a4516acf14c2d3e3">  216</a></span>&#160;  const <span class="keywordtype">bool</span>&amp; <a class="code" href="structfranka_1_1Errors.html#a1c78be870253b510a4516acf14c2d3e3">joint_p2p_insufficient_torque_for_planning</a>;</div>
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+<div class="line"><a name="l00224"></a><span class="lineno"><a class="line" href="structfranka_1_1Errors.html#aebb701987262097687d21b3cf1bc8930">  224</a></span>&#160;  const <span class="keywordtype">bool</span>&amp; <a class="code" href="structfranka_1_1Errors.html#aebb701987262097687d21b3cf1bc8930">instability_detected</a>;</div>
+<div class="line"><a name="l00229"></a><span class="lineno"><a class="line" href="structfranka_1_1Errors.html#a7d3a6480cbe572fd46e579b43732edc9">  229</a></span>&#160;  const <span class="keywordtype">bool</span>&amp; <a class="code" href="structfranka_1_1Errors.html#a7d3a6480cbe572fd46e579b43732edc9">joint_move_in_wrong_direction</a>;</div>
+<div class="line"><a name="l00233"></a><span class="lineno"><a class="line" href="structfranka_1_1Errors.html#a5617689cd7e875baebcecf054513f0c4">  233</a></span>&#160;  const <span class="keywordtype">bool</span>&amp; <a class="code" href="structfranka_1_1Errors.html#a5617689cd7e875baebcecf054513f0c4">cartesian_spline_motion_generator_violation</a>;</div>
+<div class="line"><a name="l00237"></a><span class="lineno"><a class="line" href="structfranka_1_1Errors.html#aef3c74f48978545187ee2dc3a96db1c8">  237</a></span>&#160;  const <span class="keywordtype">bool</span>&amp; <a class="code" href="structfranka_1_1Errors.html#aef3c74f48978545187ee2dc3a96db1c8">joint_via_motion_generator_planning_joint_limit_violation</a>;</div>
+<div class="line"><a name="l00241"></a><span class="lineno"><a class="line" href="structfranka_1_1Errors.html#a4dc331a7ae3242ea43e6fbf7e21c695a">  241</a></span>&#160;  const <span class="keywordtype">bool</span>&amp; <a class="code" href="structfranka_1_1Errors.html#a4dc331a7ae3242ea43e6fbf7e21c695a">base_acceleration_initialization_timeout</a>;</div>
+<div class="line"><a name="l00245"></a><span class="lineno"><a class="line" href="structfranka_1_1Errors.html#a8467b7b8a3a68c3e0be7adc39933cb0e">  245</a></span>&#160;  const <span class="keywordtype">bool</span>&amp; <a class="code" href="structfranka_1_1Errors.html#a8467b7b8a3a68c3e0be7adc39933cb0e">base_acceleration_invalid_reading</a>;</div>
+<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;};</div>
+<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160; </div>
+<div class="line"><a name="l00256"></a><span class="lineno"><a class="line" href="errors_8h.html#ad1027058086c3c154f4bbc9cade1f197">  256</a></span>&#160;std::ostream&amp; operator&lt;&lt;(std::ostream&amp; ostream, const <a class="code" href="structfranka_1_1Errors.html">Errors</a>&amp; errors);</div>
+<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160; </div>
+<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;}  <span class="comment">// namespace franka</span></div>
+<div class="ttc" id="astructfranka_1_1Errors_html"><div class="ttname"><a href="structfranka_1_1Errors.html">franka::Errors</a></div><div class="ttdoc">Enumerates errors that can occur while controlling a franka::Robot.</div><div class="ttdef"><b>Definition:</b> errors.h:18</div></div>
+<div class="ttc" id="astructfranka_1_1Errors_html_a10c6ac36bf48b4a9edf91e74d9bc4837"><div class="ttname"><a href="structfranka_1_1Errors.html#a10c6ac36bf48b4a9edf91e74d9bc4837">franka::Errors::cartesian_motion_generator_acceleration_discontinuity</a></div><div class="ttdeci">const bool &amp; cartesian_motion_generator_acceleration_discontinuity</div><div class="ttdoc">True if commanded acceleration in Cartesian motion generators is discontinuous (target values are too...</div><div class="ttdef"><b>Definition:</b> errors.h:158</div></div>
+<div class="ttc" id="astructfranka_1_1Errors_html_a1491f8428341649befa3d088aebb317e"><div class="ttname"><a href="structfranka_1_1Errors.html#a1491f8428341649befa3d088aebb317e">franka::Errors::tau_j_range_violation</a></div><div class="ttdeci">const bool &amp; tau_j_range_violation</div><div class="ttdoc">True if the measured torque signal is out of the safe range.</div><div class="ttdef"><b>Definition:</b> errors.h:220</div></div>
+<div class="ttc" id="astructfranka_1_1Errors_html_a17e4a9b6b7dc4cc12c1328d36cac3eaf"><div class="ttname"><a href="structfranka_1_1Errors.html#a17e4a9b6b7dc4cc12c1328d36cac3eaf">franka::Errors::cartesian_motion_generator_velocity_discontinuity</a></div><div class="ttdeci">const bool &amp; cartesian_motion_generator_velocity_discontinuity</div><div class="ttdoc">True if commanded velocity in Cartesian motion generators is discontinuous (target values are too far...</div><div class="ttdef"><b>Definition:</b> errors.h:153</div></div>
+<div class="ttc" id="astructfranka_1_1Errors_html_a1c78be870253b510a4516acf14c2d3e3"><div class="ttname"><a href="structfranka_1_1Errors.html#a1c78be870253b510a4516acf14c2d3e3">franka::Errors::joint_p2p_insufficient_torque_for_planning</a></div><div class="ttdeci">const bool &amp; joint_p2p_insufficient_torque_for_planning</div><div class="ttdoc">True if the robot is overloaded for the required motion.</div><div class="ttdef"><b>Definition:</b> errors.h:216</div></div>
+<div class="ttc" id="astructfranka_1_1Errors_html_a1c8c56766fefc19fda5d5de909ca5b37"><div class="ttname"><a href="structfranka_1_1Errors.html#a1c8c56766fefc19fda5d5de909ca5b37">franka::Errors::cartesian_motion_generator_joint_velocity_discontinuity</a></div><div class="ttdeci">const bool &amp; cartesian_motion_generator_joint_velocity_discontinuity</div><div class="ttdoc">True if the joint velocity in Cartesian motion generators is discontinuous after IK calculation.</div><div class="ttdef"><b>Definition:</b> errors.h:179</div></div>
+<div class="ttc" id="astructfranka_1_1Errors_html_a2e223ef3c771709a6a3f094adf12f9cb"><div class="ttname"><a href="structfranka_1_1Errors.html#a2e223ef3c771709a6a3f094adf12f9cb">franka::Errors::cartesian_motion_generator_joint_acceleration_discontinuity</a></div><div class="ttdeci">const bool &amp; cartesian_motion_generator_joint_acceleration_discontinuity</div><div class="ttdoc">True if the joint acceleration in Cartesian motion generators is discontinuous after IK calculation.</div><div class="ttdef"><b>Definition:</b> errors.h:184</div></div>
+<div class="ttc" id="astructfranka_1_1Errors_html_a382fbec6b463ddcc2cbfd90340021ff1"><div class="ttname"><a href="structfranka_1_1Errors.html#a382fbec6b463ddcc2cbfd90340021ff1">franka::Errors::cartesian_velocity_violation</a></div><div class="ttdeci">const bool &amp; cartesian_velocity_violation</div><div class="ttdoc">True if the robot exceeded Cartesian velocity limits.</div><div class="ttdef"><b>Definition:</b> errors.h:86</div></div>
+<div class="ttc" id="astructfranka_1_1Errors_html_a41c8b50ecbb015a2dba1a3dbbff694b6"><div class="ttname"><a href="structfranka_1_1Errors.html#a41c8b50ecbb015a2dba1a3dbbff694b6">franka::Errors::cartesian_position_limits_violation</a></div><div class="ttdeci">const bool &amp; cartesian_position_limits_violation</div><div class="ttdoc">True if the robot moved past any of the virtual walls.</div><div class="ttdef"><b>Definition:</b> errors.h:74</div></div>
+<div class="ttc" id="astructfranka_1_1Errors_html_a435d16d62a123bfbf578bc76e3780605"><div class="ttname"><a href="structfranka_1_1Errors.html#a435d16d62a123bfbf578bc76e3780605">franka::Errors::cartesian_motion_generator_joint_velocity_limits_violation</a></div><div class="ttdeci">const bool &amp; cartesian_motion_generator_joint_velocity_limits_violation</div><div class="ttdoc">True if the joint velocity limits would be exceeded after IK calculation.</div><div class="ttdef"><b>Definition:</b> errors.h:174</div></div>
+<div class="ttc" id="astructfranka_1_1Errors_html_a44ba0d45e52639280d32cf447f967e29"><div class="ttname"><a href="structfranka_1_1Errors.html#a44ba0d45e52639280d32cf447f967e29">franka::Errors::joint_position_limits_violation</a></div><div class="ttdeci">const bool &amp; joint_position_limits_violation</div><div class="ttdoc">True if the robot moved past the joint limits.</div><div class="ttdef"><b>Definition:</b> errors.h:70</div></div>
+<div class="ttc" id="astructfranka_1_1Errors_html_a4548a72089cc6d61c9249a1b8f4cc480"><div class="ttname"><a href="structfranka_1_1Errors.html#a4548a72089cc6d61c9249a1b8f4cc480">franka::Errors::Errors</a></div><div class="ttdeci">Errors(const Errors &amp;other)</div><div class="ttdoc">Copy constructs a new Errors instance.</div></div>
+<div class="ttc" id="astructfranka_1_1Errors_html_a47bd58b0ab2198e4d038e0a24eafb310"><div class="ttname"><a href="structfranka_1_1Errors.html#a47bd58b0ab2198e4d038e0a24eafb310">franka::Errors::cartesian_reflex</a></div><div class="ttdeci">const bool &amp; cartesian_reflex</div><div class="ttdoc">True if a collision was detected, i.e. the robot exceeded a torque threshold in a Cartesian motion.</div><div class="ttdef"><b>Definition:</b> errors.h:100</div></div>
+<div class="ttc" id="astructfranka_1_1Errors_html_a4d17af86c1ebb698c218796fa15f9bd7"><div class="ttname"><a href="structfranka_1_1Errors.html#a4d17af86c1ebb698c218796fa15f9bd7">franka::Errors::communication_constraints_violation</a></div><div class="ttdeci">const bool &amp; communication_constraints_violation</div><div class="ttdoc">True if minimum network communication quality could not be held during a motion.</div><div class="ttdef"><b>Definition:</b> errors.h:206</div></div>
+<div class="ttc" id="astructfranka_1_1Errors_html_a4dc331a7ae3242ea43e6fbf7e21c695a"><div class="ttname"><a href="structfranka_1_1Errors.html#a4dc331a7ae3242ea43e6fbf7e21c695a">franka::Errors::base_acceleration_initialization_timeout</a></div><div class="ttdeci">const bool &amp; base_acceleration_initialization_timeout</div><div class="ttdoc">True if the gravity vector could not be initialized by measureing the base acceleration.</div><div class="ttdef"><b>Definition:</b> errors.h:241</div></div>
+<div class="ttc" id="astructfranka_1_1Errors_html_a5617689cd7e875baebcecf054513f0c4"><div class="ttname"><a href="structfranka_1_1Errors.html#a5617689cd7e875baebcecf054513f0c4">franka::Errors::cartesian_spline_motion_generator_violation</a></div><div class="ttdeci">const bool &amp; cartesian_spline_motion_generator_violation</div><div class="ttdoc">True if the generated motion violates a joint limit.</div><div class="ttdef"><b>Definition:</b> errors.h:233</div></div>
+<div class="ttc" id="astructfranka_1_1Errors_html_a58b0e1199c9dded5a32bfeb110e63037"><div class="ttname"><a href="structfranka_1_1Errors.html#a58b0e1199c9dded5a32bfeb110e63037">franka::Errors::cartesian_motion_generator_elbow_sign_inconsistent</a></div><div class="ttdeci">const bool &amp; cartesian_motion_generator_elbow_sign_inconsistent</div><div class="ttdoc">True if commanded elbow values in Cartesian motion generators are inconsistent.</div><div class="ttdef"><b>Definition:</b> errors.h:162</div></div>
+<div class="ttc" id="astructfranka_1_1Errors_html_a633195adca91f5ecaf1506da12f3311f"><div class="ttname"><a href="structfranka_1_1Errors.html#a633195adca91f5ecaf1506da12f3311f">franka::Errors::joint_motion_generator_acceleration_discontinuity</a></div><div class="ttdeci">const bool &amp; joint_motion_generator_acceleration_discontinuity</div><div class="ttdoc">True if commanded acceleration in joint motion generators is discontinuous (target values are too far...</div><div class="ttdef"><b>Definition:</b> errors.h:135</div></div>
+<div class="ttc" id="astructfranka_1_1Errors_html_a6c4d8cb1fb314567ebd07a6195b840f5"><div class="ttname"><a href="structfranka_1_1Errors.html#a6c4d8cb1fb314567ebd07a6195b840f5">franka::Errors::power_limit_violation</a></div><div class="ttdeci">const bool &amp; power_limit_violation</div><div class="ttdoc">True if commanded values would result in exceeding the power limit.</div><div class="ttdef"><b>Definition:</b> errors.h:210</div></div>
+<div class="ttc" id="astructfranka_1_1Errors_html_a6d905b803bbe8a7be8490f2a94ba524a"><div class="ttname"><a href="structfranka_1_1Errors.html#a6d905b803bbe8a7be8490f2a94ba524a">franka::Errors::cartesian_motion_generator_start_elbow_invalid</a></div><div class="ttdeci">const bool &amp; cartesian_motion_generator_start_elbow_invalid</div><div class="ttdoc">True if the first elbow value in Cartesian motion generators is too far from initial one.</div><div class="ttdef"><b>Definition:</b> errors.h:166</div></div>
+<div class="ttc" id="astructfranka_1_1Errors_html_a6fefa4083d79362080b79f3492fd4cb6"><div class="ttname"><a href="structfranka_1_1Errors.html#a6fefa4083d79362080b79f3492fd4cb6">franka::Errors::operator=</a></div><div class="ttdeci">Errors &amp; operator=(Errors other)</div><div class="ttdoc">Assigns this Errors instance from another Errors value.</div></div>
+<div class="ttc" id="astructfranka_1_1Errors_html_a73aef7473fd6d1d5b207e68fa35948c5"><div class="ttname"><a href="structfranka_1_1Errors.html#a73aef7473fd6d1d5b207e68fa35948c5">franka::Errors::cartesian_motion_generator_joint_position_limits_violation</a></div><div class="ttdeci">const bool &amp; cartesian_motion_generator_joint_position_limits_violation</div><div class="ttdoc">True if the joint position limits would be exceeded after IK calculation.</div><div class="ttdef"><b>Definition:</b> errors.h:170</div></div>
+<div class="ttc" id="astructfranka_1_1Errors_html_a7af91cbf61dc79304bff3ffadc51ea86"><div class="ttname"><a href="structfranka_1_1Errors.html#a7af91cbf61dc79304bff3ffadc51ea86">franka::Errors::joint_position_motion_generator_start_pose_invalid</a></div><div class="ttdeci">const bool &amp; joint_position_motion_generator_start_pose_invalid</div><div class="ttdoc">True if an external joint position motion generator was started with a pose too far from the current ...</div><div class="ttdef"><b>Definition:</b> errors.h:117</div></div>
+<div class="ttc" id="astructfranka_1_1Errors_html_a7d3a6480cbe572fd46e579b43732edc9"><div class="ttname"><a href="structfranka_1_1Errors.html#a7d3a6480cbe572fd46e579b43732edc9">franka::Errors::joint_move_in_wrong_direction</a></div><div class="ttdeci">const bool &amp; joint_move_in_wrong_direction</div><div class="ttdoc">True if the robot is in joint position limits violation error and the user guides the robot further t...</div><div class="ttdef"><b>Definition:</b> errors.h:229</div></div>
+<div class="ttc" id="astructfranka_1_1Errors_html_a803ac4acbc26350602ea2eb02b7b30c4"><div class="ttname"><a href="structfranka_1_1Errors.html#a803ac4acbc26350602ea2eb02b7b30c4">franka::Errors::joint_velocity_violation</a></div><div class="ttdeci">const bool &amp; joint_velocity_violation</div><div class="ttdoc">True if the robot exceeded joint velocity limits.</div><div class="ttdef"><b>Definition:</b> errors.h:82</div></div>
+<div class="ttc" id="astructfranka_1_1Errors_html_a8467b7b8a3a68c3e0be7adc39933cb0e"><div class="ttname"><a href="structfranka_1_1Errors.html#a8467b7b8a3a68c3e0be7adc39933cb0e">franka::Errors::base_acceleration_invalid_reading</a></div><div class="ttdeci">const bool &amp; base_acceleration_invalid_reading</div><div class="ttdoc">True if the base acceleration O_ddP_O cannot be determined.</div><div class="ttdef"><b>Definition:</b> errors.h:245</div></div>
+<div class="ttc" id="astructfranka_1_1Errors_html_a91437c081452ef708563346b102ba894"><div class="ttname"><a href="structfranka_1_1Errors.html#a91437c081452ef708563346b102ba894">franka::Errors::cartesian_motion_generator_velocity_limits_violation</a></div><div class="ttdeci">const bool &amp; cartesian_motion_generator_velocity_limits_violation</div><div class="ttdoc">True if an external Cartesian motion generator would move with too high velocity.</div><div class="ttdef"><b>Definition:</b> errors.h:148</div></div>
+<div class="ttc" id="astructfranka_1_1Errors_html_a9536ad072868b90525c56143cbb956ef"><div class="ttname"><a href="structfranka_1_1Errors.html#a9536ad072868b90525c56143cbb956ef">franka::Errors::joint_motion_generator_position_limits_violation</a></div><div class="ttdeci">const bool &amp; joint_motion_generator_position_limits_violation</div><div class="ttdoc">True if an external joint motion generator would move into a joint limit.</div><div class="ttdef"><b>Definition:</b> errors.h:121</div></div>
+<div class="ttc" id="astructfranka_1_1Errors_html_aa1952c6da2f81578861a19b947c97b85"><div class="ttname"><a href="structfranka_1_1Errors.html#aa1952c6da2f81578861a19b947c97b85">franka::Errors::cartesian_position_motion_generator_invalid_frame</a></div><div class="ttdeci">const bool &amp; cartesian_position_motion_generator_invalid_frame</div><div class="ttdoc">True if the Cartesian pose is not a valid transformation matrix.</div><div class="ttdef"><b>Definition:</b> errors.h:188</div></div>
+<div class="ttc" id="astructfranka_1_1Errors_html_aa6de1956ac056792a1dea6b9ddd52a50"><div class="ttname"><a href="structfranka_1_1Errors.html#aa6de1956ac056792a1dea6b9ddd52a50">franka::Errors::start_elbow_sign_inconsistent</a></div><div class="ttdeci">const bool &amp; start_elbow_sign_inconsistent</div><div class="ttdoc">True if the start elbow sign was inconsistent.</div><div class="ttdef"><b>Definition:</b> errors.h:202</div></div>
+<div class="ttc" id="astructfranka_1_1Errors_html_aa910fad4992b91be1ea1c321ee9b7a1e"><div class="ttname"><a href="structfranka_1_1Errors.html#aa910fad4992b91be1ea1c321ee9b7a1e">franka::Errors::cartesian_position_motion_generator_start_pose_invalid</a></div><div class="ttdeci">const bool &amp; cartesian_position_motion_generator_start_pose_invalid</div><div class="ttdoc">True if an external Cartesian position motion generator was started with a pose too far from the curr...</div><div class="ttdef"><b>Definition:</b> errors.h:140</div></div>
+<div class="ttc" id="astructfranka_1_1Errors_html_abd6da8e6a32d817a7b4848a24efd9379"><div class="ttname"><a href="structfranka_1_1Errors.html#abd6da8e6a32d817a7b4848a24efd9379">franka::Errors::joint_motion_generator_velocity_discontinuity</a></div><div class="ttdeci">const bool &amp; joint_motion_generator_velocity_discontinuity</div><div class="ttdoc">True if commanded velocity in joint motion generators is discontinuous (target values are too far apa...</div><div class="ttdef"><b>Definition:</b> errors.h:130</div></div>
+<div class="ttc" id="astructfranka_1_1Errors_html_ac21ebdc1e0e8fb3099a7dce284550c4c"><div class="ttname"><a href="structfranka_1_1Errors.html#ac21ebdc1e0e8fb3099a7dce284550c4c">franka::Errors::cartesian_motion_generator_elbow_limit_violation</a></div><div class="ttdeci">const bool &amp; cartesian_motion_generator_elbow_limit_violation</div><div class="ttdoc">True if an external Cartesian motion generator would move into an elbow limit.</div><div class="ttdef"><b>Definition:</b> errors.h:144</div></div>
+<div class="ttc" id="astructfranka_1_1Errors_html_ac55d3624087e606cb4ffab121869d580"><div class="ttname"><a href="structfranka_1_1Errors.html#ac55d3624087e606cb4ffab121869d580">franka::Errors::max_goal_pose_deviation_violation</a></div><div class="ttdeci">const bool &amp; max_goal_pose_deviation_violation</div><div class="ttdoc">True if internal motion generator did not reach the goal pose.</div><div class="ttdef"><b>Definition:</b> errors.h:104</div></div>
+<div class="ttc" id="astructfranka_1_1Errors_html_ad90cffe703ca1b782007f3ba49da587c"><div class="ttname"><a href="structfranka_1_1Errors.html#ad90cffe703ca1b782007f3ba49da587c">franka::Errors::max_path_pose_deviation_violation</a></div><div class="ttdeci">const bool &amp; max_path_pose_deviation_violation</div><div class="ttdoc">True if internal motion generator deviated from the path.</div><div class="ttdef"><b>Definition:</b> errors.h:108</div></div>
+<div class="ttc" id="astructfranka_1_1Errors_html_adf68f6333624cb5558864441a991de8c"><div class="ttname"><a href="structfranka_1_1Errors.html#adf68f6333624cb5558864441a991de8c">franka::Errors::self_collision_avoidance_violation</a></div><div class="ttdeci">const bool &amp; self_collision_avoidance_violation</div><div class="ttdoc">True if the robot would have collided with itself.</div><div class="ttdef"><b>Definition:</b> errors.h:78</div></div>
+<div class="ttc" id="astructfranka_1_1Errors_html_adffc6f8b2235e566c4a43ce69a86634e"><div class="ttname"><a href="structfranka_1_1Errors.html#adffc6f8b2235e566c4a43ce69a86634e">franka::Errors::Errors</a></div><div class="ttdeci">Errors(const std::array&lt; bool, 41 &gt; &amp;errors)</div><div class="ttdoc">Creates a new Errors instance from the given array.</div></div>
+<div class="ttc" id="astructfranka_1_1Errors_html_ae211638df9b0e23905c8a9d36e249207"><div class="ttname"><a href="structfranka_1_1Errors.html#ae211638df9b0e23905c8a9d36e249207">franka::Errors::joint_motion_generator_velocity_limits_violation</a></div><div class="ttdeci">const bool &amp; joint_motion_generator_velocity_limits_violation</div><div class="ttdoc">True if an external joint motion generator exceeded velocity limits.</div><div class="ttdef"><b>Definition:</b> errors.h:125</div></div>
+<div class="ttc" id="astructfranka_1_1Errors_html_ae474f20a64b2585dbe6496966dddff0a"><div class="ttname"><a href="structfranka_1_1Errors.html#ae474f20a64b2585dbe6496966dddff0a">franka::Errors::force_controller_desired_force_tolerance_violation</a></div><div class="ttdeci">const bool &amp; force_controller_desired_force_tolerance_violation</div><div class="ttdoc">True if desired force exceeds the safety thresholds.</div><div class="ttdef"><b>Definition:</b> errors.h:192</div></div>
+<div class="ttc" id="astructfranka_1_1Errors_html_ae7b19674da28b11ba970c30c7d800923"><div class="ttname"><a href="structfranka_1_1Errors.html#ae7b19674da28b11ba970c30c7d800923">franka::Errors::force_control_safety_violation</a></div><div class="ttdeci">const bool &amp; force_control_safety_violation</div><div class="ttdoc">True if the robot exceeded safety threshold during force control.</div><div class="ttdef"><b>Definition:</b> errors.h:90</div></div>
+<div class="ttc" id="astructfranka_1_1Errors_html_aebb701987262097687d21b3cf1bc8930"><div class="ttname"><a href="structfranka_1_1Errors.html#aebb701987262097687d21b3cf1bc8930">franka::Errors::instability_detected</a></div><div class="ttdeci">const bool &amp; instability_detected</div><div class="ttdoc">True if an instability is detected.</div><div class="ttdef"><b>Definition:</b> errors.h:224</div></div>
+<div class="ttc" id="astructfranka_1_1Errors_html_aedd6b6af230c01b6f106b5050b29d9ae"><div class="ttname"><a href="structfranka_1_1Errors.html#aedd6b6af230c01b6f106b5050b29d9ae">franka::Errors::Errors</a></div><div class="ttdeci">Errors()</div><div class="ttdoc">Creates an empty Errors instance.</div></div>
+<div class="ttc" id="astructfranka_1_1Errors_html_aef3c74f48978545187ee2dc3a96db1c8"><div class="ttname"><a href="structfranka_1_1Errors.html#aef3c74f48978545187ee2dc3a96db1c8">franka::Errors::joint_via_motion_generator_planning_joint_limit_violation</a></div><div class="ttdeci">const bool &amp; joint_via_motion_generator_planning_joint_limit_violation</div><div class="ttdoc">True if the generated motion violates a joint limit.</div><div class="ttdef"><b>Definition:</b> errors.h:237</div></div>
+<div class="ttc" id="astructfranka_1_1Errors_html_af40d93759ace9ee6026208110692a732"><div class="ttname"><a href="structfranka_1_1Errors.html#af40d93759ace9ee6026208110692a732">franka::Errors::controller_torque_discontinuity</a></div><div class="ttdeci">const bool &amp; controller_torque_discontinuity</div><div class="ttdoc">True if the torque set by the external controller is discontinuous.</div><div class="ttdef"><b>Definition:</b> errors.h:196</div></div>
+<div class="ttc" id="astructfranka_1_1Errors_html_afb0928680c586e73d4e2cd4b42c7fe48"><div class="ttname"><a href="structfranka_1_1Errors.html#afb0928680c586e73d4e2cd4b42c7fe48">franka::Errors::joint_reflex</a></div><div class="ttdeci">const bool &amp; joint_reflex</div><div class="ttdoc">True if a collision was detected, i.e. the robot exceeded a torque threshold in a joint motion.</div><div class="ttdef"><b>Definition:</b> errors.h:95</div></div>
+<div class="ttc" id="astructfranka_1_1Errors_html_afc093fc5f99e1f6cab6de4fa9bc32692"><div class="ttname"><a href="structfranka_1_1Errors.html#afc093fc5f99e1f6cab6de4fa9bc32692">franka::Errors::cartesian_velocity_profile_safety_violation</a></div><div class="ttdeci">const bool &amp; cartesian_velocity_profile_safety_violation</div><div class="ttdoc">True if Cartesian velocity profile for internal motions was exceeded.</div><div class="ttdef"><b>Definition:</b> errors.h:112</div></div>
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diff --git a/0.13.6/examples.html b/0.13.6/examples.html
new file mode 100644
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+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
+  </td>
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+<div class="header">
+  <div class="headertitle">
+<div class="title">Examples</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock">Here is a list of all examples:</div><ul>
+<li><a class="el" href="cartesian_impedance_control_8cpp-example.html">cartesian_impedance_control.cpp</a></li>
+
+<li><a class="el" href="communication_test_8cpp-example.html">communication_test.cpp</a></li>
+
+<li><a class="el" href="echo_robot_state_8cpp-example.html">echo_robot_state.cpp</a></li>
+
+<li><a class="el" href="force_control_8cpp-example.html">force_control.cpp</a></li>
+
+<li><a class="el" href="generate_cartesian_pose_motion_8cpp-example.html">generate_cartesian_pose_motion.cpp</a></li>
+
+<li><a class="el" href="generate_cartesian_pose_motion_external_control_loop_8cpp-example.html">generate_cartesian_pose_motion_external_control_loop.cpp</a></li>
+
+<li><a class="el" href="generate_cartesian_velocity_motion_8cpp-example.html">generate_cartesian_velocity_motion.cpp</a></li>
+
+<li><a class="el" href="generate_cartesian_velocity_motion_external_control_loop_8cpp-example.html">generate_cartesian_velocity_motion_external_control_loop.cpp</a></li>
+
+<li><a class="el" href="generate_consecutive_motions_8cpp-example.html">generate_consecutive_motions.cpp</a></li>
+
+<li><a class="el" href="generate_elbow_motion_8cpp-example.html">generate_elbow_motion.cpp</a></li>
+
+<li><a class="el" href="generate_joint_position_motion_8cpp-example.html">generate_joint_position_motion.cpp</a></li>
+
+<li><a class="el" href="generate_joint_position_motion_external_control_loop_8cpp-example.html">generate_joint_position_motion_external_control_loop.cpp</a></li>
+
+<li><a class="el" href="generate_joint_velocity_motion_8cpp-example.html">generate_joint_velocity_motion.cpp</a></li>
+
+<li><a class="el" href="generate_joint_velocity_motion_external_control_loop_8cpp-example.html">generate_joint_velocity_motion_external_control_loop.cpp</a></li>
+
+<li><a class="el" href="grasp_object_8cpp-example.html">grasp_object.cpp</a></li>
+
+<li><a class="el" href="joint_impedance_control_8cpp-example.html">joint_impedance_control.cpp</a></li>
+
+<li><a class="el" href="joint_point_to_point_motion_8cpp-example.html">joint_point_to_point_motion.cpp</a></li>
+
+<li><a class="el" href="motion_with_control_8cpp-example.html">motion_with_control.cpp</a></li>
+
+<li><a class="el" href="motion_with_control_external_control_loop_8cpp-example.html">motion_with_control_external_control_loop.cpp</a></li>
+
+<li><a class="el" href="print_joint_poses_8cpp-example.html">print_joint_poses.cpp</a></li>
+
+<li><a class="el" href="vacuum_object_8cpp-example.html">vacuum_object.cpp</a></li>
+
+</ul>
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diff --git a/0.13.6/examples__common_8h.html b/0.13.6/examples__common_8h.html
new file mode 100644
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="dir_d28a4824dc47e487b107a5db32ef43c4.html">examples</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#func-members">Functions</a>  </div>
+  <div class="headertitle">
+<div class="title">examples_common.h File Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Contains common types and functions for the examples.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &lt;array&gt;</code><br />
+<code>#include &lt;Eigen/Core&gt;</code><br />
+<code>#include &lt;<a class="el" href="control__types_8h_source.html">franka/control_types.h</a>&gt;</code><br />
+<code>#include &lt;<a class="el" href="duration_8h_source.html">franka/duration.h</a>&gt;</code><br />
+<code>#include &lt;<a class="el" href="robot_8h_source.html">franka/robot.h</a>&gt;</code><br />
+<code>#include &lt;<a class="el" href="robot__state_8h_source.html">franka/robot_state.h</a>&gt;</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for examples_common.h:</div>
+<div class="dyncontent">
+<div class="center"><img src="examples__common_8h__incl.png" border="0" usemap="#aexamples_2examples__common_8h" alt=""/></div>
+<map name="aexamples_2examples__common_8h" id="aexamples_2examples__common_8h">
+<area shape="rect" title="Contains common types and functions for the examples." alt="" coords="505,5,736,32"/>
+<area shape="rect" title=" " alt="" coords="302,319,358,345"/>
+<area shape="rect" title=" " alt="" coords="1281,80,1373,107"/>
+<area shape="rect" href="control__types_8h.html" title="Contains helper types for returning motion generation and joint&#45;level torque commands." alt="" coords="42,162,209,189"/>
+<area shape="rect" href="duration_8h.html" title="Contains the franka::Duration type." alt="" coords="1126,244,1259,271"/>
+<area shape="rect" href="robot_8h.html" title="Contains the franka::Robot type." alt="" coords="645,80,758,107"/>
+<area shape="rect" href="robot__state_8h.html" title="Contains the franka::RobotState types." alt="" coords="426,162,580,189"/>
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+<area shape="rect" title=" " alt="" coords="604,162,663,189"/>
+<area shape="rect" href="lowpass__filter_8h.html" title="Contains functions for filtering signals with a low&#45;pass filter." alt="" coords="234,162,402,189"/>
+<area shape="rect" title=" " alt="" coords="688,155,854,196"/>
+<area shape="rect" title=" " alt="" coords="486,319,562,345"/>
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+</map>
+</div>
+</div>
+<p><a href="examples__common_8h_source.html">Go to the source code of this file.</a></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classMotionGenerator.html">MotionGenerator</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">An example showing how to generate a joint pose motion to a goal position.  <a href="classMotionGenerator.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
+Functions</h2></td></tr>
+<tr class="memitem:ad0c6e1cb044845ee8a01b5aa1e801a45"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="examples__common_8h.html#ad0c6e1cb044845ee8a01b5aa1e801a45">setDefaultBehavior</a> (<a class="el" href="classfranka_1_1Robot.html">franka::Robot</a> &amp;robot)</td></tr>
+<tr class="memdesc:ad0c6e1cb044845ee8a01b5aa1e801a45"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets a default collision behavior, joint impedance and Cartesian impedance.  <a href="examples__common_8h.html#ad0c6e1cb044845ee8a01b5aa1e801a45">More...</a><br /></td></tr>
+<tr class="separator:ad0c6e1cb044845ee8a01b5aa1e801a45"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Contains common types and functions for the examples. </p>
+</div><h2 class="groupheader">Function Documentation</h2>
+<a id="ad0c6e1cb044845ee8a01b5aa1e801a45"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad0c6e1cb044845ee8a01b5aa1e801a45">&#9670;&nbsp;</a></span>setDefaultBehavior()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void setDefaultBehavior </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="classfranka_1_1Robot.html">franka::Robot</a> &amp;&#160;</td>
+          <td class="paramname"><em>robot</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Sets a default collision behavior, joint impedance and Cartesian impedance. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">robot</td><td>Robot instance to set behavior on. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="cartesian_impedance_control_8cpp-example.html#a1">cartesian_impedance_control.cpp</a>, <a class="el" href="communication_test_8cpp-example.html#a1">communication_test.cpp</a>, <a class="el" href="force_control_8cpp-example.html#a1">force_control.cpp</a>, <a class="el" href="generate_cartesian_pose_motion_8cpp-example.html#a1">generate_cartesian_pose_motion.cpp</a>, <a class="el" href="generate_cartesian_pose_motion_external_control_loop_8cpp-example.html#a1">generate_cartesian_pose_motion_external_control_loop.cpp</a>, <a class="el" href="generate_cartesian_velocity_motion_8cpp-example.html#a1">generate_cartesian_velocity_motion.cpp</a>, <a class="el" href="generate_cartesian_velocity_motion_external_control_loop_8cpp-example.html#a1">generate_cartesian_velocity_motion_external_control_loop.cpp</a>, <a class="el" href="generate_consecutive_motions_8cpp-example.html#a1">generate_consecutive_motions.cpp</a>, <a class="el" href="generate_elbow_motion_8cpp-example.html#a1">generate_elbow_motion.cpp</a>, <a class="el" href="generate_joint_position_motion_8cpp-example.html#a1">generate_joint_position_motion.cpp</a>, <a class="el" href="generate_joint_position_motion_external_control_loop_8cpp-example.html#a1">generate_joint_position_motion_external_control_loop.cpp</a>, <a class="el" href="generate_joint_velocity_motion_8cpp-example.html#a1">generate_joint_velocity_motion.cpp</a>, <a class="el" href="generate_joint_velocity_motion_external_control_loop_8cpp-example.html#a1">generate_joint_velocity_motion_external_control_loop.cpp</a>, <a class="el" href="joint_impedance_control_8cpp-example.html#a3">joint_impedance_control.cpp</a>, <a class="el" href="joint_point_to_point_motion_8cpp-example.html#a1">joint_point_to_point_motion.cpp</a>, <a class="el" href="motion_with_control_8cpp-example.html#a6">motion_with_control.cpp</a>, and <a class="el" href="motion_with_control_external_control_loop_8cpp-example.html#a6">motion_with_control_external_control_loop.cpp</a>.</dd>
+</dl>
+
+</div>
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+<div class="title">examples_common.h</div>  </div>
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+<a href="examples__common_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// Copyright (c) 2023 Franka Robotics GmbH</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Use of this source code is governed by the Apache-2.0 license, see LICENSE</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160; </div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;array&gt;</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160; </div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;Eigen/Core&gt;</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160; </div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="control__types_8h.html">franka/control_types.h</a>&gt;</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="duration_8h.html">franka/duration.h</a>&gt;</span></div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="robot_8h.html">franka/robot.h</a>&gt;</span></div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="robot__state_8h.html">franka/robot_state.h</a>&gt;</span></div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160; </div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="keywordtype">void</span> <a class="code" href="examples__common_8h.html#ad0c6e1cb044845ee8a01b5aa1e801a45">setDefaultBehavior</a>(<a class="code" href="classfranka_1_1Robot.html">franka::Robot</a>&amp; robot);</div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160; </div>
+<div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="classMotionGenerator.html">   31</a></span>&#160;<span class="keyword">class </span><a class="code" href="classMotionGenerator.html">MotionGenerator</a> {</div>
+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160; <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  <a class="code" href="classMotionGenerator.html#a23dd564a60401c539fb7f1bf63470894">MotionGenerator</a>(<span class="keywordtype">double</span> speed_factor, <span class="keyword">const</span> std::array&lt;double, 7&gt; q_goal);</div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <a class="code" href="classfranka_1_1JointPositions.html">franka::JointPositions</a> <a class="code" href="classMotionGenerator.html#aefd763e7c31c54b56404f33d2295fda9">operator()</a>(<span class="keyword">const</span> <a class="code" href="structfranka_1_1RobotState.html">franka::RobotState</a>&amp; robot_state, <a class="code" href="classfranka_1_1Duration.html">franka::Duration</a> period);</div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; </div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; <span class="keyword">private</span>:</div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <span class="keyword">using</span> Vector7d = Eigen::Matrix&lt;double, 7, 1, Eigen::ColMajor&gt;;</div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="keyword">using</span> Vector7i = Eigen::Matrix&lt;int, 7, 1, Eigen::ColMajor&gt;;</div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="keywordtype">bool</span> calculateDesiredValues(<span class="keywordtype">double</span> t, Vector7d* delta_q_d) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <span class="keywordtype">void</span> calculateSynchronizedValues();</div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160; </div>
+<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  <span class="keyword">static</span> constexpr <span class="keywordtype">double</span> kDeltaQMotionFinished = 1e-6;</div>
+<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <span class="keyword">const</span> Vector7d q_goal_;</div>
+<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
+<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  Vector7d q_start_;</div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  Vector7d delta_q_;</div>
+<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  Vector7d dq_max_sync_;</div>
+<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  Vector7d t_1_sync_;</div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  Vector7d t_2_sync_;</div>
+<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  Vector7d t_f_sync_;</div>
+<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  Vector7d q_1_;</div>
+<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
+<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  <span class="keywordtype">double</span> time_ = 0.0;</div>
+<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
+<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  Vector7d dq_max_ = (Vector7d() &lt;&lt; 2.0, 2.0, 2.0, 2.0, 2.5, 2.5, 2.5).finished();</div>
+<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  Vector7d ddq_max_start_ = (Vector7d() &lt;&lt; 5, 5, 5, 5, 5, 5, 5).finished();</div>
+<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  Vector7d ddq_max_goal_ = (Vector7d() &lt;&lt; 5, 5, 5, 5, 5, 5, 5).finished();</div>
+<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;};</div>
+<div class="ttc" id="aclassMotionGenerator_html"><div class="ttname"><a href="classMotionGenerator.html">MotionGenerator</a></div><div class="ttdoc">An example showing how to generate a joint pose motion to a goal position.</div><div class="ttdef"><b>Definition:</b> examples_common.h:31</div></div>
+<div class="ttc" id="aclassMotionGenerator_html_a23dd564a60401c539fb7f1bf63470894"><div class="ttname"><a href="classMotionGenerator.html#a23dd564a60401c539fb7f1bf63470894">MotionGenerator::MotionGenerator</a></div><div class="ttdeci">MotionGenerator(double speed_factor, const std::array&lt; double, 7 &gt; q_goal)</div><div class="ttdoc">Creates a new MotionGenerator instance for a target q.</div><div class="ttdef"><b>Definition:</b> examples_common.cpp:22</div></div>
+<div class="ttc" id="aclassMotionGenerator_html_aefd763e7c31c54b56404f33d2295fda9"><div class="ttname"><a href="classMotionGenerator.html#aefd763e7c31c54b56404f33d2295fda9">MotionGenerator::operator()</a></div><div class="ttdeci">franka::JointPositions operator()(const franka::RobotState &amp;robot_state, franka::Duration period)</div><div class="ttdoc">Sends joint position calculations.</div><div class="ttdef"><b>Definition:</b> examples_common.cpp:114</div></div>
+<div class="ttc" id="aclassfranka_1_1Duration_html"><div class="ttname"><a href="classfranka_1_1Duration.html">franka::Duration</a></div><div class="ttdoc">Represents a duration with millisecond resolution.</div><div class="ttdef"><b>Definition:</b> duration.h:19</div></div>
+<div class="ttc" id="aclassfranka_1_1JointPositions_html"><div class="ttname"><a href="classfranka_1_1JointPositions.html">franka::JointPositions</a></div><div class="ttdoc">Stores values for joint position motion generation.</div><div class="ttdef"><b>Definition:</b> control_types.h:72</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html"><div class="ttname"><a href="classfranka_1_1Robot.html">franka::Robot</a></div><div class="ttdoc">Maintains a network connection to the robot, provides the current robot state, gives access to the mo...</div><div class="ttdef"><b>Definition:</b> robot.h:67</div></div>
+<div class="ttc" id="acontrol__types_8h_html"><div class="ttname"><a href="control__types_8h.html">control_types.h</a></div><div class="ttdoc">Contains helper types for returning motion generation and joint-level torque commands.</div></div>
+<div class="ttc" id="aduration_8h_html"><div class="ttname"><a href="duration_8h.html">duration.h</a></div><div class="ttdoc">Contains the franka::Duration type.</div></div>
+<div class="ttc" id="aexamples__common_8h_html_ad0c6e1cb044845ee8a01b5aa1e801a45"><div class="ttname"><a href="examples__common_8h.html#ad0c6e1cb044845ee8a01b5aa1e801a45">setDefaultBehavior</a></div><div class="ttdeci">void setDefaultBehavior(franka::Robot &amp;robot)</div><div class="ttdoc">Sets a default collision behavior, joint impedance and Cartesian impedance.</div><div class="ttdef"><b>Definition:</b> examples_common.cpp:12</div></div>
+<div class="ttc" id="arobot_8h_html"><div class="ttname"><a href="robot_8h.html">robot.h</a></div><div class="ttdoc">Contains the franka::Robot type.</div></div>
+<div class="ttc" id="arobot__state_8h_html"><div class="ttname"><a href="robot__state_8h.html">robot_state.h</a></div><div class="ttdoc">Contains the franka::RobotState types.</div></div>
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+  <ul>
+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_5f30c89189ebb3336d6b33aa932838ba.html">franka</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a>  </div>
+  <div class="headertitle">
+<div class="title">exception.h File Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Contains exception definitions.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &lt;stdexcept&gt;</code><br />
+<code>#include &lt;string&gt;</code><br />
+<code>#include &lt;<a class="el" href="log_8h_source.html">franka/log.h</a>&gt;</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for exception.h:</div>
+<div class="dyncontent">
+<div class="center"><img src="exception_8h__incl.png" border="0" usemap="#ainclude_2franka_2exception_8h" alt=""/></div>
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+</div>
+</div><div class="textblock"><div class="dynheader">
+This graph shows which files directly or indirectly include this file:</div>
+<div class="dyncontent">
+<div class="center"><img src="exception_8h__dep__incl.png" border="0" usemap="#ainclude_2franka_2exception_8hdep" alt=""/></div>
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+<area shape="rect" href="active__control__base_8h.html" title="Abstract interface class as the base of the active controllers." alt="" coords="155,80,313,121"/>
+<area shape="rect" href="active__motion__generator_8h.html" title="Contains the franka::ActiveMotionGenerator type." alt="" coords="5,259,164,300"/>
+<area shape="rect" href="active__torque__control_8h.html" title="Contains the franka::ActiveTorqueControl type." alt="" coords="188,259,347,300"/>
+</map>
+</div>
+</div>
+<p><a href="exception_8h_source.html">Go to the source code of this file.</a></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1Exception.html">franka::Exception</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Base class for all exceptions used by <code>libfranka</code>.  <a href="structfranka_1_1Exception.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1ModelException.html">franka::ModelException</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="structfranka_1_1ModelException.html" title="ModelException is thrown if an error occurs when loading the model library.">ModelException</a> is thrown if an error occurs when loading the model library.  <a href="structfranka_1_1ModelException.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1NetworkException.html">franka::NetworkException</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="structfranka_1_1NetworkException.html" title="NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occu...">NetworkException</a> is thrown if a connection to the robot cannot be established, or when a timeout occurs.  <a href="structfranka_1_1NetworkException.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1ProtocolException.html">franka::ProtocolException</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="structfranka_1_1ProtocolException.html" title="ProtocolException is thrown if the robot returns an incorrect message.">ProtocolException</a> is thrown if the robot returns an incorrect message.  <a href="structfranka_1_1ProtocolException.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1IncompatibleVersionException.html">franka::IncompatibleVersionException</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="structfranka_1_1IncompatibleVersionException.html" title="IncompatibleVersionException is thrown if the robot does not support this version of libfranka.">IncompatibleVersionException</a> is thrown if the robot does not support this version of libfranka.  <a href="structfranka_1_1IncompatibleVersionException.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1ControlException.html">franka::ControlException</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="structfranka_1_1ControlException.html" title="ControlException is thrown if an error occurs during motion generation or torque control.">ControlException</a> is thrown if an error occurs during motion generation or torque control.  <a href="structfranka_1_1ControlException.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1CommandException.html">franka::CommandException</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="structfranka_1_1CommandException.html" title="CommandException is thrown if an error occurs during command execution.">CommandException</a> is thrown if an error occurs during command execution.  <a href="structfranka_1_1CommandException.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1RealtimeException.html">franka::RealtimeException</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="structfranka_1_1RealtimeException.html" title="RealtimeException is thrown if realtime priority cannot be set.">RealtimeException</a> is thrown if realtime priority cannot be set.  <a href="structfranka_1_1RealtimeException.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1InvalidOperationException.html">franka::InvalidOperationException</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="structfranka_1_1InvalidOperationException.html" title="InvalidOperationException is thrown if an operation cannot be performed.">InvalidOperationException</a> is thrown if an operation cannot be performed.  <a href="structfranka_1_1InvalidOperationException.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Contains exception definitions. </p>
+</div></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+<div class="title">exception.h</div>  </div>
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+<a href="exception_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// Copyright (c) 2023 Franka Robotics GmbH</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Use of this source code is governed by the Apache-2.0 license, see LICENSE</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#pragma once</span></div>
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+<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
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+<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
+<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;}  <span class="comment">// namespace franka</span></div>
+<div class="ttc" id="alog_8h_html"><div class="ttname"><a href="log_8h.html">log.h</a></div><div class="ttdoc">Contains helper types for logging sent commands and received robot states.</div></div>
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+<div class="ttc" id="astructfranka_1_1ControlException_html"><div class="ttname"><a href="structfranka_1_1ControlException.html">franka::ControlException</a></div><div class="ttdoc">ControlException is thrown if an error occurs during motion generation or torque control.</div><div class="ttdef"><b>Definition:</b> exception.h:73</div></div>
+<div class="ttc" id="astructfranka_1_1ControlException_html_a2efb9628eef80a3819031dbf2e2cb518"><div class="ttname"><a href="structfranka_1_1ControlException.html#a2efb9628eef80a3819031dbf2e2cb518">franka::ControlException::ControlException</a></div><div class="ttdeci">ControlException(const std::string &amp;what, std::vector&lt; franka::Record &gt; log={}) noexcept</div><div class="ttdoc">Creates the exception with an explanatory string and a Log object.</div></div>
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+<div class="ttc" id="astructfranka_1_1Exception_html"><div class="ttname"><a href="structfranka_1_1Exception.html">franka::Exception</a></div><div class="ttdoc">Base class for all exceptions used by libfranka.</div><div class="ttdef"><b>Definition:</b> exception.h:20</div></div>
+<div class="ttc" id="astructfranka_1_1IncompatibleVersionException_html"><div class="ttname"><a href="structfranka_1_1IncompatibleVersionException.html">franka::IncompatibleVersionException</a></div><div class="ttdoc">IncompatibleVersionException is thrown if the robot does not support this version of libfranka.</div><div class="ttdef"><b>Definition:</b> exception.h:49</div></div>
+<div class="ttc" id="astructfranka_1_1IncompatibleVersionException_html_a0928098d8c32f405d17b65a0f004b5ab"><div class="ttname"><a href="structfranka_1_1IncompatibleVersionException.html#a0928098d8c32f405d17b65a0f004b5ab">franka::IncompatibleVersionException::server_version</a></div><div class="ttdeci">const uint16_t server_version</div><div class="ttdoc">Control's protocol version.</div><div class="ttdef"><b>Definition:</b> exception.h:60</div></div>
+<div class="ttc" id="astructfranka_1_1IncompatibleVersionException_html_a518f40d994ed7e970c6f7fdafb673239"><div class="ttname"><a href="structfranka_1_1IncompatibleVersionException.html#a518f40d994ed7e970c6f7fdafb673239">franka::IncompatibleVersionException::IncompatibleVersionException</a></div><div class="ttdeci">IncompatibleVersionException(uint16_t server_version, uint16_t library_version) noexcept</div><div class="ttdoc">Creates the exception using the two different protocol versions.</div></div>
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+<div class="ttc" id="astructfranka_1_1InvalidOperationException_html"><div class="ttname"><a href="structfranka_1_1InvalidOperationException.html">franka::InvalidOperationException</a></div><div class="ttdoc">InvalidOperationException is thrown if an operation cannot be performed.</div><div class="ttdef"><b>Definition:</b> exception.h:105</div></div>
+<div class="ttc" id="astructfranka_1_1ModelException_html"><div class="ttname"><a href="structfranka_1_1ModelException.html">franka::ModelException</a></div><div class="ttdoc">ModelException is thrown if an error occurs when loading the model library.</div><div class="ttdef"><b>Definition:</b> exception.h:27</div></div>
+<div class="ttc" id="astructfranka_1_1NetworkException_html"><div class="ttname"><a href="structfranka_1_1NetworkException.html">franka::NetworkException</a></div><div class="ttdoc">NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occu...</div><div class="ttdef"><b>Definition:</b> exception.h:35</div></div>
+<div class="ttc" id="astructfranka_1_1ProtocolException_html"><div class="ttname"><a href="structfranka_1_1ProtocolException.html">franka::ProtocolException</a></div><div class="ttdoc">ProtocolException is thrown if the robot returns an incorrect message.</div><div class="ttdef"><b>Definition:</b> exception.h:42</div></div>
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+<tr id="row_0_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_0_" class="arrow" onclick="toggleFolder('0_')">&#9660;</span><span id="img_0_" class="iconfopen" onclick="toggleFolder('0_')">&#160;</span><a class="el" href="dir_d28a4824dc47e487b107a5db32ef43c4.html" target="_self">examples</a></td><td class="desc"></td></tr>
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+<tr id="row_1_0_1_"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><a href="active__control__base_8h_source.html"><span class="icondoc"></span></a><a class="el" href="active__control__base_8h.html" target="_self">active_control_base.h</a></td><td class="desc">Abstract interface class as the base of the active controllers </td></tr>
+<tr id="row_1_0_2_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><a href="active__motion__generator_8h_source.html"><span class="icondoc"></span></a><a class="el" href="active__motion__generator_8h.html" target="_self">active_motion_generator.h</a></td><td class="desc">Contains the <code><a class="el" href="classfranka_1_1ActiveMotionGenerator.html" title="Allows the user to read the state of a Robot and to send new motion generator commands after starting...">franka::ActiveMotionGenerator</a></code> type </td></tr>
+<tr id="row_1_0_3_"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><a href="active__torque__control_8h_source.html"><span class="icondoc"></span></a><a class="el" href="active__torque__control_8h.html" target="_self">active_torque_control.h</a></td><td class="desc">Contains the <code><a class="el" href="classfranka_1_1ActiveTorqueControl.html" title="Allows the user to read the state of a Robot and to send new torque control commands after starting a...">franka::ActiveTorqueControl</a></code> type </td></tr>
+<tr id="row_1_0_4_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><a href="control__tools_8h_source.html"><span class="icondoc"></span></a><a class="el" href="control__tools_8h.html" target="_self">control_tools.h</a></td><td class="desc">Contains helper functions for writing control loops </td></tr>
+<tr id="row_1_0_5_"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><a href="control__types_8h_source.html"><span class="icondoc"></span></a><a class="el" href="control__types_8h.html" target="_self">control_types.h</a></td><td class="desc">Contains helper types for returning motion generation and joint-level torque commands </td></tr>
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+<tr id="row_1_0_10_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><a href="gripper__state_8h_source.html"><span class="icondoc"></span></a><a class="el" href="gripper__state_8h.html" target="_self">gripper_state.h</a></td><td class="desc">Contains the <a class="el" href="structfranka_1_1GripperState.html" title="Describes the gripper state.">franka::GripperState</a> type </td></tr>
+<tr id="row_1_0_11_"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><a href="log_8h_source.html"><span class="icondoc"></span></a><a class="el" href="log_8h.html" target="_self">log.h</a></td><td class="desc">Contains helper types for logging sent commands and received robot states </td></tr>
+<tr id="row_1_0_12_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><a href="lowpass__filter_8h_source.html"><span class="icondoc"></span></a><a class="el" href="lowpass__filter_8h.html" target="_self">lowpass_filter.h</a></td><td class="desc">Contains functions for filtering signals with a low-pass filter </td></tr>
+<tr id="row_1_0_13_"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><a href="model_8h_source.html"><span class="icondoc"></span></a><a class="el" href="model_8h.html" target="_self">model.h</a></td><td class="desc">Contains model library types </td></tr>
+<tr id="row_1_0_14_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><a href="rate__limiting_8h_source.html"><span class="icondoc"></span></a><a class="el" href="rate__limiting_8h.html" target="_self">rate_limiting.h</a></td><td class="desc">Contains functions for limiting the rate of torques, Cartesian pose, Cartesian velocity, joint position and joint velocity </td></tr>
+<tr id="row_1_0_15_"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><a href="robot_8h_source.html"><span class="icondoc"></span></a><a class="el" href="robot_8h.html" target="_self">robot.h</a></td><td class="desc">Contains the <a class="el" href="classfranka_1_1Robot.html" title="Maintains a network connection to the robot, provides the current robot state, gives access to the mo...">franka::Robot</a> type </td></tr>
+<tr id="row_1_0_16_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><a href="robot__state_8h_source.html"><span class="icondoc"></span></a><a class="el" href="robot__state_8h.html" target="_self">robot_state.h</a></td><td class="desc">Contains the <a class="el" href="structfranka_1_1RobotState.html" title="Describes the robot state.">franka::RobotState</a> types </td></tr>
+<tr id="row_1_0_17_"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><a href="vacuum__gripper_8h_source.html"><span class="icondoc"></span></a><a class="el" href="vacuum__gripper_8h.html" target="_self">vacuum_gripper.h</a></td><td class="desc">Contains the <a class="el" href="classfranka_1_1VacuumGripper.html" title="Maintains a network connection to the vacuum gripper, provides the current vacuum gripper state,...">franka::VacuumGripper</a> type </td></tr>
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+   &#160;<span id="projectnumber">0.13.6</span>
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+  <div class="headertitle">
+<div class="title">force_control.cpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<p>A simple PI force controller that renders in the Z axis the gravitational force corresponding to a target mass of 1 kg.</p><dl class="section warning"><dt>Warning</dt><dd>: make sure that no endeffector is mounted and that the robot's last joint is in contact with a horizontal rigid surface before starting.</dd></dl>
+<div class="fragment"><div class="line"><span class="comment">// Copyright (c) 2023 Franka Robotics GmbH</span></div>
+<div class="line"><span class="comment">// Use of this source code is governed by the Apache-2.0 license, see LICENSE</span></div>
+<div class="line"><span class="preprocessor">#include &lt;array&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;iostream&gt;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="preprocessor">#include &lt;Eigen/Core&gt;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="duration_8h.html">franka/duration.h</a>&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="exception_8h.html">franka/exception.h</a>&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="model_8h.html">franka/model.h</a>&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="robot_8h.html">franka/robot.h</a>&gt;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="preprocessor">#include &quot;<a class="code" href="examples__common_8h.html">examples_common.h</a>&quot;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="keywordtype">int</span> main(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span>** argv) {</div>
+<div class="line">  <span class="comment">// Check whether the required arguments were passed</span></div>
+<div class="line">  <span class="keywordflow">if</span> (argc != 2) {</div>
+<div class="line">    std::cerr &lt;&lt; <span class="stringliteral">&quot;Usage: &quot;</span> &lt;&lt; argv[0] &lt;&lt; <span class="stringliteral">&quot; &lt;robot-hostname&gt;&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">    <span class="keywordflow">return</span> -1;</div>
+<div class="line">  }</div>
+<div class="line">  <span class="comment">// parameters</span></div>
+<div class="line">  <span class="keywordtype">double</span> desired_mass{0.0};</div>
+<div class="line">  constexpr <span class="keywordtype">double</span> target_mass{1.0};    <span class="comment">// NOLINT(readability-identifier-naming)</span></div>
+<div class="line">  constexpr <span class="keywordtype">double</span> k_p{1.0};            <span class="comment">// NOLINT(readability-identifier-naming)</span></div>
+<div class="line">  constexpr <span class="keywordtype">double</span> k_i{2.0};            <span class="comment">// NOLINT(readability-identifier-naming)</span></div>
+<div class="line">  constexpr <span class="keywordtype">double</span> filter_gain{0.001};  <span class="comment">// NOLINT(readability-identifier-naming)</span></div>
+<div class="line"> </div>
+<div class="line">  <span class="keywordflow">try</span> {</div>
+<div class="line">    <span class="comment">// connect to robot</span></div>
+<div class="line">    <a name="_a0"></a><a class="code" href="classfranka_1_1Robot.html">franka::Robot</a> robot(argv[1]);</div>
+<div class="line">    <a name="a1"></a><a class="code" href="examples__common_8h.html#ad0c6e1cb044845ee8a01b5aa1e801a45">setDefaultBehavior</a>(robot);</div>
+<div class="line">    <span class="comment">// load the kinematics and dynamics model</span></div>
+<div class="line">    <a name="_a2"></a><a class="code" href="classfranka_1_1Model.html">franka::Model</a> model = robot.<a name="a3"></a><a class="code" href="classfranka_1_1Robot.html#a2da598c539469827409ac7e3bb61d5da">loadModel</a>();</div>
+<div class="line"> </div>
+<div class="line">    <span class="comment">// set collision behavior</span></div>
+<div class="line">    robot.<a name="a4"></a><a class="code" href="classfranka_1_1Robot.html#a168e1214ac36d74ac64f894332b84534">setCollisionBehavior</a>({{100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0}},</div>
+<div class="line">                               {{100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0}},</div>
+<div class="line">                               {{100.0, 100.0, 100.0, 100.0, 100.0, 100.0}},</div>
+<div class="line">                               {{100.0, 100.0, 100.0, 100.0, 100.0, 100.0}});</div>
+<div class="line"> </div>
+<div class="line">    <a name="_a5"></a><a class="code" href="structfranka_1_1RobotState.html">franka::RobotState</a> initial_state = robot.<a name="a6"></a><a class="code" href="classfranka_1_1Robot.html#ae3c3d7c5c4491a1e96a0a543931e899a">readOnce</a>();</div>
+<div class="line"> </div>
+<div class="line">    Eigen::VectorXd initial_tau_ext(7), tau_error_integral(7);</div>
+<div class="line">    <span class="comment">// Bias torque sensor</span></div>
+<div class="line">    std::array&lt;double, 7&gt; gravity_array = model.<a name="a7"></a><a class="code" href="classfranka_1_1Model.html#a9b28a648cf413297d80f383e62363ab9">gravity</a>(initial_state);</div>
+<div class="line">    Eigen::Map&lt;Eigen::Matrix&lt;double, 7, 1&gt;&gt; initial_tau_measured(initial_state.<a name="a8"></a><a class="code" href="structfranka_1_1RobotState.html#ad90e2518d661da0d8fa4c864bae210e5">tau_J</a>.data());</div>
+<div class="line">    Eigen::Map&lt;Eigen::Matrix&lt;double, 7, 1&gt;&gt; initial_gravity(gravity_array.data());</div>
+<div class="line">    initial_tau_ext = initial_tau_measured - initial_gravity;</div>
+<div class="line"> </div>
+<div class="line">    <span class="comment">// init integrator</span></div>
+<div class="line">    tau_error_integral.setZero();</div>
+<div class="line"> </div>
+<div class="line">    <span class="comment">// define callback for the torque control loop</span></div>
+<div class="line">    Eigen::Vector3d initial_position;</div>
+<div class="line">    <span class="keywordtype">double</span> time = 0.0;</div>
+<div class="line">    <span class="keyword">auto</span> get_position = [](<span class="keyword">const</span> <a class="code" href="structfranka_1_1RobotState.html">franka::RobotState</a>&amp; robot_state) {</div>
+<div class="line">      <span class="keywordflow">return</span> Eigen::Vector3d(robot_state.O_T_EE[12], robot_state.O_T_EE[13],</div>
+<div class="line">                             robot_state.O_T_EE[14]);</div>
+<div class="line">    };</div>
+<div class="line">    <span class="keyword">auto</span> force_control_callback = [&amp;](<span class="keyword">const</span> <a class="code" href="structfranka_1_1RobotState.html">franka::RobotState</a>&amp; robot_state,</div>
+<div class="line">                                      <a name="_a9"></a><a class="code" href="classfranka_1_1Duration.html">franka::Duration</a> period) -&gt; <a name="_a10"></a><a class="code" href="classfranka_1_1Torques.html">franka::Torques</a> {</div>
+<div class="line">      time += period.toSec();</div>
+<div class="line"> </div>
+<div class="line">      <span class="keywordflow">if</span> (time == 0.0) {</div>
+<div class="line">        initial_position = get_position(robot_state);</div>
+<div class="line">      }</div>
+<div class="line"> </div>
+<div class="line">      <span class="keywordflow">if</span> (time &gt; 0 &amp;&amp; (get_position(robot_state) - initial_position).norm() &gt; 0.01) {</div>
+<div class="line">        <span class="keywordflow">throw</span> std::runtime_error(<span class="stringliteral">&quot;Aborting; too far away from starting pose!&quot;</span>);</div>
+<div class="line">      }</div>
+<div class="line"> </div>
+<div class="line">      <span class="comment">// get state variables</span></div>
+<div class="line">      std::array&lt;double, 42&gt; jacobian_array =</div>
+<div class="line">          model.<a name="a11"></a><a class="code" href="classfranka_1_1Model.html#a6fb6347b571a6759bad10b3a9e28a28f">zeroJacobian</a>(franka::Frame::kEndEffector, robot_state);</div>
+<div class="line"> </div>
+<div class="line">      Eigen::Map&lt;const Eigen::Matrix&lt;double, 6, 7&gt;&gt; jacobian(jacobian_array.data());</div>
+<div class="line">      Eigen::Map&lt;const Eigen::Matrix&lt;double, 7, 1&gt;&gt; tau_measured(robot_state.<a class="code" href="structfranka_1_1RobotState.html#ad90e2518d661da0d8fa4c864bae210e5">tau_J</a>.data());</div>
+<div class="line">      Eigen::Map&lt;const Eigen::Matrix&lt;double, 7, 1&gt;&gt; gravity(gravity_array.data());</div>
+<div class="line"> </div>
+<div class="line">      Eigen::VectorXd tau_d(7), desired_force_torque(6), tau_cmd(7), tau_ext(7);</div>
+<div class="line">      desired_force_torque.setZero();</div>
+<div class="line">      desired_force_torque(2) = desired_mass * -9.81;</div>
+<div class="line">      tau_ext &lt;&lt; tau_measured - gravity - initial_tau_ext;</div>
+<div class="line">      tau_d &lt;&lt; jacobian.transpose() * desired_force_torque;</div>
+<div class="line">      tau_error_integral += period.toSec() * (tau_d - tau_ext);</div>
+<div class="line">      <span class="comment">// FF + PI control</span></div>
+<div class="line">      tau_cmd &lt;&lt; tau_d + k_p * (tau_d - tau_ext) + k_i * tau_error_integral;</div>
+<div class="line"> </div>
+<div class="line">      <span class="comment">// Smoothly update the mass to reach the desired target value</span></div>
+<div class="line">      desired_mass = filter_gain * target_mass + (1 - filter_gain) * desired_mass;</div>
+<div class="line"> </div>
+<div class="line">      std::array&lt;double, 7&gt; tau_d_array{};</div>
+<div class="line">      Eigen::VectorXd::Map(&amp;tau_d_array[0], 7) = tau_cmd;</div>
+<div class="line">      <span class="keywordflow">return</span> tau_d_array;</div>
+<div class="line">    };</div>
+<div class="line">    std::cout &lt;&lt; <span class="stringliteral">&quot;WARNING: Make sure sure that no endeffector is mounted and that the robot&#39;s last &quot;</span></div>
+<div class="line">                 <span class="stringliteral">&quot;joint is &quot;</span></div>
+<div class="line">                 <span class="stringliteral">&quot;in contact with a horizontal rigid surface before starting. Keep in mind that &quot;</span></div>
+<div class="line">                 <span class="stringliteral">&quot;collision thresholds are set to high values.&quot;</span></div>
+<div class="line">              &lt;&lt; std::endl</div>
+<div class="line">              &lt;&lt; <span class="stringliteral">&quot;Press Enter to continue...&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">    std::cin.ignore();</div>
+<div class="line">    <span class="comment">// start real-time control loop</span></div>
+<div class="line">    robot.<a name="a12"></a><a class="code" href="classfranka_1_1Robot.html#a0d5effba5daff2fee123802bbd5f95d1">control</a>(force_control_callback);</div>
+<div class="line"> </div>
+<div class="line">  } <span class="keywordflow">catch</span> (<span class="keyword">const</span> std::exception&amp; ex) {</div>
+<div class="line">    <span class="comment">// print exception</span></div>
+<div class="line">    std::cout &lt;&lt; ex.what() &lt;&lt; std::endl;</div>
+<div class="line">  }</div>
+<div class="line">  <span class="keywordflow">return</span> 0;</div>
+<div class="line">}</div>
+<div class="ttc" id="aclassfranka_1_1Duration_html"><div class="ttname"><a href="classfranka_1_1Duration.html">franka::Duration</a></div><div class="ttdoc">Represents a duration with millisecond resolution.</div><div class="ttdef"><b>Definition:</b> duration.h:19</div></div>
+<div class="ttc" id="aclassfranka_1_1Model_html"><div class="ttname"><a href="classfranka_1_1Model.html">franka::Model</a></div><div class="ttdoc">Calculates poses of joints and dynamic properties of the robot.</div><div class="ttdef"><b>Definition:</b> model.h:51</div></div>
+<div class="ttc" id="aclassfranka_1_1Model_html_a6fb6347b571a6759bad10b3a9e28a28f"><div class="ttname"><a href="classfranka_1_1Model.html#a6fb6347b571a6759bad10b3a9e28a28f">franka::Model::zeroJacobian</a></div><div class="ttdeci">std::array&lt; double, 42 &gt; zeroJacobian(Frame frame, const franka::RobotState &amp;robot_state) const</div><div class="ttdoc">Gets the 6x7 Jacobian for the given joint relative to the base frame.</div></div>
+<div class="ttc" id="aclassfranka_1_1Model_html_a9b28a648cf413297d80f383e62363ab9"><div class="ttname"><a href="classfranka_1_1Model.html#a9b28a648cf413297d80f383e62363ab9">franka::Model::gravity</a></div><div class="ttdeci">std::array&lt; double, 7 &gt; gravity(const std::array&lt; double, 7 &gt; &amp;q, double m_total, const std::array&lt; double, 3 &gt; &amp;F_x_Ctotal, const std::array&lt; double, 3 &gt; &amp;gravity_earth={{0., 0., -9.81}}) const noexcept</div><div class="ttdoc">Calculates the gravity vector.</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html"><div class="ttname"><a href="classfranka_1_1Robot.html">franka::Robot</a></div><div class="ttdoc">Maintains a network connection to the robot, provides the current robot state, gives access to the mo...</div><div class="ttdef"><b>Definition:</b> robot.h:67</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_a0d5effba5daff2fee123802bbd5f95d1"><div class="ttname"><a href="classfranka_1_1Robot.html#a0d5effba5daff2fee123802bbd5f95d1">franka::Robot::control</a></div><div class="ttdeci">void control(std::function&lt; Torques(const RobotState &amp;, franka::Duration)&gt; control_callback, bool limit_rate=false, double cutoff_frequency=kDefaultCutoffFrequency)</div><div class="ttdoc">Starts a control loop for sending joint-level torque commands.</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_a168e1214ac36d74ac64f894332b84534"><div class="ttname"><a href="classfranka_1_1Robot.html#a168e1214ac36d74ac64f894332b84534">franka::Robot::setCollisionBehavior</a></div><div class="ttdeci">void setCollisionBehavior(const std::array&lt; double, 7 &gt; &amp;lower_torque_thresholds_acceleration, const std::array&lt; double, 7 &gt; &amp;upper_torque_thresholds_acceleration, const std::array&lt; double, 7 &gt; &amp;lower_torque_thresholds_nominal, const std::array&lt; double, 7 &gt; &amp;upper_torque_thresholds_nominal, const std::array&lt; double, 6 &gt; &amp;lower_force_thresholds_acceleration, const std::array&lt; double, 6 &gt; &amp;upper_force_thresholds_acceleration, const std::array&lt; double, 6 &gt; &amp;lower_force_thresholds_nominal, const std::array&lt; double, 6 &gt; &amp;upper_force_thresholds_nominal)</div><div class="ttdoc">Changes the collision behavior.</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_a2da598c539469827409ac7e3bb61d5da"><div class="ttname"><a href="classfranka_1_1Robot.html#a2da598c539469827409ac7e3bb61d5da">franka::Robot::loadModel</a></div><div class="ttdeci">Model loadModel()</div><div class="ttdoc">Loads the model library from the robot.</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_ae3c3d7c5c4491a1e96a0a543931e899a"><div class="ttname"><a href="classfranka_1_1Robot.html#ae3c3d7c5c4491a1e96a0a543931e899a">franka::Robot::readOnce</a></div><div class="ttdeci">virtual RobotState readOnce()</div><div class="ttdoc">Waits for a robot state update and returns it.</div></div>
+<div class="ttc" id="aclassfranka_1_1Torques_html"><div class="ttname"><a href="classfranka_1_1Torques.html">franka::Torques</a></div><div class="ttdoc">Stores joint-level torque commands without gravity and friction.</div><div class="ttdef"><b>Definition:</b> control_types.h:45</div></div>
+<div class="ttc" id="aduration_8h_html"><div class="ttname"><a href="duration_8h.html">duration.h</a></div><div class="ttdoc">Contains the franka::Duration type.</div></div>
+<div class="ttc" id="aexamples__common_8h_html"><div class="ttname"><a href="examples__common_8h.html">examples_common.h</a></div><div class="ttdoc">Contains common types and functions for the examples.</div></div>
+<div class="ttc" id="aexamples__common_8h_html_ad0c6e1cb044845ee8a01b5aa1e801a45"><div class="ttname"><a href="examples__common_8h.html#ad0c6e1cb044845ee8a01b5aa1e801a45">setDefaultBehavior</a></div><div class="ttdeci">void setDefaultBehavior(franka::Robot &amp;robot)</div><div class="ttdoc">Sets a default collision behavior, joint impedance and Cartesian impedance.</div><div class="ttdef"><b>Definition:</b> examples_common.cpp:12</div></div>
+<div class="ttc" id="aexception_8h_html"><div class="ttname"><a href="exception_8h.html">exception.h</a></div><div class="ttdoc">Contains exception definitions.</div></div>
+<div class="ttc" id="amodel_8h_html"><div class="ttname"><a href="model_8h.html">model.h</a></div><div class="ttdoc">Contains model library types.</div></div>
+<div class="ttc" id="arobot_8h_html"><div class="ttname"><a href="robot_8h.html">robot.h</a></div><div class="ttdoc">Contains the franka::Robot type.</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html"><div class="ttname"><a href="structfranka_1_1RobotState.html">franka::RobotState</a></div><div class="ttdoc">Describes the robot state.</div><div class="ttdef"><b>Definition:</b> robot_state.h:34</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_ad90e2518d661da0d8fa4c864bae210e5"><div class="ttname"><a href="structfranka_1_1RobotState.html#ad90e2518d661da0d8fa4c864bae210e5">franka::RobotState::tau_J</a></div><div class="ttdeci">std::array&lt; double, 7 &gt; tau_J</div><div class="ttdoc">Measured link-side joint torque sensor signals.</div><div class="ttdef"><b>Definition:</b> robot_state.h:215</div></div>
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diff --git a/0.13.6/functions.html b/0.13.6/functions.html
new file mode 100644
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+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
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+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_a"></a>- a -</h3><ul>
+<li>ActiveControl()
+: <a class="el" href="classfranka_1_1ActiveControl.html#a4aa09537fddbec6cf1eed05fdc147b30">franka::ActiveControl</a>
+</li>
+<li>actual_power
+: <a class="el" href="structfranka_1_1VacuumGripperState.html#a4230c68698cdbf6c1c560e181133bdc3">franka::VacuumGripperState</a>
+</li>
+<li>automaticErrorRecovery()
+: <a class="el" href="classfranka_1_1Robot.html#af682aa673415718715bd859116bc2fed">franka::Robot</a>
+</li>
+</ul>
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
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+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_b"></a>- b -</h3><ul>
+<li>base_acceleration_initialization_timeout
+: <a class="el" href="structfranka_1_1Errors.html#a4dc331a7ae3242ea43e6fbf7e21c695a">franka::Errors</a>
+</li>
+<li>base_acceleration_invalid_reading
+: <a class="el" href="structfranka_1_1Errors.html#a8467b7b8a3a68c3e0be7adc39933cb0e">franka::Errors</a>
+</li>
+<li>bodyJacobian()
+: <a class="el" href="classfranka_1_1Model.html#a914a197a900a275799cf8d7461bb9d8a">franka::Model</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/0.13.6/functions_c.html b/0.13.6/functions_c.html
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>libfranka: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<script type="text/x-mathjax-config">
+  MathJax.Hub.Config({
+    extensions: ["tex2jax.js"],
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+</script>
+<script type="text/javascript" async="async" src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.1/MathJax.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
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+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_c"></a>- c -</h3><ul>
+<li>cartesian_collision
+: <a class="el" href="structfranka_1_1RobotState.html#a52c20478f4c1e162df38582ea9bda044">franka::RobotState</a>
+</li>
+<li>cartesian_contact
+: <a class="el" href="structfranka_1_1RobotState.html#a7fc1f0358d2104d39d301d70544fa6c1">franka::RobotState</a>
+</li>
+<li>cartesian_motion_generator_acceleration_discontinuity
+: <a class="el" href="structfranka_1_1Errors.html#a10c6ac36bf48b4a9edf91e74d9bc4837">franka::Errors</a>
+</li>
+<li>cartesian_motion_generator_elbow_limit_violation
+: <a class="el" href="structfranka_1_1Errors.html#ac21ebdc1e0e8fb3099a7dce284550c4c">franka::Errors</a>
+</li>
+<li>cartesian_motion_generator_elbow_sign_inconsistent
+: <a class="el" href="structfranka_1_1Errors.html#a58b0e1199c9dded5a32bfeb110e63037">franka::Errors</a>
+</li>
+<li>cartesian_motion_generator_joint_acceleration_discontinuity
+: <a class="el" href="structfranka_1_1Errors.html#a2e223ef3c771709a6a3f094adf12f9cb">franka::Errors</a>
+</li>
+<li>cartesian_motion_generator_joint_position_limits_violation
+: <a class="el" href="structfranka_1_1Errors.html#a73aef7473fd6d1d5b207e68fa35948c5">franka::Errors</a>
+</li>
+<li>cartesian_motion_generator_joint_velocity_discontinuity
+: <a class="el" href="structfranka_1_1Errors.html#a1c8c56766fefc19fda5d5de909ca5b37">franka::Errors</a>
+</li>
+<li>cartesian_motion_generator_joint_velocity_limits_violation
+: <a class="el" href="structfranka_1_1Errors.html#a435d16d62a123bfbf578bc76e3780605">franka::Errors</a>
+</li>
+<li>cartesian_motion_generator_start_elbow_invalid
+: <a class="el" href="structfranka_1_1Errors.html#a6d905b803bbe8a7be8490f2a94ba524a">franka::Errors</a>
+</li>
+<li>cartesian_motion_generator_velocity_discontinuity
+: <a class="el" href="structfranka_1_1Errors.html#a17e4a9b6b7dc4cc12c1328d36cac3eaf">franka::Errors</a>
+</li>
+<li>cartesian_motion_generator_velocity_limits_violation
+: <a class="el" href="structfranka_1_1Errors.html#a91437c081452ef708563346b102ba894">franka::Errors</a>
+</li>
+<li>cartesian_pose
+: <a class="el" href="structfranka_1_1RobotCommand.html#acce2090d696ebb9759fd0f37fd35a298">franka::RobotCommand</a>
+</li>
+<li>cartesian_position_limits_violation
+: <a class="el" href="structfranka_1_1Errors.html#a41c8b50ecbb015a2dba1a3dbbff694b6">franka::Errors</a>
+</li>
+<li>cartesian_position_motion_generator_invalid_frame
+: <a class="el" href="structfranka_1_1Errors.html#aa1952c6da2f81578861a19b947c97b85">franka::Errors</a>
+</li>
+<li>cartesian_position_motion_generator_start_pose_invalid
+: <a class="el" href="structfranka_1_1Errors.html#aa910fad4992b91be1ea1c321ee9b7a1e">franka::Errors</a>
+</li>
+<li>cartesian_reflex
+: <a class="el" href="structfranka_1_1Errors.html#a47bd58b0ab2198e4d038e0a24eafb310">franka::Errors</a>
+</li>
+<li>cartesian_spline_motion_generator_violation
+: <a class="el" href="structfranka_1_1Errors.html#a5617689cd7e875baebcecf054513f0c4">franka::Errors</a>
+</li>
+<li>cartesian_velocities
+: <a class="el" href="structfranka_1_1RobotCommand.html#a04b4841130fab920936190be1bc5dba3">franka::RobotCommand</a>
+</li>
+<li>cartesian_velocity_profile_safety_violation
+: <a class="el" href="structfranka_1_1Errors.html#afc093fc5f99e1f6cab6de4fa9bc32692">franka::Errors</a>
+</li>
+<li>cartesian_velocity_violation
+: <a class="el" href="structfranka_1_1Errors.html#a382fbec6b463ddcc2cbfd90340021ff1">franka::Errors</a>
+</li>
+<li>CartesianPose()
+: <a class="el" href="classfranka_1_1CartesianPose.html#ab7fb1dfd7cdb89c0caebab95c669ba49">franka::CartesianPose</a>
+</li>
+<li>CartesianVelocities()
+: <a class="el" href="classfranka_1_1CartesianVelocities.html#a713380954e1f10c1be3033b95ca00657">franka::CartesianVelocities</a>
+</li>
+<li>command
+: <a class="el" href="structfranka_1_1Record.html#a8106f2ba9c2cf5ec7cbcf914c4c99e9c">franka::Record</a>
+</li>
+<li>communication_constraints_violation
+: <a class="el" href="structfranka_1_1Errors.html#a4d17af86c1ebb698c218796fa15f9bd7">franka::Errors</a>
+</li>
+<li>control()
+: <a class="el" href="classfranka_1_1Robot.html#aeb276d0a0e55f032841976de7db86f5a">franka::Robot</a>
+</li>
+<li>control_command_success_rate
+: <a class="el" href="structfranka_1_1RobotState.html#af208572613a6afcdc61a24970c71fa28">franka::RobotState</a>
+</li>
+<li>control_finished
+: <a class="el" href="classfranka_1_1ActiveControl.html#afa521707548926e9d1e38e4b83496db2">franka::ActiveControl</a>
+</li>
+<li>control_lock
+: <a class="el" href="classfranka_1_1ActiveControl.html#aed53605877b237435581e36f4c0b34a4">franka::ActiveControl</a>
+</li>
+<li>ControlException()
+: <a class="el" href="structfranka_1_1ControlException.html#a2efb9628eef80a3819031dbf2e2cb518">franka::ControlException</a>
+</li>
+<li>controller_torque_discontinuity
+: <a class="el" href="structfranka_1_1Errors.html#af40d93759ace9ee6026208110692a732">franka::Errors</a>
+</li>
+<li>coriolis()
+: <a class="el" href="classfranka_1_1Model.html#a91424f181a93bb47bda6af2d3567c65c">franka::Model</a>
+</li>
+<li>current_errors
+: <a class="el" href="structfranka_1_1RobotState.html#abc5515f7a27f5de82396ea792a5ecb48">franka::RobotState</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/0.13.6/functions_d.html b/0.13.6/functions_d.html
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
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+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>libfranka: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<script type="text/x-mathjax-config">
+  MathJax.Hub.Config({
+    extensions: ["tex2jax.js"],
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+</script>
+<script type="text/javascript" async="async" src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.1/MathJax.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+/* @license-end */
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+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
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+</div><!-- top -->
+<!-- window showing the filter options -->
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+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_d"></a>- d -</h3><ul>
+<li>ddelbow_c
+: <a class="el" href="structfranka_1_1RobotState.html#a1e5b6caf84249b1129491dbbcb1fc2e6">franka::RobotState</a>
+</li>
+<li>ddq_d
+: <a class="el" href="structfranka_1_1RobotState.html#a6251e748cf72f4b86bcfdcb97d77ace2">franka::RobotState</a>
+</li>
+<li>delbow_c
+: <a class="el" href="structfranka_1_1RobotState.html#a57c2c145e9f79010adf23085b8a9c5ad">franka::RobotState</a>
+</li>
+<li>device_status
+: <a class="el" href="structfranka_1_1VacuumGripperState.html#ab44560b09c4a959c06ddafbd7f21da02">franka::VacuumGripperState</a>
+</li>
+<li>dq
+: <a class="el" href="classfranka_1_1JointVelocities.html#a14fddb6fe7a7c4034dc82c283de8c2d3">franka::JointVelocities</a>
+, <a class="el" href="structfranka_1_1RobotState.html#af372a0081d72bc7b4fe873f99c7b2d8c">franka::RobotState</a>
+</li>
+<li>dq_d
+: <a class="el" href="structfranka_1_1RobotState.html#aed294a088be27b927be9575a18bec949">franka::RobotState</a>
+</li>
+<li>dropOff()
+: <a class="el" href="classfranka_1_1VacuumGripper.html#a04645348e97b946a788205c8b1168cac">franka::VacuumGripper</a>
+</li>
+<li>dtau_J
+: <a class="el" href="structfranka_1_1RobotState.html#ae6b0d4ee0d7b36240a2165e6ded6f4b9">franka::RobotState</a>
+</li>
+<li>dtheta
+: <a class="el" href="structfranka_1_1RobotState.html#a271db0a55dd346715ed8a0daf3f8887c">franka::RobotState</a>
+</li>
+<li>Duration()
+: <a class="el" href="classfranka_1_1Duration.html#af721da321423772b4ce7ff11280d38d5">franka::Duration</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>libfranka: Class Members</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<script type="text/x-mathjax-config">
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+<script type="text/javascript" async="async" src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.1/MathJax.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
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+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_e"></a>- e -</h3><ul>
+<li>EE_T_K
+: <a class="el" href="structfranka_1_1RobotState.html#aeb78a3b4b76d4f57b9898cbea3a0f7aa">franka::RobotState</a>
+</li>
+<li>elbow
+: <a class="el" href="classfranka_1_1CartesianPose.html#abef660743df9cf94d11c556d9c3d25be">franka::CartesianPose</a>
+, <a class="el" href="classfranka_1_1CartesianVelocities.html#a6419df1399d3dfab79b1654b94ced344">franka::CartesianVelocities</a>
+, <a class="el" href="structfranka_1_1RobotState.html#a43485841c427d70e7f36a912cc3116d1">franka::RobotState</a>
+</li>
+<li>elbow_c
+: <a class="el" href="structfranka_1_1RobotState.html#a16cfc844894e8b5b1ad829be529962f0">franka::RobotState</a>
+</li>
+<li>elbow_d
+: <a class="el" href="structfranka_1_1RobotState.html#a295dada05d8588fc3c19a74fd427dcc0">franka::RobotState</a>
+</li>
+<li>Errors()
+: <a class="el" href="structfranka_1_1Errors.html#aedd6b6af230c01b6f106b5050b29d9ae">franka::Errors</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/0.13.6/functions_enum.html b/0.13.6/functions_enum.html
new file mode 100644
index 00000000..3f1f2ab5
--- /dev/null
+++ b/0.13.6/functions_enum.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>libfranka: Class Members - Enumerations</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<script type="text/x-mathjax-config">
+  MathJax.Hub.Config({
+    extensions: ["tex2jax.js"],
+    jax: ["input/TeX","output/SVG"],
+});
+</script>
+<script type="text/javascript" async="async" src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.1/MathJax.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+&#160;<ul>
+<li>ProductionSetupProfile
+: <a class="el" href="classfranka_1_1VacuumGripper.html#a0c81171a75c385780a82ff8dc36ef51e">franka::VacuumGripper</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/0.13.6/functions_f.html b/0.13.6/functions_f.html
new file mode 100644
index 00000000..dd52f499
--- /dev/null
+++ b/0.13.6/functions_f.html
@@ -0,0 +1,105 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>libfranka: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<script type="text/x-mathjax-config">
+  MathJax.Hub.Config({
+    extensions: ["tex2jax.js"],
+    jax: ["input/TeX","output/SVG"],
+});
+</script>
+<script type="text/javascript" async="async" src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.1/MathJax.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_f"></a>- f -</h3><ul>
+<li>F_T_EE
+: <a class="el" href="structfranka_1_1RobotState.html#a705b85049fef747008b0eba8284c8057">franka::RobotState</a>
+</li>
+<li>F_T_NE
+: <a class="el" href="structfranka_1_1RobotState.html#a88142795c453775c360e18d8a6570d15">franka::RobotState</a>
+</li>
+<li>F_x_Cee
+: <a class="el" href="structfranka_1_1RobotState.html#a907c4561d8f1c1a2af7980cf58ceb112">franka::RobotState</a>
+</li>
+<li>F_x_Cload
+: <a class="el" href="structfranka_1_1RobotState.html#a48e921e6215ad32f36e424b4d7b66a89">franka::RobotState</a>
+</li>
+<li>F_x_Ctotal
+: <a class="el" href="structfranka_1_1RobotState.html#a72ee7362018e3c9e95e3c41e857bfd8d">franka::RobotState</a>
+</li>
+<li>force_control_safety_violation
+: <a class="el" href="structfranka_1_1Errors.html#ae7b19674da28b11ba970c30c7d800923">franka::Errors</a>
+</li>
+<li>force_controller_desired_force_tolerance_violation
+: <a class="el" href="structfranka_1_1Errors.html#ae474f20a64b2585dbe6496966dddff0a">franka::Errors</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/0.13.6/functions_func.html b/0.13.6/functions_func.html
new file mode 100644
index 00000000..77e818a6
--- /dev/null
+++ b/0.13.6/functions_func.html
@@ -0,0 +1,399 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>libfranka: Class Members - Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<script type="text/x-mathjax-config">
+  MathJax.Hub.Config({
+    extensions: ["tex2jax.js"],
+    jax: ["input/TeX","output/SVG"],
+});
+</script>
+<script type="text/javascript" async="async" src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.1/MathJax.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+&#160;
+
+<h3><a id="index_a"></a>- a -</h3><ul>
+<li>ActiveControl()
+: <a class="el" href="classfranka_1_1ActiveControl.html#a4aa09537fddbec6cf1eed05fdc147b30">franka::ActiveControl</a>
+</li>
+<li>automaticErrorRecovery()
+: <a class="el" href="classfranka_1_1Robot.html#af682aa673415718715bd859116bc2fed">franka::Robot</a>
+</li>
+</ul>
+
+
+<h3><a id="index_b"></a>- b -</h3><ul>
+<li>bodyJacobian()
+: <a class="el" href="classfranka_1_1Model.html#a914a197a900a275799cf8d7461bb9d8a">franka::Model</a>
+</li>
+</ul>
+
+
+<h3><a id="index_c"></a>- c -</h3><ul>
+<li>CartesianPose()
+: <a class="el" href="classfranka_1_1CartesianPose.html#a17272cb33af9aa4b726fa96b31cf0101">franka::CartesianPose</a>
+</li>
+<li>CartesianVelocities()
+: <a class="el" href="classfranka_1_1CartesianVelocities.html#a713380954e1f10c1be3033b95ca00657">franka::CartesianVelocities</a>
+</li>
+<li>control()
+: <a class="el" href="classfranka_1_1Robot.html#a76e8b7a9c7e2b874c3e300ba7cdeb8ca">franka::Robot</a>
+</li>
+<li>ControlException()
+: <a class="el" href="structfranka_1_1ControlException.html#a2efb9628eef80a3819031dbf2e2cb518">franka::ControlException</a>
+</li>
+<li>coriolis()
+: <a class="el" href="classfranka_1_1Model.html#a91424f181a93bb47bda6af2d3567c65c">franka::Model</a>
+</li>
+</ul>
+
+
+<h3><a id="index_d"></a>- d -</h3><ul>
+<li>dropOff()
+: <a class="el" href="classfranka_1_1VacuumGripper.html#a04645348e97b946a788205c8b1168cac">franka::VacuumGripper</a>
+</li>
+<li>Duration()
+: <a class="el" href="classfranka_1_1Duration.html#af721da321423772b4ce7ff11280d38d5">franka::Duration</a>
+</li>
+</ul>
+
+
+<h3><a id="index_e"></a>- e -</h3><ul>
+<li>Errors()
+: <a class="el" href="structfranka_1_1Errors.html#aedd6b6af230c01b6f106b5050b29d9ae">franka::Errors</a>
+</li>
+</ul>
+
+
+<h3><a id="index_g"></a>- g -</h3><ul>
+<li>grasp()
+: <a class="el" href="classfranka_1_1Gripper.html#abff6a03a6c75b9079bd4b9b5ca380254">franka::Gripper</a>
+</li>
+<li>gravity()
+: <a class="el" href="classfranka_1_1Model.html#a9b28a648cf413297d80f383e62363ab9">franka::Model</a>
+</li>
+<li>Gripper()
+: <a class="el" href="classfranka_1_1Gripper.html#a02b30632b08001592c62d3563561afc5">franka::Gripper</a>
+</li>
+</ul>
+
+
+<h3><a id="index_h"></a>- h -</h3><ul>
+<li>hasElbow()
+: <a class="el" href="classfranka_1_1CartesianPose.html#a5fa9f47dbf73ab45f671d89e11f89ccf">franka::CartesianPose</a>
+, <a class="el" href="classfranka_1_1CartesianVelocities.html#a51a41893b10250982597fe367abb2ca6">franka::CartesianVelocities</a>
+</li>
+<li>homing()
+: <a class="el" href="classfranka_1_1Gripper.html#aef356f93a4c3b9d6b2532c29126d478c">franka::Gripper</a>
+</li>
+</ul>
+
+
+<h3><a id="index_i"></a>- i -</h3><ul>
+<li>IncompatibleVersionException()
+: <a class="el" href="structfranka_1_1IncompatibleVersionException.html#a518f40d994ed7e970c6f7fdafb673239">franka::IncompatibleVersionException</a>
+</li>
+</ul>
+
+
+<h3><a id="index_j"></a>- j -</h3><ul>
+<li>JointPositions()
+: <a class="el" href="classfranka_1_1JointPositions.html#a57bc9d7e033493b1182333276af5ce84">franka::JointPositions</a>
+</li>
+<li>JointVelocities()
+: <a class="el" href="classfranka_1_1JointVelocities.html#a1130f851055de3b7ebe9e6fbac960826">franka::JointVelocities</a>
+</li>
+</ul>
+
+
+<h3><a id="index_l"></a>- l -</h3><ul>
+<li>loadModel()
+: <a class="el" href="classfranka_1_1Robot.html#a2da598c539469827409ac7e3bb61d5da">franka::Robot</a>
+</li>
+</ul>
+
+
+<h3><a id="index_m"></a>- m -</h3><ul>
+<li>mass()
+: <a class="el" href="classfranka_1_1Model.html#ad5f6156064bc18e42fc0b6d2f36b2006">franka::Model</a>
+</li>
+<li>Model()
+: <a class="el" href="classfranka_1_1Model.html#a751d939935eb51f06dcfd18c6c756ceb">franka::Model</a>
+</li>
+<li>MotionGenerator()
+: <a class="el" href="classMotionGenerator.html#a23dd564a60401c539fb7f1bf63470894">MotionGenerator</a>
+</li>
+<li>move()
+: <a class="el" href="classfranka_1_1Gripper.html#a047bc39267d66d6fb26c4c70669d68c2">franka::Gripper</a>
+</li>
+</ul>
+
+
+<h3><a id="index_o"></a>- o -</h3><ul>
+<li>operator bool()
+: <a class="el" href="structfranka_1_1Errors.html#a50cb6e50c1ce2b5ec281dcad83f1779e">franka::Errors</a>
+</li>
+<li>operator std::chrono::duration&lt; uint64_t, std::milli &gt;()
+: <a class="el" href="classfranka_1_1Duration.html#ae58e283f511f9de8ac7e145db5cac1cf">franka::Duration</a>
+</li>
+<li>operator std::string()
+: <a class="el" href="structfranka_1_1Errors.html#a63ed1948f69db5be95a9c70107955d68">franka::Errors</a>
+</li>
+<li>operator!=()
+: <a class="el" href="classfranka_1_1Duration.html#a61603353e39361af2f405c1df7097e84">franka::Duration</a>
+</li>
+<li>operator%()
+: <a class="el" href="classfranka_1_1Duration.html#a5e472345c1bec29b645bee938932fdb1">franka::Duration</a>
+</li>
+<li>operator%=()
+: <a class="el" href="classfranka_1_1Duration.html#a97a6ea669877875ffc54c801ac0b152d">franka::Duration</a>
+</li>
+<li>operator()()
+: <a class="el" href="classMotionGenerator.html#aefd763e7c31c54b56404f33d2295fda9">MotionGenerator</a>
+</li>
+<li>operator*()
+: <a class="el" href="classfranka_1_1Duration.html#a3eebc39550880fb2d23d45ba34d8acc5">franka::Duration</a>
+</li>
+<li>operator*=()
+: <a class="el" href="classfranka_1_1Duration.html#a73f971b2efb29a8ce663e8675d1ec09a">franka::Duration</a>
+</li>
+<li>operator+()
+: <a class="el" href="classfranka_1_1Duration.html#adb459e7bf5c6b02f9e72c808f5f30237">franka::Duration</a>
+</li>
+<li>operator+=()
+: <a class="el" href="classfranka_1_1Duration.html#ac55eb81937a12e736560bd856a8f23ae">franka::Duration</a>
+</li>
+<li>operator-()
+: <a class="el" href="classfranka_1_1Duration.html#a2a3bc1a8278b91bebe88d7498d410de9">franka::Duration</a>
+</li>
+<li>operator-=()
+: <a class="el" href="classfranka_1_1Duration.html#acb24af377db86646918bcfb3e1e2ebe6">franka::Duration</a>
+</li>
+<li>operator/()
+: <a class="el" href="classfranka_1_1Duration.html#a90c76be31b53e11f5761416a05d990be">franka::Duration</a>
+</li>
+<li>operator/=()
+: <a class="el" href="classfranka_1_1Duration.html#ac866dd8d0e8f2dbb92089dbd78418571">franka::Duration</a>
+</li>
+<li>operator&lt;()
+: <a class="el" href="classfranka_1_1Duration.html#af1650b31c1226a447406fc243f4a2ac1">franka::Duration</a>
+</li>
+<li>operator&lt;=()
+: <a class="el" href="classfranka_1_1Duration.html#ae4b9c8646fd50a2105d36f3848a5b949">franka::Duration</a>
+</li>
+<li>operator=()
+: <a class="el" href="classfranka_1_1Duration.html#adf2fec0c87fe1668e42f217ab029df19">franka::Duration</a>
+, <a class="el" href="structfranka_1_1Errors.html#a6fefa4083d79362080b79f3492fd4cb6">franka::Errors</a>
+, <a class="el" href="classfranka_1_1Gripper.html#a3c99c6973f8951ca489c4177cfacb069">franka::Gripper</a>
+, <a class="el" href="classfranka_1_1Model.html#a625529a4c9aed7783c9c6e150dbba793">franka::Model</a>
+, <a class="el" href="classfranka_1_1Robot.html#a35465b8497a7adbd277e70e98b7d97a7">franka::Robot</a>
+, <a class="el" href="classfranka_1_1VacuumGripper.html#a21d59603ac4deb8d9de5e074a57d080d">franka::VacuumGripper</a>
+</li>
+<li>operator==()
+: <a class="el" href="classfranka_1_1Duration.html#add0c7bcdfe51b563016236b223d74eae">franka::Duration</a>
+</li>
+<li>operator&gt;()
+: <a class="el" href="classfranka_1_1Duration.html#a1702ec9121fe6cff1de533d116edcce0">franka::Duration</a>
+</li>
+<li>operator&gt;=()
+: <a class="el" href="classfranka_1_1Duration.html#a5bc498cf96d96f5908d6bd93eea491aa">franka::Duration</a>
+</li>
+</ul>
+
+
+<h3><a id="index_p"></a>- p -</h3><ul>
+<li>pose()
+: <a class="el" href="classfranka_1_1Model.html#a593c39dae76a6801cdd2402c2a783157">franka::Model</a>
+</li>
+</ul>
+
+
+<h3><a id="index_r"></a>- r -</h3><ul>
+<li>read()
+: <a class="el" href="classfranka_1_1Robot.html#a82f85eed20426901a7e77b66c041664b">franka::Robot</a>
+</li>
+<li>readOnce()
+: <a class="el" href="classfranka_1_1ActiveControl.html#a55f5b94e5ac491e5b2ccc1782a873582">franka::ActiveControl</a>
+, <a class="el" href="classfranka_1_1ActiveControlBase.html#ae99dac6dae3b0dcd79104a1a404e42d0">franka::ActiveControlBase</a>
+, <a class="el" href="classfranka_1_1Gripper.html#ab0afc8a41c9c5fff808e76851dcf23ce">franka::Gripper</a>
+, <a class="el" href="classfranka_1_1Robot.html#ae3c3d7c5c4491a1e96a0a543931e899a">franka::Robot</a>
+, <a class="el" href="classfranka_1_1VacuumGripper.html#aaa61bfd1027cf5dc2eb9e96536a9fabf">franka::VacuumGripper</a>
+</li>
+<li>Robot()
+: <a class="el" href="classfranka_1_1Robot.html#ae63bc19390df3d54f3a270814df35eb6">franka::Robot</a>
+</li>
+</ul>
+
+
+<h3><a id="index_s"></a>- s -</h3><ul>
+<li>serverVersion()
+: <a class="el" href="classfranka_1_1Gripper.html#a8b0b4246c042465fb00871b31efdbd8b">franka::Gripper</a>
+, <a class="el" href="classfranka_1_1Robot.html#a3b864e16b7accafdf1a755dc21765701">franka::Robot</a>
+, <a class="el" href="classfranka_1_1VacuumGripper.html#a19abac44be2fc6df7f54fa11078a13ca">franka::VacuumGripper</a>
+</li>
+<li>setCartesianImpedance()
+: <a class="el" href="classfranka_1_1Robot.html#ac2678c5c31cc8c0627ecda7485f81f6d">franka::Robot</a>
+</li>
+<li>setCollisionBehavior()
+: <a class="el" href="classfranka_1_1Robot.html#a168e1214ac36d74ac64f894332b84534">franka::Robot</a>
+</li>
+<li>setEE()
+: <a class="el" href="classfranka_1_1Robot.html#aec4abdefbc0f9a7400a36bfa0a6068af">franka::Robot</a>
+</li>
+<li>setGuidingMode()
+: <a class="el" href="classfranka_1_1Robot.html#a7992cee203e66f9a61fe2f318ef88a26">franka::Robot</a>
+</li>
+<li>setJointImpedance()
+: <a class="el" href="classfranka_1_1Robot.html#aa18a28697cf6e3be16c6cff2dd839560">franka::Robot</a>
+</li>
+<li>setK()
+: <a class="el" href="classfranka_1_1Robot.html#ad1cf59d1b11306d80cd3c7144a989c56">franka::Robot</a>
+</li>
+<li>setLoad()
+: <a class="el" href="classfranka_1_1Robot.html#afcb708df10f24563dbcf7d5b907b4a15">franka::Robot</a>
+</li>
+<li>startCartesianPoseControl()
+: <a class="el" href="classfranka_1_1Robot.html#a3822866cf931fab955d3dcfc6cf746e5">franka::Robot</a>
+</li>
+<li>startCartesianVelocityControl()
+: <a class="el" href="classfranka_1_1Robot.html#a838e2cfba6b08dd87742bbcfe62f15bf">franka::Robot</a>
+</li>
+<li>startJointPositionControl()
+: <a class="el" href="classfranka_1_1Robot.html#aca7ecf76cf9c5af49cc5a878c91e19a9">franka::Robot</a>
+</li>
+<li>startJointVelocityControl()
+: <a class="el" href="classfranka_1_1Robot.html#ae9c867d10817b2485e306450f389a009">franka::Robot</a>
+</li>
+<li>startTorqueControl()
+: <a class="el" href="classfranka_1_1Robot.html#a8146de9e50217068672b6f726a91de91">franka::Robot</a>
+</li>
+<li>stop()
+: <a class="el" href="classfranka_1_1Gripper.html#add7397fb6c5631650c139d26a85c8e1d">franka::Gripper</a>
+, <a class="el" href="classfranka_1_1Robot.html#a69cb08e075a81ecf3f26e94d26a06296">franka::Robot</a>
+, <a class="el" href="classfranka_1_1VacuumGripper.html#a3722fe5488c516b4082c878a083cc865">franka::VacuumGripper</a>
+</li>
+</ul>
+
+
+<h3><a id="index_t"></a>- t -</h3><ul>
+<li>toMSec()
+: <a class="el" href="classfranka_1_1Duration.html#a2a25ae33c8739b8f705f13798aa9e162">franka::Duration</a>
+</li>
+<li>Torques()
+: <a class="el" href="classfranka_1_1Torques.html#a509d63195827289ffc645e4b62a9750d">franka::Torques</a>
+</li>
+<li>toSec()
+: <a class="el" href="classfranka_1_1Duration.html#a497af77a3280159547f231f0374e9ac1">franka::Duration</a>
+</li>
+</ul>
+
+
+<h3><a id="index_v"></a>- v -</h3><ul>
+<li>vacuum()
+: <a class="el" href="classfranka_1_1VacuumGripper.html#a517d95d9800990ca1a5892473c2def89">franka::VacuumGripper</a>
+</li>
+<li>VacuumGripper()
+: <a class="el" href="classfranka_1_1VacuumGripper.html#ab5d8483a0bb16136da684cfac721eae1">franka::VacuumGripper</a>
+</li>
+</ul>
+
+
+<h3><a id="index_w"></a>- w -</h3><ul>
+<li>writeOnce()
+: <a class="el" href="classfranka_1_1ActiveControl.html#a762615a1a3d5cf18064bfbd0b45effa6">franka::ActiveControl</a>
+, <a class="el" href="classfranka_1_1ActiveControlBase.html#ab0b5421122071fa0d578dcd0f4cabc36">franka::ActiveControlBase</a>
+, <a class="el" href="classfranka_1_1ActiveMotionGenerator.html#aae24c0819a0bd0996657063832245d69">franka::ActiveMotionGenerator&lt; MotionGeneratorType &gt;</a>
+, <a class="el" href="classfranka_1_1ActiveTorqueControl.html#acc3b1d8c41cd191786e384887adf5da2">franka::ActiveTorqueControl</a>
+</li>
+</ul>
+
+
+<h3><a id="index_z"></a>- z -</h3><ul>
+<li>zeroJacobian()
+: <a class="el" href="classfranka_1_1Model.html#a6fb6347b571a6759bad10b3a9e28a28f">franka::Model</a>
+</li>
+</ul>
+
+
+<h3><a id="index__7E"></a>- ~ -</h3><ul>
+<li>~Gripper()
+: <a class="el" href="classfranka_1_1Gripper.html#ade253b8a35312d52c636c6aafb7b2e1d">franka::Gripper</a>
+</li>
+<li>~Model()
+: <a class="el" href="classfranka_1_1Model.html#a1d6ffa26afc6cfdff7e329d15b8bd65e">franka::Model</a>
+</li>
+<li>~Robot()
+: <a class="el" href="classfranka_1_1Robot.html#ac19400de0fd39852d5825b1f1ccc85e2">franka::Robot</a>
+</li>
+<li>~VacuumGripper()
+: <a class="el" href="classfranka_1_1VacuumGripper.html#af43f640f3cb9ca873b02bb464d3c279b">franka::VacuumGripper</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/0.13.6/functions_g.html b/0.13.6/functions_g.html
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+<html xmlns="http://www.w3.org/1999/xhtml">
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>libfranka: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<script type="text/x-mathjax-config">
+  MathJax.Hub.Config({
+    extensions: ["tex2jax.js"],
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+});
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+<script type="text/javascript" async="async" src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.1/MathJax.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+  $(document).ready(function() { init_search(); });
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+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
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+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_g"></a>- g -</h3><ul>
+<li>grasp()
+: <a class="el" href="classfranka_1_1Gripper.html#abff6a03a6c75b9079bd4b9b5ca380254">franka::Gripper</a>
+</li>
+<li>gravity()
+: <a class="el" href="classfranka_1_1Model.html#a9b28a648cf413297d80f383e62363ab9">franka::Model</a>
+</li>
+<li>Gripper()
+: <a class="el" href="classfranka_1_1Gripper.html#a02b30632b08001592c62d3563561afc5">franka::Gripper</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/0.13.6/functions_h.html b/0.13.6/functions_h.html
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+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>libfranka: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<script type="text/x-mathjax-config">
+  MathJax.Hub.Config({
+    extensions: ["tex2jax.js"],
+    jax: ["input/TeX","output/SVG"],
+});
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+<script type="text/javascript" async="async" src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.1/MathJax.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
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+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
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+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_h"></a>- h -</h3><ul>
+<li>hasElbow()
+: <a class="el" href="classfranka_1_1CartesianPose.html#a5fa9f47dbf73ab45f671d89e11f89ccf">franka::CartesianPose</a>
+, <a class="el" href="classfranka_1_1CartesianVelocities.html#a51a41893b10250982597fe367abb2ca6">franka::CartesianVelocities</a>
+</li>
+<li>homing()
+: <a class="el" href="classfranka_1_1Gripper.html#aef356f93a4c3b9d6b2532c29126d478c">franka::Gripper</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/0.13.6/functions_i.html b/0.13.6/functions_i.html
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+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>libfranka: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<script type="text/x-mathjax-config">
+  MathJax.Hub.Config({
+    extensions: ["tex2jax.js"],
+    jax: ["input/TeX","output/SVG"],
+});
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+<script type="text/javascript" async="async" src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.1/MathJax.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
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+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
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+  $(document).ready(function() { init_search(); });
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+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
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+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_i"></a>- i -</h3><ul>
+<li>I_ee
+: <a class="el" href="structfranka_1_1RobotState.html#a74cee1beb5d400694133deea2846e611">franka::RobotState</a>
+</li>
+<li>I_load
+: <a class="el" href="structfranka_1_1RobotState.html#a5b194153497eff98049681f852118f82">franka::RobotState</a>
+</li>
+<li>I_total
+: <a class="el" href="structfranka_1_1RobotState.html#ad9120ae7b7613e77df8c1c3eba8fb033">franka::RobotState</a>
+</li>
+<li>in_control_range
+: <a class="el" href="structfranka_1_1VacuumGripperState.html#a70c1b14b10c2a79511fcada258c7e0ba">franka::VacuumGripperState</a>
+</li>
+<li>IncompatibleVersionException()
+: <a class="el" href="structfranka_1_1IncompatibleVersionException.html#a518f40d994ed7e970c6f7fdafb673239">franka::IncompatibleVersionException</a>
+</li>
+<li>instability_detected
+: <a class="el" href="structfranka_1_1Errors.html#aebb701987262097687d21b3cf1bc8930">franka::Errors</a>
+</li>
+<li>is_grasped
+: <a class="el" href="structfranka_1_1GripperState.html#aa65b46313e740454ead9c9ea27e7bf8d">franka::GripperState</a>
+</li>
+</ul>
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+<script type="text/javascript" src="dynsections.js"></script>
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+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
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+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_j"></a>- j -</h3><ul>
+<li>joint_collision
+: <a class="el" href="structfranka_1_1RobotState.html#a38757bafd4dd8e138410de1dca0c36f8">franka::RobotState</a>
+</li>
+<li>joint_contact
+: <a class="el" href="structfranka_1_1RobotState.html#a7243c652a8efe58c343a0d1252302fa4">franka::RobotState</a>
+</li>
+<li>joint_motion_generator_acceleration_discontinuity
+: <a class="el" href="structfranka_1_1Errors.html#a633195adca91f5ecaf1506da12f3311f">franka::Errors</a>
+</li>
+<li>joint_motion_generator_position_limits_violation
+: <a class="el" href="structfranka_1_1Errors.html#a9536ad072868b90525c56143cbb956ef">franka::Errors</a>
+</li>
+<li>joint_motion_generator_velocity_discontinuity
+: <a class="el" href="structfranka_1_1Errors.html#abd6da8e6a32d817a7b4848a24efd9379">franka::Errors</a>
+</li>
+<li>joint_motion_generator_velocity_limits_violation
+: <a class="el" href="structfranka_1_1Errors.html#ae211638df9b0e23905c8a9d36e249207">franka::Errors</a>
+</li>
+<li>joint_move_in_wrong_direction
+: <a class="el" href="structfranka_1_1Errors.html#a7d3a6480cbe572fd46e579b43732edc9">franka::Errors</a>
+</li>
+<li>joint_p2p_insufficient_torque_for_planning
+: <a class="el" href="structfranka_1_1Errors.html#a1c78be870253b510a4516acf14c2d3e3">franka::Errors</a>
+</li>
+<li>joint_position_limits_violation
+: <a class="el" href="structfranka_1_1Errors.html#a44ba0d45e52639280d32cf447f967e29">franka::Errors</a>
+</li>
+<li>joint_position_motion_generator_start_pose_invalid
+: <a class="el" href="structfranka_1_1Errors.html#a7af91cbf61dc79304bff3ffadc51ea86">franka::Errors</a>
+</li>
+<li>joint_positions
+: <a class="el" href="structfranka_1_1RobotCommand.html#a086afcec596eae5284b6c39dc1452280">franka::RobotCommand</a>
+</li>
+<li>joint_reflex
+: <a class="el" href="structfranka_1_1Errors.html#afb0928680c586e73d4e2cd4b42c7fe48">franka::Errors</a>
+</li>
+<li>joint_velocities
+: <a class="el" href="structfranka_1_1RobotCommand.html#a049657cf2bbbb53d6ffa5581721e7b71">franka::RobotCommand</a>
+</li>
+<li>joint_velocity_violation
+: <a class="el" href="structfranka_1_1Errors.html#a803ac4acbc26350602ea2eb02b7b30c4">franka::Errors</a>
+</li>
+<li>joint_via_motion_generator_planning_joint_limit_violation
+: <a class="el" href="structfranka_1_1Errors.html#aef3c74f48978545187ee2dc3a96db1c8">franka::Errors</a>
+</li>
+<li>JointPositions()
+: <a class="el" href="classfranka_1_1JointPositions.html#a57bc9d7e033493b1182333276af5ce84">franka::JointPositions</a>
+</li>
+<li>JointVelocities()
+: <a class="el" href="classfranka_1_1JointVelocities.html#a1130f851055de3b7ebe9e6fbac960826">franka::JointVelocities</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
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+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
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+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
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+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_k"></a>- k -</h3><ul>
+<li>K_F_ext_hat_K
+: <a class="el" href="structfranka_1_1RobotState.html#a96267d443c05fcc58d7ac32f63912649">franka::RobotState</a>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
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+        name="MSearchResults" id="MSearchResults">
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+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_l"></a>- l -</h3><ul>
+<li>last_motion_errors
+: <a class="el" href="structfranka_1_1RobotState.html#a06d7019f85339409e932dc086b7a260b">franka::RobotState</a>
+</li>
+<li>last_read_access
+: <a class="el" href="classfranka_1_1ActiveControl.html#a226304deac8032ed6c8428caa60c9fb4">franka::ActiveControl</a>
+</li>
+<li>library_version
+: <a class="el" href="structfranka_1_1IncompatibleVersionException.html#a81e6d7f01965ed7ee34f83dc3883ad01">franka::IncompatibleVersionException</a>
+</li>
+<li>loadModel()
+: <a class="el" href="classfranka_1_1Robot.html#a2da598c539469827409ac7e3bb61d5da">franka::Robot</a>
+</li>
+<li>log
+: <a class="el" href="structfranka_1_1ControlException.html#ae57f0ac0a9aa195057af1f1cc712b41e">franka::ControlException</a>
+</li>
+</ul>
+</div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>libfranka: Class Members</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
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+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
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+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_m"></a>- m -</h3><ul>
+<li>m_ee
+: <a class="el" href="structfranka_1_1RobotState.html#af982a16246e33c1495ec02972a36bce3">franka::RobotState</a>
+</li>
+<li>m_load
+: <a class="el" href="structfranka_1_1RobotState.html#a99ea4ab9c5a42a5c17365ed8fd730cd1">franka::RobotState</a>
+</li>
+<li>m_total
+: <a class="el" href="structfranka_1_1RobotState.html#a87880d4693c8f576ebdabf00f4d4f981">franka::RobotState</a>
+</li>
+<li>mass()
+: <a class="el" href="classfranka_1_1Model.html#ad5f6156064bc18e42fc0b6d2f36b2006">franka::Model</a>
+</li>
+<li>max_goal_pose_deviation_violation
+: <a class="el" href="structfranka_1_1Errors.html#ac55d3624087e606cb4ffab121869d580">franka::Errors</a>
+</li>
+<li>max_path_pose_deviation_violation
+: <a class="el" href="structfranka_1_1Errors.html#ad90cffe703ca1b782007f3ba49da587c">franka::Errors</a>
+</li>
+<li>max_width
+: <a class="el" href="structfranka_1_1GripperState.html#ab71a26356c2898c49609bf991843e166">franka::GripperState</a>
+</li>
+<li>Model()
+: <a class="el" href="classfranka_1_1Model.html#a751d939935eb51f06dcfd18c6c756ceb">franka::Model</a>
+</li>
+<li>motion_finished
+: <a class="el" href="structfranka_1_1Finishable.html#a5d48028c0f912d4a089e6220d8715f7f">franka::Finishable</a>
+</li>
+<li>motion_id
+: <a class="el" href="classfranka_1_1ActiveControl.html#a0852a7d4b5a67df218440c2cc629f638">franka::ActiveControl</a>
+</li>
+<li>MotionGenerator()
+: <a class="el" href="classMotionGenerator.html#a23dd564a60401c539fb7f1bf63470894">MotionGenerator</a>
+</li>
+<li>move()
+: <a class="el" href="classfranka_1_1Gripper.html#a047bc39267d66d6fb26c4c70669d68c2">franka::Gripper</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/0.13.6/functions_n.html b/0.13.6/functions_n.html
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>libfranka: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<script type="text/x-mathjax-config">
+  MathJax.Hub.Config({
+    extensions: ["tex2jax.js"],
+    jax: ["input/TeX","output/SVG"],
+});
+</script>
+<script type="text/javascript" async="async" src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.1/MathJax.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+/* @license-end */
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+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+  $(document).ready(function() { init_search(); });
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+<!-- window showing the filter options -->
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+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_n"></a>- n -</h3><ul>
+<li>NE_T_EE
+: <a class="el" href="structfranka_1_1RobotState.html#ac53f1046fe758cfdda438a8e3ba08fff">franka::RobotState</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
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diff --git a/0.13.6/functions_o.html b/0.13.6/functions_o.html
new file mode 100644
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--- /dev/null
+++ b/0.13.6/functions_o.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>libfranka: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<script type="text/x-mathjax-config">
+  MathJax.Hub.Config({
+    extensions: ["tex2jax.js"],
+    jax: ["input/TeX","output/SVG"],
+});
+</script>
+<script type="text/javascript" async="async" src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.1/MathJax.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_o"></a>- o -</h3><ul>
+<li>O_ddP_EE_c
+: <a class="el" href="structfranka_1_1RobotState.html#ac8dfcf78ddbb27852484e921d6d66ca1">franka::RobotState</a>
+</li>
+<li>O_ddP_O
+: <a class="el" href="structfranka_1_1RobotState.html#ab24d7982942d316459fc35337dc38ecd">franka::RobotState</a>
+</li>
+<li>O_dP_EE
+: <a class="el" href="classfranka_1_1CartesianVelocities.html#ab7a42c7c1ee7109025aff5c43a56b398">franka::CartesianVelocities</a>
+</li>
+<li>O_dP_EE_c
+: <a class="el" href="structfranka_1_1RobotState.html#a4be112bd1a9a7d777a67aea4a18a8dcc">franka::RobotState</a>
+</li>
+<li>O_dP_EE_d
+: <a class="el" href="structfranka_1_1RobotState.html#a1e0a82b98534929c3061295d5761d607">franka::RobotState</a>
+</li>
+<li>O_F_ext_hat_K
+: <a class="el" href="structfranka_1_1RobotState.html#a5a830b4f9d6a3c2dc92e4a9cc6050493">franka::RobotState</a>
+</li>
+<li>O_T_EE
+: <a class="el" href="classfranka_1_1CartesianPose.html#a406e53e3d8fe594a11888f516eb4bf7d">franka::CartesianPose</a>
+, <a class="el" href="structfranka_1_1RobotState.html#a193781d47722b32925e0ea7ac415f442">franka::RobotState</a>
+</li>
+<li>O_T_EE_c
+: <a class="el" href="structfranka_1_1RobotState.html#a395c48eff099419ea5d42eaf0870fc18">franka::RobotState</a>
+</li>
+<li>O_T_EE_d
+: <a class="el" href="structfranka_1_1RobotState.html#a3e5b4b7687856e92d826044be7d15733">franka::RobotState</a>
+</li>
+<li>operator bool()
+: <a class="el" href="structfranka_1_1Errors.html#a50cb6e50c1ce2b5ec281dcad83f1779e">franka::Errors</a>
+</li>
+<li>operator std::chrono::duration&lt; uint64_t, std::milli &gt;()
+: <a class="el" href="classfranka_1_1Duration.html#ae58e283f511f9de8ac7e145db5cac1cf">franka::Duration</a>
+</li>
+<li>operator std::string()
+: <a class="el" href="structfranka_1_1Errors.html#a63ed1948f69db5be95a9c70107955d68">franka::Errors</a>
+</li>
+<li>operator!=()
+: <a class="el" href="classfranka_1_1Duration.html#a61603353e39361af2f405c1df7097e84">franka::Duration</a>
+</li>
+<li>operator%()
+: <a class="el" href="classfranka_1_1Duration.html#a5e472345c1bec29b645bee938932fdb1">franka::Duration</a>
+</li>
+<li>operator%=()
+: <a class="el" href="classfranka_1_1Duration.html#a97a6ea669877875ffc54c801ac0b152d">franka::Duration</a>
+</li>
+<li>operator()()
+: <a class="el" href="classMotionGenerator.html#aefd763e7c31c54b56404f33d2295fda9">MotionGenerator</a>
+</li>
+<li>operator*()
+: <a class="el" href="classfranka_1_1Duration.html#a3eebc39550880fb2d23d45ba34d8acc5">franka::Duration</a>
+</li>
+<li>operator*=()
+: <a class="el" href="classfranka_1_1Duration.html#a73f971b2efb29a8ce663e8675d1ec09a">franka::Duration</a>
+</li>
+<li>operator+()
+: <a class="el" href="classfranka_1_1Duration.html#adb459e7bf5c6b02f9e72c808f5f30237">franka::Duration</a>
+</li>
+<li>operator+=()
+: <a class="el" href="classfranka_1_1Duration.html#ac55eb81937a12e736560bd856a8f23ae">franka::Duration</a>
+</li>
+<li>operator-()
+: <a class="el" href="classfranka_1_1Duration.html#a2a3bc1a8278b91bebe88d7498d410de9">franka::Duration</a>
+</li>
+<li>operator-=()
+: <a class="el" href="classfranka_1_1Duration.html#acb24af377db86646918bcfb3e1e2ebe6">franka::Duration</a>
+</li>
+<li>operator/()
+: <a class="el" href="classfranka_1_1Duration.html#a90c76be31b53e11f5761416a05d990be">franka::Duration</a>
+</li>
+<li>operator/=()
+: <a class="el" href="classfranka_1_1Duration.html#ac866dd8d0e8f2dbb92089dbd78418571">franka::Duration</a>
+</li>
+<li>operator&lt;()
+: <a class="el" href="classfranka_1_1Duration.html#af1650b31c1226a447406fc243f4a2ac1">franka::Duration</a>
+</li>
+<li>operator&lt;=()
+: <a class="el" href="classfranka_1_1Duration.html#ae4b9c8646fd50a2105d36f3848a5b949">franka::Duration</a>
+</li>
+<li>operator=()
+: <a class="el" href="classfranka_1_1Duration.html#adf2fec0c87fe1668e42f217ab029df19">franka::Duration</a>
+, <a class="el" href="structfranka_1_1Errors.html#a6fefa4083d79362080b79f3492fd4cb6">franka::Errors</a>
+, <a class="el" href="classfranka_1_1Gripper.html#a3c99c6973f8951ca489c4177cfacb069">franka::Gripper</a>
+, <a class="el" href="classfranka_1_1Model.html#a625529a4c9aed7783c9c6e150dbba793">franka::Model</a>
+, <a class="el" href="classfranka_1_1Robot.html#a35465b8497a7adbd277e70e98b7d97a7">franka::Robot</a>
+, <a class="el" href="classfranka_1_1VacuumGripper.html#a21d59603ac4deb8d9de5e074a57d080d">franka::VacuumGripper</a>
+</li>
+<li>operator==()
+: <a class="el" href="classfranka_1_1Duration.html#add0c7bcdfe51b563016236b223d74eae">franka::Duration</a>
+</li>
+<li>operator&gt;()
+: <a class="el" href="classfranka_1_1Duration.html#a1702ec9121fe6cff1de533d116edcce0">franka::Duration</a>
+</li>
+<li>operator&gt;=()
+: <a class="el" href="classfranka_1_1Duration.html#a5bc498cf96d96f5908d6bd93eea491aa">franka::Duration</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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diff --git a/0.13.6/functions_p.html b/0.13.6/functions_p.html
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+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>libfranka: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<script type="text/x-mathjax-config">
+  MathJax.Hub.Config({
+    extensions: ["tex2jax.js"],
+    jax: ["input/TeX","output/SVG"],
+});
+</script>
+<script type="text/javascript" async="async" src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.1/MathJax.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
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+/* @license-end */
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+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+<!-- window showing the filter options -->
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+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_p"></a>- p -</h3><ul>
+<li>part_detached
+: <a class="el" href="structfranka_1_1VacuumGripperState.html#aa27a2b4b9d19bdcb059995a8121ba309">franka::VacuumGripperState</a>
+</li>
+<li>part_present
+: <a class="el" href="structfranka_1_1VacuumGripperState.html#aeb5664ab2a9784c9e31ce5f67c914107">franka::VacuumGripperState</a>
+</li>
+<li>pose()
+: <a class="el" href="classfranka_1_1Model.html#a593c39dae76a6801cdd2402c2a783157">franka::Model</a>
+</li>
+<li>power_limit_violation
+: <a class="el" href="structfranka_1_1Errors.html#a6c4d8cb1fb314567ebd07a6195b840f5">franka::Errors</a>
+</li>
+<li>ProductionSetupProfile
+: <a class="el" href="classfranka_1_1VacuumGripper.html#a0c81171a75c385780a82ff8dc36ef51e">franka::VacuumGripper</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/0.13.6/functions_q.html b/0.13.6/functions_q.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>libfranka: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<script type="text/x-mathjax-config">
+  MathJax.Hub.Config({
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+<div id="titlearea">
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+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
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+
+<h3><a id="index_r"></a>- r -</h3><ul>
+<li>read()
+: <a class="el" href="classfranka_1_1Robot.html#a82f85eed20426901a7e77b66c041664b">franka::Robot</a>
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+: <a class="el" href="classfranka_1_1ActiveControl.html#a55f5b94e5ac491e5b2ccc1782a873582">franka::ActiveControl</a>
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+: <a class="el" href="classfranka_1_1ActiveControl.html#a94e725adb409391547a260f204c74564">franka::ActiveControl</a>
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+</ul>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<script type="text/javascript" src="search/search.js"></script>
+<script type="text/x-mathjax-config">
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+<div id="titlearea">
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+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
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+   <div id="projectbrief">FCI C++ API</div>
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+</table>
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>libfranka: Class Members</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
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+<script type="text/javascript" src="search/search.js"></script>
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
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+
+<h3><a id="index_s"></a>- s -</h3><ul>
+<li>self_collision_avoidance_violation
+: <a class="el" href="structfranka_1_1Errors.html#adf68f6333624cb5558864441a991de8c">franka::Errors</a>
+</li>
+<li>server_version
+: <a class="el" href="structfranka_1_1IncompatibleVersionException.html#a0928098d8c32f405d17b65a0f004b5ab">franka::IncompatibleVersionException</a>
+</li>
+<li>serverVersion()
+: <a class="el" href="classfranka_1_1Gripper.html#a8b0b4246c042465fb00871b31efdbd8b">franka::Gripper</a>
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+<li>ServerVersion
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+: <a class="el" href="classfranka_1_1Robot.html#a3b864e16b7accafdf1a755dc21765701">franka::Robot</a>
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+<li>ServerVersion
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+<li>setCartesianImpedance()
+: <a class="el" href="classfranka_1_1Robot.html#ac2678c5c31cc8c0627ecda7485f81f6d">franka::Robot</a>
+</li>
+<li>setCollisionBehavior()
+: <a class="el" href="classfranka_1_1Robot.html#a168e1214ac36d74ac64f894332b84534">franka::Robot</a>
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+<li>setEE()
+: <a class="el" href="classfranka_1_1Robot.html#aec4abdefbc0f9a7400a36bfa0a6068af">franka::Robot</a>
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+<li>setGuidingMode()
+: <a class="el" href="classfranka_1_1Robot.html#a7992cee203e66f9a61fe2f318ef88a26">franka::Robot</a>
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+<li>setJointImpedance()
+: <a class="el" href="classfranka_1_1Robot.html#aa18a28697cf6e3be16c6cff2dd839560">franka::Robot</a>
+</li>
+<li>setK()
+: <a class="el" href="classfranka_1_1Robot.html#ad1cf59d1b11306d80cd3c7144a989c56">franka::Robot</a>
+</li>
+<li>setLoad()
+: <a class="el" href="classfranka_1_1Robot.html#afcb708df10f24563dbcf7d5b907b4a15">franka::Robot</a>
+</li>
+<li>start_elbow_sign_inconsistent
+: <a class="el" href="structfranka_1_1Errors.html#aa6de1956ac056792a1dea6b9ddd52a50">franka::Errors</a>
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+<li>startCartesianPoseControl()
+: <a class="el" href="classfranka_1_1Robot.html#a3822866cf931fab955d3dcfc6cf746e5">franka::Robot</a>
+</li>
+<li>startCartesianVelocityControl()
+: <a class="el" href="classfranka_1_1Robot.html#a838e2cfba6b08dd87742bbcfe62f15bf">franka::Robot</a>
+</li>
+<li>startJointPositionControl()
+: <a class="el" href="classfranka_1_1Robot.html#aca7ecf76cf9c5af49cc5a878c91e19a9">franka::Robot</a>
+</li>
+<li>startJointVelocityControl()
+: <a class="el" href="classfranka_1_1Robot.html#ae9c867d10817b2485e306450f389a009">franka::Robot</a>
+</li>
+<li>startTorqueControl()
+: <a class="el" href="classfranka_1_1Robot.html#a8146de9e50217068672b6f726a91de91">franka::Robot</a>
+</li>
+<li>state
+: <a class="el" href="structfranka_1_1Record.html#a58249658c9549fbc792eea90e7b6a7cc">franka::Record</a>
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+: <a class="el" href="classfranka_1_1Gripper.html#add7397fb6c5631650c139d26a85c8e1d">franka::Gripper</a>
+, <a class="el" href="classfranka_1_1Robot.html#a69cb08e075a81ecf3f26e94d26a06296">franka::Robot</a>
+, <a class="el" href="classfranka_1_1VacuumGripper.html#a3722fe5488c516b4082c878a083cc865">franka::VacuumGripper</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
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+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
+  </td>
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+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_t"></a>- t -</h3><ul>
+<li>tau_ext_hat_filtered
+: <a class="el" href="structfranka_1_1RobotState.html#acdef8005828d193e45b128085a9e363b">franka::RobotState</a>
+</li>
+<li>tau_J
+: <a class="el" href="structfranka_1_1RobotState.html#ad90e2518d661da0d8fa4c864bae210e5">franka::RobotState</a>
+, <a class="el" href="classfranka_1_1Torques.html#ac2a266cc2d3b7e0fb4f8eff045dbaed8">franka::Torques</a>
+</li>
+<li>tau_J_d
+: <a class="el" href="structfranka_1_1RobotState.html#a7086a89a2705810f93a3a95d43df2d9d">franka::RobotState</a>
+</li>
+<li>tau_j_range_violation
+: <a class="el" href="structfranka_1_1Errors.html#a1491f8428341649befa3d088aebb317e">franka::Errors</a>
+</li>
+<li>temperature
+: <a class="el" href="structfranka_1_1GripperState.html#aa6733fa786dbf3b073acbaf3779e34b3">franka::GripperState</a>
+</li>
+<li>theta
+: <a class="el" href="structfranka_1_1RobotState.html#aa34145d77dd411d7ca578c355f0ba2b4">franka::RobotState</a>
+</li>
+<li>time
+: <a class="el" href="structfranka_1_1GripperState.html#a80bf474b0e4351e2eefab62d1bd10c07">franka::GripperState</a>
+, <a class="el" href="structfranka_1_1RobotState.html#aabfdabeaef8c1858c52dd32344bdd039">franka::RobotState</a>
+, <a class="el" href="structfranka_1_1VacuumGripperState.html#aaa98eb6e1888094aace2014121a468ab">franka::VacuumGripperState</a>
+</li>
+<li>toMSec()
+: <a class="el" href="classfranka_1_1Duration.html#a2a25ae33c8739b8f705f13798aa9e162">franka::Duration</a>
+</li>
+<li>torques
+: <a class="el" href="structfranka_1_1RobotCommand.html#a8b23e8b669b1fd594988ecdbf54bfbce">franka::RobotCommand</a>
+</li>
+<li>Torques()
+: <a class="el" href="classfranka_1_1Torques.html#a509d63195827289ffc645e4b62a9750d">franka::Torques</a>
+</li>
+<li>toSec()
+: <a class="el" href="classfranka_1_1Duration.html#a497af77a3280159547f231f0374e9ac1">franka::Duration</a>
+</li>
+</ul>
+</div><!-- contents -->
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+<title>libfranka: Class Members - Typedefs</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<script type="text/javascript" src="search/searchdata.js"></script>
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+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
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+&#160;<ul>
+<li>ServerVersion
+: <a class="el" href="classfranka_1_1Gripper.html#a613bf52d9433b733685d0fb9ea71602e">franka::Gripper</a>
+, <a class="el" href="classfranka_1_1Robot.html#ad1dd3dccff6f33691d2c66eaa5ac5a10">franka::Robot</a>
+, <a class="el" href="classfranka_1_1VacuumGripper.html#a7b1d752680134e2a9df347002c6ace61">franka::VacuumGripper</a>
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+</ul>
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+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>libfranka: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<script type="text/x-mathjax-config">
+  MathJax.Hub.Config({
+    extensions: ["tex2jax.js"],
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+<script type="text/javascript" async="async" src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.1/MathJax.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
+  </td>
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+        name="MSearchResults" id="MSearchResults">
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+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_v"></a>- v -</h3><ul>
+<li>vacuum()
+: <a class="el" href="classfranka_1_1VacuumGripper.html#a517d95d9800990ca1a5892473c2def89">franka::VacuumGripper</a>
+, <a class="el" href="structfranka_1_1VacuumGripperState.html#ae94720737193caa696a47563a8efe6a8">franka::VacuumGripperState</a>
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+<li>VacuumGripper()
+: <a class="el" href="classfranka_1_1VacuumGripper.html#ab5d8483a0bb16136da684cfac721eae1">franka::VacuumGripper</a>
+</li>
+</ul>
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diff --git a/0.13.6/functions_vars.html b/0.13.6/functions_vars.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>libfranka: Class Members - Variables</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<script type="text/x-mathjax-config">
+  MathJax.Hub.Config({
+    extensions: ["tex2jax.js"],
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+<script type="text/javascript" async="async" src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.1/MathJax.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+/* @license-end */
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+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
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+<div class="contents">
+&#160;
+
+<h3><a id="index_a"></a>- a -</h3><ul>
+<li>actual_power
+: <a class="el" href="structfranka_1_1VacuumGripperState.html#a4230c68698cdbf6c1c560e181133bdc3">franka::VacuumGripperState</a>
+</li>
+</ul>
+
+
+<h3><a id="index_b"></a>- b -</h3><ul>
+<li>base_acceleration_initialization_timeout
+: <a class="el" href="structfranka_1_1Errors.html#a4dc331a7ae3242ea43e6fbf7e21c695a">franka::Errors</a>
+</li>
+<li>base_acceleration_invalid_reading
+: <a class="el" href="structfranka_1_1Errors.html#a8467b7b8a3a68c3e0be7adc39933cb0e">franka::Errors</a>
+</li>
+</ul>
+
+
+<h3><a id="index_c"></a>- c -</h3><ul>
+<li>cartesian_collision
+: <a class="el" href="structfranka_1_1RobotState.html#a52c20478f4c1e162df38582ea9bda044">franka::RobotState</a>
+</li>
+<li>cartesian_contact
+: <a class="el" href="structfranka_1_1RobotState.html#a7fc1f0358d2104d39d301d70544fa6c1">franka::RobotState</a>
+</li>
+<li>cartesian_motion_generator_acceleration_discontinuity
+: <a class="el" href="structfranka_1_1Errors.html#a10c6ac36bf48b4a9edf91e74d9bc4837">franka::Errors</a>
+</li>
+<li>cartesian_motion_generator_elbow_limit_violation
+: <a class="el" href="structfranka_1_1Errors.html#ac21ebdc1e0e8fb3099a7dce284550c4c">franka::Errors</a>
+</li>
+<li>cartesian_motion_generator_elbow_sign_inconsistent
+: <a class="el" href="structfranka_1_1Errors.html#a58b0e1199c9dded5a32bfeb110e63037">franka::Errors</a>
+</li>
+<li>cartesian_motion_generator_joint_acceleration_discontinuity
+: <a class="el" href="structfranka_1_1Errors.html#a2e223ef3c771709a6a3f094adf12f9cb">franka::Errors</a>
+</li>
+<li>cartesian_motion_generator_joint_position_limits_violation
+: <a class="el" href="structfranka_1_1Errors.html#a73aef7473fd6d1d5b207e68fa35948c5">franka::Errors</a>
+</li>
+<li>cartesian_motion_generator_joint_velocity_discontinuity
+: <a class="el" href="structfranka_1_1Errors.html#a1c8c56766fefc19fda5d5de909ca5b37">franka::Errors</a>
+</li>
+<li>cartesian_motion_generator_joint_velocity_limits_violation
+: <a class="el" href="structfranka_1_1Errors.html#a435d16d62a123bfbf578bc76e3780605">franka::Errors</a>
+</li>
+<li>cartesian_motion_generator_start_elbow_invalid
+: <a class="el" href="structfranka_1_1Errors.html#a6d905b803bbe8a7be8490f2a94ba524a">franka::Errors</a>
+</li>
+<li>cartesian_motion_generator_velocity_discontinuity
+: <a class="el" href="structfranka_1_1Errors.html#a17e4a9b6b7dc4cc12c1328d36cac3eaf">franka::Errors</a>
+</li>
+<li>cartesian_motion_generator_velocity_limits_violation
+: <a class="el" href="structfranka_1_1Errors.html#a91437c081452ef708563346b102ba894">franka::Errors</a>
+</li>
+<li>cartesian_pose
+: <a class="el" href="structfranka_1_1RobotCommand.html#acce2090d696ebb9759fd0f37fd35a298">franka::RobotCommand</a>
+</li>
+<li>cartesian_position_limits_violation
+: <a class="el" href="structfranka_1_1Errors.html#a41c8b50ecbb015a2dba1a3dbbff694b6">franka::Errors</a>
+</li>
+<li>cartesian_position_motion_generator_invalid_frame
+: <a class="el" href="structfranka_1_1Errors.html#aa1952c6da2f81578861a19b947c97b85">franka::Errors</a>
+</li>
+<li>cartesian_position_motion_generator_start_pose_invalid
+: <a class="el" href="structfranka_1_1Errors.html#aa910fad4992b91be1ea1c321ee9b7a1e">franka::Errors</a>
+</li>
+<li>cartesian_reflex
+: <a class="el" href="structfranka_1_1Errors.html#a47bd58b0ab2198e4d038e0a24eafb310">franka::Errors</a>
+</li>
+<li>cartesian_spline_motion_generator_violation
+: <a class="el" href="structfranka_1_1Errors.html#a5617689cd7e875baebcecf054513f0c4">franka::Errors</a>
+</li>
+<li>cartesian_velocities
+: <a class="el" href="structfranka_1_1RobotCommand.html#a04b4841130fab920936190be1bc5dba3">franka::RobotCommand</a>
+</li>
+<li>cartesian_velocity_profile_safety_violation
+: <a class="el" href="structfranka_1_1Errors.html#afc093fc5f99e1f6cab6de4fa9bc32692">franka::Errors</a>
+</li>
+<li>cartesian_velocity_violation
+: <a class="el" href="structfranka_1_1Errors.html#a382fbec6b463ddcc2cbfd90340021ff1">franka::Errors</a>
+</li>
+<li>command
+: <a class="el" href="structfranka_1_1Record.html#a8106f2ba9c2cf5ec7cbcf914c4c99e9c">franka::Record</a>
+</li>
+<li>communication_constraints_violation
+: <a class="el" href="structfranka_1_1Errors.html#a4d17af86c1ebb698c218796fa15f9bd7">franka::Errors</a>
+</li>
+<li>control_command_success_rate
+: <a class="el" href="structfranka_1_1RobotState.html#af208572613a6afcdc61a24970c71fa28">franka::RobotState</a>
+</li>
+<li>control_finished
+: <a class="el" href="classfranka_1_1ActiveControl.html#afa521707548926e9d1e38e4b83496db2">franka::ActiveControl</a>
+</li>
+<li>control_lock
+: <a class="el" href="classfranka_1_1ActiveControl.html#aed53605877b237435581e36f4c0b34a4">franka::ActiveControl</a>
+</li>
+<li>controller_torque_discontinuity
+: <a class="el" href="structfranka_1_1Errors.html#af40d93759ace9ee6026208110692a732">franka::Errors</a>
+</li>
+<li>current_errors
+: <a class="el" href="structfranka_1_1RobotState.html#abc5515f7a27f5de82396ea792a5ecb48">franka::RobotState</a>
+</li>
+</ul>
+
+
+<h3><a id="index_d"></a>- d -</h3><ul>
+<li>ddelbow_c
+: <a class="el" href="structfranka_1_1RobotState.html#a1e5b6caf84249b1129491dbbcb1fc2e6">franka::RobotState</a>
+</li>
+<li>ddq_d
+: <a class="el" href="structfranka_1_1RobotState.html#a6251e748cf72f4b86bcfdcb97d77ace2">franka::RobotState</a>
+</li>
+<li>delbow_c
+: <a class="el" href="structfranka_1_1RobotState.html#a57c2c145e9f79010adf23085b8a9c5ad">franka::RobotState</a>
+</li>
+<li>device_status
+: <a class="el" href="structfranka_1_1VacuumGripperState.html#ab44560b09c4a959c06ddafbd7f21da02">franka::VacuumGripperState</a>
+</li>
+<li>dq
+: <a class="el" href="classfranka_1_1JointVelocities.html#a14fddb6fe7a7c4034dc82c283de8c2d3">franka::JointVelocities</a>
+, <a class="el" href="structfranka_1_1RobotState.html#af372a0081d72bc7b4fe873f99c7b2d8c">franka::RobotState</a>
+</li>
+<li>dq_d
+: <a class="el" href="structfranka_1_1RobotState.html#aed294a088be27b927be9575a18bec949">franka::RobotState</a>
+</li>
+<li>dtau_J
+: <a class="el" href="structfranka_1_1RobotState.html#ae6b0d4ee0d7b36240a2165e6ded6f4b9">franka::RobotState</a>
+</li>
+<li>dtheta
+: <a class="el" href="structfranka_1_1RobotState.html#a271db0a55dd346715ed8a0daf3f8887c">franka::RobotState</a>
+</li>
+</ul>
+
+
+<h3><a id="index_e"></a>- e -</h3><ul>
+<li>EE_T_K
+: <a class="el" href="structfranka_1_1RobotState.html#aeb78a3b4b76d4f57b9898cbea3a0f7aa">franka::RobotState</a>
+</li>
+<li>elbow
+: <a class="el" href="classfranka_1_1CartesianPose.html#abef660743df9cf94d11c556d9c3d25be">franka::CartesianPose</a>
+, <a class="el" href="classfranka_1_1CartesianVelocities.html#a6419df1399d3dfab79b1654b94ced344">franka::CartesianVelocities</a>
+, <a class="el" href="structfranka_1_1RobotState.html#a43485841c427d70e7f36a912cc3116d1">franka::RobotState</a>
+</li>
+<li>elbow_c
+: <a class="el" href="structfranka_1_1RobotState.html#a16cfc844894e8b5b1ad829be529962f0">franka::RobotState</a>
+</li>
+<li>elbow_d
+: <a class="el" href="structfranka_1_1RobotState.html#a295dada05d8588fc3c19a74fd427dcc0">franka::RobotState</a>
+</li>
+</ul>
+
+
+<h3><a id="index_f"></a>- f -</h3><ul>
+<li>F_T_EE
+: <a class="el" href="structfranka_1_1RobotState.html#a705b85049fef747008b0eba8284c8057">franka::RobotState</a>
+</li>
+<li>F_T_NE
+: <a class="el" href="structfranka_1_1RobotState.html#a88142795c453775c360e18d8a6570d15">franka::RobotState</a>
+</li>
+<li>F_x_Cee
+: <a class="el" href="structfranka_1_1RobotState.html#a907c4561d8f1c1a2af7980cf58ceb112">franka::RobotState</a>
+</li>
+<li>F_x_Cload
+: <a class="el" href="structfranka_1_1RobotState.html#a48e921e6215ad32f36e424b4d7b66a89">franka::RobotState</a>
+</li>
+<li>F_x_Ctotal
+: <a class="el" href="structfranka_1_1RobotState.html#a72ee7362018e3c9e95e3c41e857bfd8d">franka::RobotState</a>
+</li>
+<li>force_control_safety_violation
+: <a class="el" href="structfranka_1_1Errors.html#ae7b19674da28b11ba970c30c7d800923">franka::Errors</a>
+</li>
+<li>force_controller_desired_force_tolerance_violation
+: <a class="el" href="structfranka_1_1Errors.html#ae474f20a64b2585dbe6496966dddff0a">franka::Errors</a>
+</li>
+</ul>
+
+
+<h3><a id="index_i"></a>- i -</h3><ul>
+<li>I_ee
+: <a class="el" href="structfranka_1_1RobotState.html#a74cee1beb5d400694133deea2846e611">franka::RobotState</a>
+</li>
+<li>I_load
+: <a class="el" href="structfranka_1_1RobotState.html#a5b194153497eff98049681f852118f82">franka::RobotState</a>
+</li>
+<li>I_total
+: <a class="el" href="structfranka_1_1RobotState.html#ad9120ae7b7613e77df8c1c3eba8fb033">franka::RobotState</a>
+</li>
+<li>in_control_range
+: <a class="el" href="structfranka_1_1VacuumGripperState.html#a70c1b14b10c2a79511fcada258c7e0ba">franka::VacuumGripperState</a>
+</li>
+<li>instability_detected
+: <a class="el" href="structfranka_1_1Errors.html#aebb701987262097687d21b3cf1bc8930">franka::Errors</a>
+</li>
+<li>is_grasped
+: <a class="el" href="structfranka_1_1GripperState.html#aa65b46313e740454ead9c9ea27e7bf8d">franka::GripperState</a>
+</li>
+</ul>
+
+
+<h3><a id="index_j"></a>- j -</h3><ul>
+<li>joint_collision
+: <a class="el" href="structfranka_1_1RobotState.html#a38757bafd4dd8e138410de1dca0c36f8">franka::RobotState</a>
+</li>
+<li>joint_contact
+: <a class="el" href="structfranka_1_1RobotState.html#a7243c652a8efe58c343a0d1252302fa4">franka::RobotState</a>
+</li>
+<li>joint_motion_generator_acceleration_discontinuity
+: <a class="el" href="structfranka_1_1Errors.html#a633195adca91f5ecaf1506da12f3311f">franka::Errors</a>
+</li>
+<li>joint_motion_generator_position_limits_violation
+: <a class="el" href="structfranka_1_1Errors.html#a9536ad072868b90525c56143cbb956ef">franka::Errors</a>
+</li>
+<li>joint_motion_generator_velocity_discontinuity
+: <a class="el" href="structfranka_1_1Errors.html#abd6da8e6a32d817a7b4848a24efd9379">franka::Errors</a>
+</li>
+<li>joint_motion_generator_velocity_limits_violation
+: <a class="el" href="structfranka_1_1Errors.html#ae211638df9b0e23905c8a9d36e249207">franka::Errors</a>
+</li>
+<li>joint_move_in_wrong_direction
+: <a class="el" href="structfranka_1_1Errors.html#a7d3a6480cbe572fd46e579b43732edc9">franka::Errors</a>
+</li>
+<li>joint_p2p_insufficient_torque_for_planning
+: <a class="el" href="structfranka_1_1Errors.html#a1c78be870253b510a4516acf14c2d3e3">franka::Errors</a>
+</li>
+<li>joint_position_limits_violation
+: <a class="el" href="structfranka_1_1Errors.html#a44ba0d45e52639280d32cf447f967e29">franka::Errors</a>
+</li>
+<li>joint_position_motion_generator_start_pose_invalid
+: <a class="el" href="structfranka_1_1Errors.html#a7af91cbf61dc79304bff3ffadc51ea86">franka::Errors</a>
+</li>
+<li>joint_positions
+: <a class="el" href="structfranka_1_1RobotCommand.html#a086afcec596eae5284b6c39dc1452280">franka::RobotCommand</a>
+</li>
+<li>joint_reflex
+: <a class="el" href="structfranka_1_1Errors.html#afb0928680c586e73d4e2cd4b42c7fe48">franka::Errors</a>
+</li>
+<li>joint_velocities
+: <a class="el" href="structfranka_1_1RobotCommand.html#a049657cf2bbbb53d6ffa5581721e7b71">franka::RobotCommand</a>
+</li>
+<li>joint_velocity_violation
+: <a class="el" href="structfranka_1_1Errors.html#a803ac4acbc26350602ea2eb02b7b30c4">franka::Errors</a>
+</li>
+<li>joint_via_motion_generator_planning_joint_limit_violation
+: <a class="el" href="structfranka_1_1Errors.html#aef3c74f48978545187ee2dc3a96db1c8">franka::Errors</a>
+</li>
+</ul>
+
+
+<h3><a id="index_k"></a>- k -</h3><ul>
+<li>K_F_ext_hat_K
+: <a class="el" href="structfranka_1_1RobotState.html#a96267d443c05fcc58d7ac32f63912649">franka::RobotState</a>
+</li>
+</ul>
+
+
+<h3><a id="index_l"></a>- l -</h3><ul>
+<li>last_motion_errors
+: <a class="el" href="structfranka_1_1RobotState.html#a06d7019f85339409e932dc086b7a260b">franka::RobotState</a>
+</li>
+<li>last_read_access
+: <a class="el" href="classfranka_1_1ActiveControl.html#a226304deac8032ed6c8428caa60c9fb4">franka::ActiveControl</a>
+</li>
+<li>library_version
+: <a class="el" href="structfranka_1_1IncompatibleVersionException.html#a81e6d7f01965ed7ee34f83dc3883ad01">franka::IncompatibleVersionException</a>
+</li>
+<li>log
+: <a class="el" href="structfranka_1_1ControlException.html#ae57f0ac0a9aa195057af1f1cc712b41e">franka::ControlException</a>
+</li>
+</ul>
+
+
+<h3><a id="index_m"></a>- m -</h3><ul>
+<li>m_ee
+: <a class="el" href="structfranka_1_1RobotState.html#af982a16246e33c1495ec02972a36bce3">franka::RobotState</a>
+</li>
+<li>m_load
+: <a class="el" href="structfranka_1_1RobotState.html#a99ea4ab9c5a42a5c17365ed8fd730cd1">franka::RobotState</a>
+</li>
+<li>m_total
+: <a class="el" href="structfranka_1_1RobotState.html#a87880d4693c8f576ebdabf00f4d4f981">franka::RobotState</a>
+</li>
+<li>max_goal_pose_deviation_violation
+: <a class="el" href="structfranka_1_1Errors.html#ac55d3624087e606cb4ffab121869d580">franka::Errors</a>
+</li>
+<li>max_path_pose_deviation_violation
+: <a class="el" href="structfranka_1_1Errors.html#ad90cffe703ca1b782007f3ba49da587c">franka::Errors</a>
+</li>
+<li>max_width
+: <a class="el" href="structfranka_1_1GripperState.html#ab71a26356c2898c49609bf991843e166">franka::GripperState</a>
+</li>
+<li>motion_finished
+: <a class="el" href="structfranka_1_1Finishable.html#a5d48028c0f912d4a089e6220d8715f7f">franka::Finishable</a>
+</li>
+<li>motion_id
+: <a class="el" href="classfranka_1_1ActiveControl.html#a0852a7d4b5a67df218440c2cc629f638">franka::ActiveControl</a>
+</li>
+</ul>
+
+
+<h3><a id="index_n"></a>- n -</h3><ul>
+<li>NE_T_EE
+: <a class="el" href="structfranka_1_1RobotState.html#ac53f1046fe758cfdda438a8e3ba08fff">franka::RobotState</a>
+</li>
+</ul>
+
+
+<h3><a id="index_o"></a>- o -</h3><ul>
+<li>O_ddP_EE_c
+: <a class="el" href="structfranka_1_1RobotState.html#ac8dfcf78ddbb27852484e921d6d66ca1">franka::RobotState</a>
+</li>
+<li>O_ddP_O
+: <a class="el" href="structfranka_1_1RobotState.html#ab24d7982942d316459fc35337dc38ecd">franka::RobotState</a>
+</li>
+<li>O_dP_EE
+: <a class="el" href="classfranka_1_1CartesianVelocities.html#ab7a42c7c1ee7109025aff5c43a56b398">franka::CartesianVelocities</a>
+</li>
+<li>O_dP_EE_c
+: <a class="el" href="structfranka_1_1RobotState.html#a4be112bd1a9a7d777a67aea4a18a8dcc">franka::RobotState</a>
+</li>
+<li>O_dP_EE_d
+: <a class="el" href="structfranka_1_1RobotState.html#a1e0a82b98534929c3061295d5761d607">franka::RobotState</a>
+</li>
+<li>O_F_ext_hat_K
+: <a class="el" href="structfranka_1_1RobotState.html#a5a830b4f9d6a3c2dc92e4a9cc6050493">franka::RobotState</a>
+</li>
+<li>O_T_EE
+: <a class="el" href="classfranka_1_1CartesianPose.html#a406e53e3d8fe594a11888f516eb4bf7d">franka::CartesianPose</a>
+, <a class="el" href="structfranka_1_1RobotState.html#a193781d47722b32925e0ea7ac415f442">franka::RobotState</a>
+</li>
+<li>O_T_EE_c
+: <a class="el" href="structfranka_1_1RobotState.html#a395c48eff099419ea5d42eaf0870fc18">franka::RobotState</a>
+</li>
+<li>O_T_EE_d
+: <a class="el" href="structfranka_1_1RobotState.html#a3e5b4b7687856e92d826044be7d15733">franka::RobotState</a>
+</li>
+</ul>
+
+
+<h3><a id="index_p"></a>- p -</h3><ul>
+<li>part_detached
+: <a class="el" href="structfranka_1_1VacuumGripperState.html#aa27a2b4b9d19bdcb059995a8121ba309">franka::VacuumGripperState</a>
+</li>
+<li>part_present
+: <a class="el" href="structfranka_1_1VacuumGripperState.html#aeb5664ab2a9784c9e31ce5f67c914107">franka::VacuumGripperState</a>
+</li>
+<li>power_limit_violation
+: <a class="el" href="structfranka_1_1Errors.html#a6c4d8cb1fb314567ebd07a6195b840f5">franka::Errors</a>
+</li>
+</ul>
+
+
+<h3><a id="index_q"></a>- q -</h3><ul>
+<li>q
+: <a class="el" href="classfranka_1_1JointPositions.html#a40e9098abe1c51cd48e17e41fbf78337">franka::JointPositions</a>
+, <a class="el" href="structfranka_1_1RobotState.html#ade3335d1ac2f6c44741a916d565f7091">franka::RobotState</a>
+</li>
+<li>q_d
+: <a class="el" href="structfranka_1_1RobotState.html#a706045af1b176049e9e56df755325bd2">franka::RobotState</a>
+</li>
+</ul>
+
+
+<h3><a id="index_r"></a>- r -</h3><ul>
+<li>robot_impl
+: <a class="el" href="classfranka_1_1ActiveControl.html#a94e725adb409391547a260f204c74564">franka::ActiveControl</a>
+</li>
+<li>robot_mode
+: <a class="el" href="structfranka_1_1RobotState.html#a4943ae75e0e2ec534e0afac31cbcc987">franka::RobotState</a>
+</li>
+</ul>
+
+
+<h3><a id="index_s"></a>- s -</h3><ul>
+<li>self_collision_avoidance_violation
+: <a class="el" href="structfranka_1_1Errors.html#adf68f6333624cb5558864441a991de8c">franka::Errors</a>
+</li>
+<li>server_version
+: <a class="el" href="structfranka_1_1IncompatibleVersionException.html#a0928098d8c32f405d17b65a0f004b5ab">franka::IncompatibleVersionException</a>
+</li>
+<li>start_elbow_sign_inconsistent
+: <a class="el" href="structfranka_1_1Errors.html#aa6de1956ac056792a1dea6b9ddd52a50">franka::Errors</a>
+</li>
+<li>state
+: <a class="el" href="structfranka_1_1Record.html#a58249658c9549fbc792eea90e7b6a7cc">franka::Record</a>
+</li>
+</ul>
+
+
+<h3><a id="index_t"></a>- t -</h3><ul>
+<li>tau_ext_hat_filtered
+: <a class="el" href="structfranka_1_1RobotState.html#acdef8005828d193e45b128085a9e363b">franka::RobotState</a>
+</li>
+<li>tau_J
+: <a class="el" href="structfranka_1_1RobotState.html#ad90e2518d661da0d8fa4c864bae210e5">franka::RobotState</a>
+, <a class="el" href="classfranka_1_1Torques.html#ac2a266cc2d3b7e0fb4f8eff045dbaed8">franka::Torques</a>
+</li>
+<li>tau_J_d
+: <a class="el" href="structfranka_1_1RobotState.html#a7086a89a2705810f93a3a95d43df2d9d">franka::RobotState</a>
+</li>
+<li>tau_j_range_violation
+: <a class="el" href="structfranka_1_1Errors.html#a1491f8428341649befa3d088aebb317e">franka::Errors</a>
+</li>
+<li>temperature
+: <a class="el" href="structfranka_1_1GripperState.html#aa6733fa786dbf3b073acbaf3779e34b3">franka::GripperState</a>
+</li>
+<li>theta
+: <a class="el" href="structfranka_1_1RobotState.html#aa34145d77dd411d7ca578c355f0ba2b4">franka::RobotState</a>
+</li>
+<li>time
+: <a class="el" href="structfranka_1_1GripperState.html#a80bf474b0e4351e2eefab62d1bd10c07">franka::GripperState</a>
+, <a class="el" href="structfranka_1_1RobotState.html#aabfdabeaef8c1858c52dd32344bdd039">franka::RobotState</a>
+, <a class="el" href="structfranka_1_1VacuumGripperState.html#aaa98eb6e1888094aace2014121a468ab">franka::VacuumGripperState</a>
+</li>
+<li>torques
+: <a class="el" href="structfranka_1_1RobotCommand.html#a8b23e8b669b1fd594988ecdbf54bfbce">franka::RobotCommand</a>
+</li>
+</ul>
+
+
+<h3><a id="index_v"></a>- v -</h3><ul>
+<li>vacuum
+: <a class="el" href="structfranka_1_1VacuumGripperState.html#ae94720737193caa696a47563a8efe6a8">franka::VacuumGripperState</a>
+</li>
+</ul>
+
+
+<h3><a id="index_w"></a>- w -</h3><ul>
+<li>width
+: <a class="el" href="structfranka_1_1GripperState.html#adf095f446ec39a9a48e120b209dcd6e9">franka::GripperState</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
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+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
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+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
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+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_w"></a>- w -</h3><ul>
+<li>width
+: <a class="el" href="structfranka_1_1GripperState.html#adf095f446ec39a9a48e120b209dcd6e9">franka::GripperState</a>
+</li>
+<li>writeOnce()
+: <a class="el" href="classfranka_1_1ActiveControl.html#a888b87832cd3def156c07a0b57d95663">franka::ActiveControl</a>
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+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
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+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
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+</table>
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+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_z"></a>- z -</h3><ul>
+<li>zeroJacobian()
+: <a class="el" href="classfranka_1_1Model.html#a6fb6347b571a6759bad10b3a9e28a28f">franka::Model</a>
+</li>
+</ul>
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+<meta name="generator" content="Doxygen 1.9.1"/>
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+<title>libfranka: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
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+<script type="text/javascript" src="search/search.js"></script>
+<script type="text/x-mathjax-config">
+  MathJax.Hub.Config({
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+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
+  </td>
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+     onmouseover="return searchBox.OnSearchSelectShow()"
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+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index__7E"></a>- ~ -</h3><ul>
+<li>~Gripper()
+: <a class="el" href="classfranka_1_1Gripper.html#ade253b8a35312d52c636c6aafb7b2e1d">franka::Gripper</a>
+</li>
+<li>~Model()
+: <a class="el" href="classfranka_1_1Model.html#a1d6ffa26afc6cfdff7e329d15b8bd65e">franka::Model</a>
+</li>
+<li>~Robot()
+: <a class="el" href="classfranka_1_1Robot.html#ac19400de0fd39852d5825b1f1ccc85e2">franka::Robot</a>
+</li>
+<li>~VacuumGripper()
+: <a class="el" href="classfranka_1_1VacuumGripper.html#af43f640f3cb9ca873b02bb464d3c279b">franka::VacuumGripper</a>
+</li>
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diff --git a/0.13.6/generate_cartesian_pose_motion_8cpp-example.html b/0.13.6/generate_cartesian_pose_motion_8cpp-example.html
new file mode 100644
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--- /dev/null
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+<html xmlns="http://www.w3.org/1999/xhtml">
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+<title>libfranka: generate_cartesian_pose_motion.cpp</title>
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+<script type="text/javascript" src="dynsections.js"></script>
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+  MathJax.Hub.Config({
+    extensions: ["tex2jax.js"],
+    jax: ["input/TeX","output/SVG"],
+});
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+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
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+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+
+<!-- iframe showing the search results (closed by default) -->
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+<iframe src="javascript:void(0)" frameborder="0" 
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+<div class="header">
+  <div class="headertitle">
+<div class="title">generate_cartesian_pose_motion.cpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<p>An example showing how to generate a Cartesian motion.</p><dl class="section warning"><dt>Warning</dt><dd>Before executing this example, make sure there is enough space in front of the robot.</dd></dl>
+<div class="fragment"><div class="line"><span class="comment">// Copyright (c) 2023 Franka Robotics GmbH</span></div>
+<div class="line"><span class="comment">// Use of this source code is governed by the Apache-2.0 license, see LICENSE</span></div>
+<div class="line"><span class="preprocessor">#include &lt;cmath&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;iostream&gt;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="exception_8h.html">franka/exception.h</a>&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="robot_8h.html">franka/robot.h</a>&gt;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="preprocessor">#include &quot;<a class="code" href="examples__common_8h.html">examples_common.h</a>&quot;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="keywordtype">int</span> main(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span>** argv) {</div>
+<div class="line">  <span class="keywordflow">if</span> (argc != 2) {</div>
+<div class="line">    std::cerr &lt;&lt; <span class="stringliteral">&quot;Usage: &quot;</span> &lt;&lt; argv[0] &lt;&lt; <span class="stringliteral">&quot; &lt;robot-hostname&gt;&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">    <span class="keywordflow">return</span> -1;</div>
+<div class="line">  }</div>
+<div class="line">  <span class="keywordflow">try</span> {</div>
+<div class="line">    <a name="_a0"></a><a class="code" href="classfranka_1_1Robot.html">franka::Robot</a> robot(argv[1]);</div>
+<div class="line">    <a name="a1"></a><a class="code" href="examples__common_8h.html#ad0c6e1cb044845ee8a01b5aa1e801a45">setDefaultBehavior</a>(robot);</div>
+<div class="line"> </div>
+<div class="line">    <span class="comment">// First move the robot to a suitable joint configuration</span></div>
+<div class="line">    std::array&lt;double, 7&gt; q_goal = {{0, -M_PI_4, 0, -3 * M_PI_4, 0, M_PI_2, M_PI_4}};</div>
+<div class="line">    <a name="_a2"></a><a class="code" href="classMotionGenerator.html">MotionGenerator</a> motion_generator(0.5, q_goal);</div>
+<div class="line">    std::cout &lt;&lt; <span class="stringliteral">&quot;WARNING: This example will move the robot! &quot;</span></div>
+<div class="line">              &lt;&lt; <span class="stringliteral">&quot;Please make sure to have the user stop button at hand!&quot;</span> &lt;&lt; std::endl</div>
+<div class="line">              &lt;&lt; <span class="stringliteral">&quot;Press Enter to continue...&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">    std::cin.ignore();</div>
+<div class="line">    robot.<a name="a3"></a><a class="code" href="classfranka_1_1Robot.html#a0d5effba5daff2fee123802bbd5f95d1">control</a>(motion_generator);</div>
+<div class="line">    std::cout &lt;&lt; <span class="stringliteral">&quot;Finished moving to initial joint configuration.&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"> </div>
+<div class="line">    <span class="comment">// Set additional parameters always before the control loop, NEVER in the control loop!</span></div>
+<div class="line">    <span class="comment">// Set collision behavior.</span></div>
+<div class="line">    robot.<a name="a4"></a><a class="code" href="classfranka_1_1Robot.html#a168e1214ac36d74ac64f894332b84534">setCollisionBehavior</a>(</div>
+<div class="line">        {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}}, {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}},</div>
+<div class="line">        {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}}, {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}},</div>
+<div class="line">        {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}}, {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}},</div>
+<div class="line">        {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}}, {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}});</div>
+<div class="line"> </div>
+<div class="line">    std::array&lt;double, 16&gt; initial_pose;</div>
+<div class="line">    <span class="keywordtype">double</span> time = 0.0;</div>
+<div class="line">    robot.<a class="code" href="classfranka_1_1Robot.html#a0d5effba5daff2fee123802bbd5f95d1">control</a>([&amp;time, &amp;initial_pose](<span class="keyword">const</span> <a name="_a5"></a><a class="code" href="structfranka_1_1RobotState.html">franka::RobotState</a>&amp; robot_state,</div>
+<div class="line">                                         <a name="_a6"></a><a class="code" href="classfranka_1_1Duration.html">franka::Duration</a> period) -&gt; <a name="_a7"></a><a class="code" href="classfranka_1_1CartesianPose.html">franka::CartesianPose</a> {</div>
+<div class="line">      time += period.<a name="a8"></a><a class="code" href="classfranka_1_1Duration.html#a497af77a3280159547f231f0374e9ac1">toSec</a>();</div>
+<div class="line"> </div>
+<div class="line">      <span class="keywordflow">if</span> (time == 0.0) {</div>
+<div class="line">        initial_pose = robot_state.<a name="a9"></a><a class="code" href="structfranka_1_1RobotState.html#a395c48eff099419ea5d42eaf0870fc18">O_T_EE_c</a>;</div>
+<div class="line">      }</div>
+<div class="line"> </div>
+<div class="line">      constexpr <span class="keywordtype">double</span> kRadius = 0.3;</div>
+<div class="line">      <span class="keywordtype">double</span> angle = M_PI / 4 * (1 - std::cos(M_PI / 5.0 * time));</div>
+<div class="line">      <span class="keywordtype">double</span> delta_x = kRadius * std::sin(angle);</div>
+<div class="line">      <span class="keywordtype">double</span> delta_z = kRadius * (std::cos(angle) - 1);</div>
+<div class="line"> </div>
+<div class="line">      std::array&lt;double, 16&gt; new_pose = initial_pose;</div>
+<div class="line">      new_pose[12] += delta_x;</div>
+<div class="line">      new_pose[14] += delta_z;</div>
+<div class="line"> </div>
+<div class="line">      <span class="keywordflow">if</span> (time &gt;= 10.0) {</div>
+<div class="line">        std::cout &lt;&lt; std::endl &lt;&lt; <span class="stringliteral">&quot;Finished motion, shutting down example&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">        <span class="keywordflow">return</span> <a name="a10"></a><a class="code" href="control__types_8h.html#a20791f7142d78bbbe3c957cc66a23ade">franka::MotionFinished</a>(new_pose);</div>
+<div class="line">      }</div>
+<div class="line">      <span class="keywordflow">return</span> new_pose;</div>
+<div class="line">    });</div>
+<div class="line">  } <span class="keywordflow">catch</span> (<span class="keyword">const</span> <a name="_a11"></a><a class="code" href="structfranka_1_1Exception.html">franka::Exception</a>&amp; e) {</div>
+<div class="line">    std::cout &lt;&lt; e.what() &lt;&lt; std::endl;</div>
+<div class="line">    <span class="keywordflow">return</span> -1;</div>
+<div class="line">  }</div>
+<div class="line"> </div>
+<div class="line">  <span class="keywordflow">return</span> 0;</div>
+<div class="line">}</div>
+<div class="ttc" id="aclassMotionGenerator_html"><div class="ttname"><a href="classMotionGenerator.html">MotionGenerator</a></div><div class="ttdoc">An example showing how to generate a joint pose motion to a goal position.</div><div class="ttdef"><b>Definition:</b> examples_common.h:31</div></div>
+<div class="ttc" id="aclassfranka_1_1CartesianPose_html"><div class="ttname"><a href="classfranka_1_1CartesianPose.html">franka::CartesianPose</a></div><div class="ttdoc">Stores values for Cartesian pose motion generation.</div><div class="ttdef"><b>Definition:</b> control_types.h:127</div></div>
+<div class="ttc" id="aclassfranka_1_1Duration_html"><div class="ttname"><a href="classfranka_1_1Duration.html">franka::Duration</a></div><div class="ttdoc">Represents a duration with millisecond resolution.</div><div class="ttdef"><b>Definition:</b> duration.h:19</div></div>
+<div class="ttc" id="aclassfranka_1_1Duration_html_a497af77a3280159547f231f0374e9ac1"><div class="ttname"><a href="classfranka_1_1Duration.html#a497af77a3280159547f231f0374e9ac1">franka::Duration::toSec</a></div><div class="ttdeci">double toSec() const noexcept</div><div class="ttdoc">Returns the stored duration in .</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html"><div class="ttname"><a href="classfranka_1_1Robot.html">franka::Robot</a></div><div class="ttdoc">Maintains a network connection to the robot, provides the current robot state, gives access to the mo...</div><div class="ttdef"><b>Definition:</b> robot.h:67</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_a0d5effba5daff2fee123802bbd5f95d1"><div class="ttname"><a href="classfranka_1_1Robot.html#a0d5effba5daff2fee123802bbd5f95d1">franka::Robot::control</a></div><div class="ttdeci">void control(std::function&lt; Torques(const RobotState &amp;, franka::Duration)&gt; control_callback, bool limit_rate=false, double cutoff_frequency=kDefaultCutoffFrequency)</div><div class="ttdoc">Starts a control loop for sending joint-level torque commands.</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_a168e1214ac36d74ac64f894332b84534"><div class="ttname"><a href="classfranka_1_1Robot.html#a168e1214ac36d74ac64f894332b84534">franka::Robot::setCollisionBehavior</a></div><div class="ttdeci">void setCollisionBehavior(const std::array&lt; double, 7 &gt; &amp;lower_torque_thresholds_acceleration, const std::array&lt; double, 7 &gt; &amp;upper_torque_thresholds_acceleration, const std::array&lt; double, 7 &gt; &amp;lower_torque_thresholds_nominal, const std::array&lt; double, 7 &gt; &amp;upper_torque_thresholds_nominal, const std::array&lt; double, 6 &gt; &amp;lower_force_thresholds_acceleration, const std::array&lt; double, 6 &gt; &amp;upper_force_thresholds_acceleration, const std::array&lt; double, 6 &gt; &amp;lower_force_thresholds_nominal, const std::array&lt; double, 6 &gt; &amp;upper_force_thresholds_nominal)</div><div class="ttdoc">Changes the collision behavior.</div></div>
+<div class="ttc" id="acontrol__types_8h_html_a20791f7142d78bbbe3c957cc66a23ade"><div class="ttname"><a href="control__types_8h.html#a20791f7142d78bbbe3c957cc66a23ade">franka::MotionFinished</a></div><div class="ttdeci">Torques MotionFinished(Torques command) noexcept</div><div class="ttdoc">Helper method to indicate that a motion should stop after processing the given command.</div><div class="ttdef"><b>Definition:</b> control_types.h:294</div></div>
+<div class="ttc" id="aexamples__common_8h_html"><div class="ttname"><a href="examples__common_8h.html">examples_common.h</a></div><div class="ttdoc">Contains common types and functions for the examples.</div></div>
+<div class="ttc" id="aexamples__common_8h_html_ad0c6e1cb044845ee8a01b5aa1e801a45"><div class="ttname"><a href="examples__common_8h.html#ad0c6e1cb044845ee8a01b5aa1e801a45">setDefaultBehavior</a></div><div class="ttdeci">void setDefaultBehavior(franka::Robot &amp;robot)</div><div class="ttdoc">Sets a default collision behavior, joint impedance and Cartesian impedance.</div><div class="ttdef"><b>Definition:</b> examples_common.cpp:12</div></div>
+<div class="ttc" id="aexception_8h_html"><div class="ttname"><a href="exception_8h.html">exception.h</a></div><div class="ttdoc">Contains exception definitions.</div></div>
+<div class="ttc" id="arobot_8h_html"><div class="ttname"><a href="robot_8h.html">robot.h</a></div><div class="ttdoc">Contains the franka::Robot type.</div></div>
+<div class="ttc" id="astructfranka_1_1Exception_html"><div class="ttname"><a href="structfranka_1_1Exception.html">franka::Exception</a></div><div class="ttdoc">Base class for all exceptions used by libfranka.</div><div class="ttdef"><b>Definition:</b> exception.h:20</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html"><div class="ttname"><a href="structfranka_1_1RobotState.html">franka::RobotState</a></div><div class="ttdoc">Describes the robot state.</div><div class="ttdef"><b>Definition:</b> robot_state.h:34</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_a395c48eff099419ea5d42eaf0870fc18"><div class="ttname"><a href="structfranka_1_1RobotState.html#a395c48eff099419ea5d42eaf0870fc18">franka::RobotState::O_T_EE_c</a></div><div class="ttdeci">std::array&lt; double, 16 &gt; O_T_EE_c</div><div class="ttdoc">Last commanded end effector pose of motion generation in base frame.</div><div class="ttdef"><b>Definition:</b> robot_state.h:342</div></div>
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diff --git a/0.13.6/generate_cartesian_pose_motion_external_control_loop_8cpp-example.html b/0.13.6/generate_cartesian_pose_motion_external_control_loop_8cpp-example.html
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+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
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+  <div class="headertitle">
+<div class="title">generate_cartesian_pose_motion_external_control_loop.cpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<p>An example showing how to generate a Cartesian motion with an external control loop.</p><dl class="section warning"><dt>Warning</dt><dd>Before executing this example, make sure there is enough space in front of the robot.</dd></dl>
+<div class="fragment"><div class="line"><span class="comment">// Copyright (c) 2023 Franka Robotics GmbH</span></div>
+<div class="line"><span class="comment">// Use of this source code is governed by the Apache-2.0 license, see LICENSE</span></div>
+<div class="line"><span class="preprocessor">#include &lt;cmath&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;iostream&gt;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="active__control_8h.html">franka/active_control.h</a>&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="active__motion__generator_8h.html">franka/active_motion_generator.h</a>&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="exception_8h.html">franka/exception.h</a>&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="robot_8h.html">franka/robot.h</a>&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &quot;<a class="code" href="examples__common_8h.html">examples_common.h</a>&quot;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="keywordtype">int</span> main(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span>** argv) {</div>
+<div class="line">  <span class="comment">// Check whether the required arguments were passed</span></div>
+<div class="line">  <span class="keywordflow">if</span> (argc != 2) {</div>
+<div class="line">    std::cerr &lt;&lt; <span class="stringliteral">&quot;Usage: &quot;</span> &lt;&lt; argv[0] &lt;&lt; <span class="stringliteral">&quot; &lt;robot-hostname&gt;&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">    <span class="keywordflow">return</span> -1;</div>
+<div class="line">  }</div>
+<div class="line"> </div>
+<div class="line">  <span class="keywordflow">try</span> {</div>
+<div class="line">    <a name="_a0"></a><a class="code" href="classfranka_1_1Robot.html">franka::Robot</a> robot(argv[1]);</div>
+<div class="line">    <a name="a1"></a><a class="code" href="examples__common_8h.html#ad0c6e1cb044845ee8a01b5aa1e801a45">setDefaultBehavior</a>(robot);</div>
+<div class="line"> </div>
+<div class="line">    <span class="comment">// First move the robot to a suitable joint configuration</span></div>
+<div class="line">    std::array&lt;double, 7&gt; q_goal = {{0, -M_PI_4, 0, -3 * M_PI_4, 0, M_PI_2, M_PI_4}};</div>
+<div class="line">    <a name="_a2"></a><a class="code" href="classMotionGenerator.html">MotionGenerator</a> motion_generator(0.5, q_goal);</div>
+<div class="line">    std::cout &lt;&lt; <span class="stringliteral">&quot;WARNING: This example will move the robot! &quot;</span></div>
+<div class="line">              &lt;&lt; <span class="stringliteral">&quot;Please make sure to have the user stop button at hand!&quot;</span> &lt;&lt; std::endl</div>
+<div class="line">              &lt;&lt; <span class="stringliteral">&quot;Press Enter to continue...&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">    std::cin.ignore();</div>
+<div class="line">    robot.<a name="a3"></a><a class="code" href="classfranka_1_1Robot.html#a0d5effba5daff2fee123802bbd5f95d1">control</a>(motion_generator);</div>
+<div class="line">    std::cout &lt;&lt; <span class="stringliteral">&quot;Finished moving to initial joint configuration.&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"> </div>
+<div class="line">    <span class="comment">// Set additional parameters always before the control loop, NEVER in the control loop!</span></div>
+<div class="line">    <span class="comment">// Set collision behavior.</span></div>
+<div class="line">    robot.<a name="a4"></a><a class="code" href="classfranka_1_1Robot.html#a168e1214ac36d74ac64f894332b84534">setCollisionBehavior</a>(</div>
+<div class="line">        {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}}, {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}},</div>
+<div class="line">        {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}}, {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}},</div>
+<div class="line">        {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}}, {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}},</div>
+<div class="line">        {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}}, {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}});</div>
+<div class="line"> </div>
+<div class="line">    std::array&lt;double, 16&gt; initial_pose;</div>
+<div class="line">    <span class="keywordtype">double</span> time = 0.0;</div>
+<div class="line"> </div>
+<div class="line">    <span class="keyword">auto</span> callback_control = [&amp;time, &amp;initial_pose](</div>
+<div class="line">                                <span class="keyword">const</span> <a name="_a5"></a><a class="code" href="structfranka_1_1RobotState.html">franka::RobotState</a>&amp; robot_state,</div>
+<div class="line">                                <a name="_a6"></a><a class="code" href="classfranka_1_1Duration.html">franka::Duration</a> period) -&gt; <a name="_a7"></a><a class="code" href="classfranka_1_1CartesianPose.html">franka::CartesianPose</a> {</div>
+<div class="line">      time += period.toSec();</div>
+<div class="line"> </div>
+<div class="line">      <span class="keywordflow">if</span> (time == 0.0) {</div>
+<div class="line">        initial_pose = robot_state.O_T_EE_c;</div>
+<div class="line">      }</div>
+<div class="line"> </div>
+<div class="line">      constexpr <span class="keywordtype">double</span> kRadius = 0.3;</div>
+<div class="line">      <span class="keywordtype">double</span> angle = M_PI / 4 * (1 - std::cos(M_PI / 5.0 * time));</div>
+<div class="line">      <span class="keywordtype">double</span> delta_x = kRadius * std::sin(angle);</div>
+<div class="line">      <span class="keywordtype">double</span> delta_z = kRadius * (std::cos(angle) - 1);</div>
+<div class="line"> </div>
+<div class="line">      std::array&lt;double, 16&gt; new_pose = initial_pose;</div>
+<div class="line">      new_pose[12] += delta_x;</div>
+<div class="line">      new_pose[14] += delta_z;</div>
+<div class="line"> </div>
+<div class="line">      <span class="keywordflow">if</span> (time &gt;= 10.0) {</div>
+<div class="line">        std::cout &lt;&lt; std::endl &lt;&lt; <span class="stringliteral">&quot;Finished motion, shutting down example&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">        <span class="keywordflow">return</span> <a name="a8"></a><a class="code" href="control__types_8h.html#a20791f7142d78bbbe3c957cc66a23ade">franka::MotionFinished</a>(new_pose);</div>
+<div class="line">      }</div>
+<div class="line">      <span class="keywordflow">return</span> new_pose;</div>
+<div class="line">    };</div>
+<div class="line"> </div>
+<div class="line">    <span class="keywordtype">bool</span> motion_finished = <span class="keyword">false</span>;</div>
+<div class="line">    <span class="keyword">auto</span> active_control = robot.<a name="a9"></a><a class="code" href="classfranka_1_1Robot.html#a3822866cf931fab955d3dcfc6cf746e5">startCartesianPoseControl</a>(</div>
+<div class="line">        research_interface::robot::Move::ControllerMode::kJointImpedance);</div>
+<div class="line">    <span class="keywordflow">while</span> (!motion_finished) {</div>
+<div class="line">      <span class="keyword">auto</span> read_once_return = active_control-&gt;readOnce();</div>
+<div class="line">      <span class="keyword">auto</span> robot_state = read_once_return.first;</div>
+<div class="line">      <span class="keyword">auto</span> duration = read_once_return.second;</div>
+<div class="line">      <span class="keyword">auto</span> cartesian_positions = callback_control(robot_state, duration);</div>
+<div class="line">      motion_finished = cartesian_positions.motion_finished;</div>
+<div class="line">      active_control-&gt;writeOnce(cartesian_positions);</div>
+<div class="line">    }</div>
+<div class="line"> </div>
+<div class="line">  } <span class="keywordflow">catch</span> (<span class="keyword">const</span> <a name="_a10"></a><a class="code" href="structfranka_1_1Exception.html">franka::Exception</a>&amp; e) {</div>
+<div class="line">    std::cout &lt;&lt; e.what() &lt;&lt; std::endl;</div>
+<div class="line">    <span class="keywordflow">return</span> -1;</div>
+<div class="line">  }</div>
+<div class="line"> </div>
+<div class="line">  <span class="keywordflow">return</span> 0;</div>
+<div class="line">}</div>
+<div class="ttc" id="aactive__control_8h_html"><div class="ttname"><a href="active__control_8h.html">active_control.h</a></div><div class="ttdoc">Implements the ActiveControlBase abstract class.</div></div>
+<div class="ttc" id="aactive__motion__generator_8h_html"><div class="ttname"><a href="active__motion__generator_8h.html">active_motion_generator.h</a></div><div class="ttdoc">Contains the franka::ActiveMotionGenerator type.</div></div>
+<div class="ttc" id="aclassMotionGenerator_html"><div class="ttname"><a href="classMotionGenerator.html">MotionGenerator</a></div><div class="ttdoc">An example showing how to generate a joint pose motion to a goal position.</div><div class="ttdef"><b>Definition:</b> examples_common.h:31</div></div>
+<div class="ttc" id="aclassfranka_1_1CartesianPose_html"><div class="ttname"><a href="classfranka_1_1CartesianPose.html">franka::CartesianPose</a></div><div class="ttdoc">Stores values for Cartesian pose motion generation.</div><div class="ttdef"><b>Definition:</b> control_types.h:127</div></div>
+<div class="ttc" id="aclassfranka_1_1Duration_html"><div class="ttname"><a href="classfranka_1_1Duration.html">franka::Duration</a></div><div class="ttdoc">Represents a duration with millisecond resolution.</div><div class="ttdef"><b>Definition:</b> duration.h:19</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html"><div class="ttname"><a href="classfranka_1_1Robot.html">franka::Robot</a></div><div class="ttdoc">Maintains a network connection to the robot, provides the current robot state, gives access to the mo...</div><div class="ttdef"><b>Definition:</b> robot.h:67</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_a0d5effba5daff2fee123802bbd5f95d1"><div class="ttname"><a href="classfranka_1_1Robot.html#a0d5effba5daff2fee123802bbd5f95d1">franka::Robot::control</a></div><div class="ttdeci">void control(std::function&lt; Torques(const RobotState &amp;, franka::Duration)&gt; control_callback, bool limit_rate=false, double cutoff_frequency=kDefaultCutoffFrequency)</div><div class="ttdoc">Starts a control loop for sending joint-level torque commands.</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_a168e1214ac36d74ac64f894332b84534"><div class="ttname"><a href="classfranka_1_1Robot.html#a168e1214ac36d74ac64f894332b84534">franka::Robot::setCollisionBehavior</a></div><div class="ttdeci">void setCollisionBehavior(const std::array&lt; double, 7 &gt; &amp;lower_torque_thresholds_acceleration, const std::array&lt; double, 7 &gt; &amp;upper_torque_thresholds_acceleration, const std::array&lt; double, 7 &gt; &amp;lower_torque_thresholds_nominal, const std::array&lt; double, 7 &gt; &amp;upper_torque_thresholds_nominal, const std::array&lt; double, 6 &gt; &amp;lower_force_thresholds_acceleration, const std::array&lt; double, 6 &gt; &amp;upper_force_thresholds_acceleration, const std::array&lt; double, 6 &gt; &amp;lower_force_thresholds_nominal, const std::array&lt; double, 6 &gt; &amp;upper_force_thresholds_nominal)</div><div class="ttdoc">Changes the collision behavior.</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_a3822866cf931fab955d3dcfc6cf746e5"><div class="ttname"><a href="classfranka_1_1Robot.html#a3822866cf931fab955d3dcfc6cf746e5">franka::Robot::startCartesianPoseControl</a></div><div class="ttdeci">virtual std::unique_ptr&lt; ActiveControlBase &gt; startCartesianPoseControl(const research_interface::robot::Move::ControllerMode &amp;control_type)</div><div class="ttdoc">Starts a new cartesian position motion generator.</div></div>
+<div class="ttc" id="acontrol__types_8h_html_a20791f7142d78bbbe3c957cc66a23ade"><div class="ttname"><a href="control__types_8h.html#a20791f7142d78bbbe3c957cc66a23ade">franka::MotionFinished</a></div><div class="ttdeci">Torques MotionFinished(Torques command) noexcept</div><div class="ttdoc">Helper method to indicate that a motion should stop after processing the given command.</div><div class="ttdef"><b>Definition:</b> control_types.h:294</div></div>
+<div class="ttc" id="aexamples__common_8h_html"><div class="ttname"><a href="examples__common_8h.html">examples_common.h</a></div><div class="ttdoc">Contains common types and functions for the examples.</div></div>
+<div class="ttc" id="aexamples__common_8h_html_ad0c6e1cb044845ee8a01b5aa1e801a45"><div class="ttname"><a href="examples__common_8h.html#ad0c6e1cb044845ee8a01b5aa1e801a45">setDefaultBehavior</a></div><div class="ttdeci">void setDefaultBehavior(franka::Robot &amp;robot)</div><div class="ttdoc">Sets a default collision behavior, joint impedance and Cartesian impedance.</div><div class="ttdef"><b>Definition:</b> examples_common.cpp:12</div></div>
+<div class="ttc" id="aexception_8h_html"><div class="ttname"><a href="exception_8h.html">exception.h</a></div><div class="ttdoc">Contains exception definitions.</div></div>
+<div class="ttc" id="arobot_8h_html"><div class="ttname"><a href="robot_8h.html">robot.h</a></div><div class="ttdoc">Contains the franka::Robot type.</div></div>
+<div class="ttc" id="astructfranka_1_1Exception_html"><div class="ttname"><a href="structfranka_1_1Exception.html">franka::Exception</a></div><div class="ttdoc">Base class for all exceptions used by libfranka.</div><div class="ttdef"><b>Definition:</b> exception.h:20</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html"><div class="ttname"><a href="structfranka_1_1RobotState.html">franka::RobotState</a></div><div class="ttdoc">Describes the robot state.</div><div class="ttdef"><b>Definition:</b> robot_state.h:34</div></div>
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+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
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+  <div class="headertitle">
+<div class="title">generate_cartesian_velocity_motion.cpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<p>An example showing how to generate a Cartesian velocity motion.</p><dl class="section warning"><dt>Warning</dt><dd>Before executing this example, make sure there is enough space in front of the robot.</dd></dl>
+<div class="fragment"><div class="line"><span class="comment">// Copyright (c) 2023 Franka Robotics GmbH</span></div>
+<div class="line"><span class="comment">// Use of this source code is governed by the Apache-2.0 license, see LICENSE</span></div>
+<div class="line"><span class="preprocessor">#include &lt;cmath&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;iostream&gt;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="exception_8h.html">franka/exception.h</a>&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="robot_8h.html">franka/robot.h</a>&gt;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="preprocessor">#include &quot;<a class="code" href="examples__common_8h.html">examples_common.h</a>&quot;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="keywordtype">int</span> main(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span>** argv) {</div>
+<div class="line">  <span class="keywordflow">if</span> (argc != 2) {</div>
+<div class="line">    std::cerr &lt;&lt; <span class="stringliteral">&quot;Usage: &quot;</span> &lt;&lt; argv[0] &lt;&lt; <span class="stringliteral">&quot; &lt;robot-hostname&gt;&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">    <span class="keywordflow">return</span> -1;</div>
+<div class="line">  }</div>
+<div class="line">  <span class="keywordflow">try</span> {</div>
+<div class="line">    <a name="_a0"></a><a class="code" href="classfranka_1_1Robot.html">franka::Robot</a> robot(argv[1]);</div>
+<div class="line">    <a name="a1"></a><a class="code" href="examples__common_8h.html#ad0c6e1cb044845ee8a01b5aa1e801a45">setDefaultBehavior</a>(robot);</div>
+<div class="line"> </div>
+<div class="line">    <span class="comment">// First move the robot to a suitable joint configuration</span></div>
+<div class="line">    std::array&lt;double, 7&gt; q_goal = {{0, -M_PI_4, 0, -3 * M_PI_4, 0, M_PI_2, M_PI_4}};</div>
+<div class="line">    <a name="_a2"></a><a class="code" href="classMotionGenerator.html">MotionGenerator</a> motion_generator(0.5, q_goal);</div>
+<div class="line">    std::cout &lt;&lt; <span class="stringliteral">&quot;WARNING: This example will move the robot! &quot;</span></div>
+<div class="line">              &lt;&lt; <span class="stringliteral">&quot;Please make sure to have the user stop button at hand!&quot;</span> &lt;&lt; std::endl</div>
+<div class="line">              &lt;&lt; <span class="stringliteral">&quot;Press Enter to continue...&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">    std::cin.ignore();</div>
+<div class="line">    robot.<a name="a3"></a><a class="code" href="classfranka_1_1Robot.html#a0d5effba5daff2fee123802bbd5f95d1">control</a>(motion_generator);</div>
+<div class="line">    std::cout &lt;&lt; <span class="stringliteral">&quot;Finished moving to initial joint configuration.&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"> </div>
+<div class="line">    <span class="comment">// Set additional parameters always before the control loop, NEVER in the control loop!</span></div>
+<div class="line">    <span class="comment">// Set the joint impedance.</span></div>
+<div class="line">    robot.<a name="a4"></a><a class="code" href="classfranka_1_1Robot.html#aa18a28697cf6e3be16c6cff2dd839560">setJointImpedance</a>({{3000, 3000, 3000, 2500, 2500, 2000, 2000}});</div>
+<div class="line"> </div>
+<div class="line">    <span class="comment">// Set the collision behavior.</span></div>
+<div class="line">    std::array&lt;double, 7&gt; lower_torque_thresholds_nominal{</div>
+<div class="line">        {25.0, 25.0, 22.0, 20.0, 19.0, 17.0, 14.}};</div>
+<div class="line">    std::array&lt;double, 7&gt; upper_torque_thresholds_nominal{</div>
+<div class="line">        {35.0, 35.0, 32.0, 30.0, 29.0, 27.0, 24.0}};</div>
+<div class="line">    std::array&lt;double, 7&gt; lower_torque_thresholds_acceleration{</div>
+<div class="line">        {25.0, 25.0, 22.0, 20.0, 19.0, 17.0, 14.0}};</div>
+<div class="line">    std::array&lt;double, 7&gt; upper_torque_thresholds_acceleration{</div>
+<div class="line">        {35.0, 35.0, 32.0, 30.0, 29.0, 27.0, 24.0}};</div>
+<div class="line">    std::array&lt;double, 6&gt; lower_force_thresholds_nominal{{30.0, 30.0, 30.0, 25.0, 25.0, 25.0}};</div>
+<div class="line">    std::array&lt;double, 6&gt; upper_force_thresholds_nominal{{40.0, 40.0, 40.0, 35.0, 35.0, 35.0}};</div>
+<div class="line">    std::array&lt;double, 6&gt; lower_force_thresholds_acceleration{{30.0, 30.0, 30.0, 25.0, 25.0, 25.0}};</div>
+<div class="line">    std::array&lt;double, 6&gt; upper_force_thresholds_acceleration{{40.0, 40.0, 40.0, 35.0, 35.0, 35.0}};</div>
+<div class="line">    robot.<a name="a5"></a><a class="code" href="classfranka_1_1Robot.html#a168e1214ac36d74ac64f894332b84534">setCollisionBehavior</a>(</div>
+<div class="line">        lower_torque_thresholds_acceleration, upper_torque_thresholds_acceleration,</div>
+<div class="line">        lower_torque_thresholds_nominal, upper_torque_thresholds_nominal,</div>
+<div class="line">        lower_force_thresholds_acceleration, upper_force_thresholds_acceleration,</div>
+<div class="line">        lower_force_thresholds_nominal, upper_force_thresholds_nominal);</div>
+<div class="line"> </div>
+<div class="line">    <span class="keywordtype">double</span> time_max = 4.0;</div>
+<div class="line">    <span class="keywordtype">double</span> v_max = 0.1;</div>
+<div class="line">    <span class="keywordtype">double</span> angle = M_PI / 4.0;</div>
+<div class="line">    <span class="keywordtype">double</span> time = 0.0;</div>
+<div class="line">    robot.<a class="code" href="classfranka_1_1Robot.html#a0d5effba5daff2fee123802bbd5f95d1">control</a>([=, &amp;time](<span class="keyword">const</span> <a name="_a6"></a><a class="code" href="structfranka_1_1RobotState.html">franka::RobotState</a>&amp;,</div>
+<div class="line">                             <a name="_a7"></a><a class="code" href="classfranka_1_1Duration.html">franka::Duration</a> period) -&gt; <a name="_a8"></a><a class="code" href="classfranka_1_1CartesianVelocities.html">franka::CartesianVelocities</a> {</div>
+<div class="line">      time += period.<a name="a9"></a><a class="code" href="classfranka_1_1Duration.html#a497af77a3280159547f231f0374e9ac1">toSec</a>();</div>
+<div class="line"> </div>
+<div class="line">      <span class="keywordtype">double</span> cycle = std::floor(pow(-1.0, (time - std::fmod(time, time_max)) / time_max));</div>
+<div class="line">      <span class="keywordtype">double</span> v = cycle * v_max / 2.0 * (1.0 - std::cos(2.0 * M_PI / time_max * time));</div>
+<div class="line">      <span class="keywordtype">double</span> v_x = std::cos(angle) * v;</div>
+<div class="line">      <span class="keywordtype">double</span> v_z = -std::sin(angle) * v;</div>
+<div class="line"> </div>
+<div class="line">      <a class="code" href="classfranka_1_1CartesianVelocities.html">franka::CartesianVelocities</a> output = {{v_x, 0.0, v_z, 0.0, 0.0, 0.0}};</div>
+<div class="line">      <span class="keywordflow">if</span> (time &gt;= 2 * time_max) {</div>
+<div class="line">        std::cout &lt;&lt; std::endl &lt;&lt; <span class="stringliteral">&quot;Finished motion, shutting down example&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">        <span class="keywordflow">return</span> <a name="a10"></a><a class="code" href="control__types_8h.html#a20791f7142d78bbbe3c957cc66a23ade">franka::MotionFinished</a>(output);</div>
+<div class="line">      }</div>
+<div class="line">      <span class="keywordflow">return</span> output;</div>
+<div class="line">    });</div>
+<div class="line">  } <span class="keywordflow">catch</span> (<span class="keyword">const</span> <a name="_a11"></a><a class="code" href="structfranka_1_1Exception.html">franka::Exception</a>&amp; e) {</div>
+<div class="line">    std::cout &lt;&lt; e.what() &lt;&lt; std::endl;</div>
+<div class="line">    <span class="keywordflow">return</span> -1;</div>
+<div class="line">  }</div>
+<div class="line"> </div>
+<div class="line">  <span class="keywordflow">return</span> 0;</div>
+<div class="line">}</div>
+<div class="ttc" id="aclassMotionGenerator_html"><div class="ttname"><a href="classMotionGenerator.html">MotionGenerator</a></div><div class="ttdoc">An example showing how to generate a joint pose motion to a goal position.</div><div class="ttdef"><b>Definition:</b> examples_common.h:31</div></div>
+<div class="ttc" id="aclassfranka_1_1CartesianVelocities_html"><div class="ttname"><a href="classfranka_1_1CartesianVelocities.html">franka::CartesianVelocities</a></div><div class="ttdoc">Stores values for Cartesian velocity motion generation.</div><div class="ttdef"><b>Definition:</b> control_types.h:211</div></div>
+<div class="ttc" id="aclassfranka_1_1Duration_html"><div class="ttname"><a href="classfranka_1_1Duration.html">franka::Duration</a></div><div class="ttdoc">Represents a duration with millisecond resolution.</div><div class="ttdef"><b>Definition:</b> duration.h:19</div></div>
+<div class="ttc" id="aclassfranka_1_1Duration_html_a497af77a3280159547f231f0374e9ac1"><div class="ttname"><a href="classfranka_1_1Duration.html#a497af77a3280159547f231f0374e9ac1">franka::Duration::toSec</a></div><div class="ttdeci">double toSec() const noexcept</div><div class="ttdoc">Returns the stored duration in .</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html"><div class="ttname"><a href="classfranka_1_1Robot.html">franka::Robot</a></div><div class="ttdoc">Maintains a network connection to the robot, provides the current robot state, gives access to the mo...</div><div class="ttdef"><b>Definition:</b> robot.h:67</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_a0d5effba5daff2fee123802bbd5f95d1"><div class="ttname"><a href="classfranka_1_1Robot.html#a0d5effba5daff2fee123802bbd5f95d1">franka::Robot::control</a></div><div class="ttdeci">void control(std::function&lt; Torques(const RobotState &amp;, franka::Duration)&gt; control_callback, bool limit_rate=false, double cutoff_frequency=kDefaultCutoffFrequency)</div><div class="ttdoc">Starts a control loop for sending joint-level torque commands.</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_a168e1214ac36d74ac64f894332b84534"><div class="ttname"><a href="classfranka_1_1Robot.html#a168e1214ac36d74ac64f894332b84534">franka::Robot::setCollisionBehavior</a></div><div class="ttdeci">void setCollisionBehavior(const std::array&lt; double, 7 &gt; &amp;lower_torque_thresholds_acceleration, const std::array&lt; double, 7 &gt; &amp;upper_torque_thresholds_acceleration, const std::array&lt; double, 7 &gt; &amp;lower_torque_thresholds_nominal, const std::array&lt; double, 7 &gt; &amp;upper_torque_thresholds_nominal, const std::array&lt; double, 6 &gt; &amp;lower_force_thresholds_acceleration, const std::array&lt; double, 6 &gt; &amp;upper_force_thresholds_acceleration, const std::array&lt; double, 6 &gt; &amp;lower_force_thresholds_nominal, const std::array&lt; double, 6 &gt; &amp;upper_force_thresholds_nominal)</div><div class="ttdoc">Changes the collision behavior.</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_aa18a28697cf6e3be16c6cff2dd839560"><div class="ttname"><a href="classfranka_1_1Robot.html#aa18a28697cf6e3be16c6cff2dd839560">franka::Robot::setJointImpedance</a></div><div class="ttdeci">void setJointImpedance(const std::array&lt; double, 7 &gt; &amp;K_theta)</div><div class="ttdoc">Sets the impedance for each joint in the internal controller.</div></div>
+<div class="ttc" id="acontrol__types_8h_html_a20791f7142d78bbbe3c957cc66a23ade"><div class="ttname"><a href="control__types_8h.html#a20791f7142d78bbbe3c957cc66a23ade">franka::MotionFinished</a></div><div class="ttdeci">Torques MotionFinished(Torques command) noexcept</div><div class="ttdoc">Helper method to indicate that a motion should stop after processing the given command.</div><div class="ttdef"><b>Definition:</b> control_types.h:294</div></div>
+<div class="ttc" id="aexamples__common_8h_html"><div class="ttname"><a href="examples__common_8h.html">examples_common.h</a></div><div class="ttdoc">Contains common types and functions for the examples.</div></div>
+<div class="ttc" id="aexamples__common_8h_html_ad0c6e1cb044845ee8a01b5aa1e801a45"><div class="ttname"><a href="examples__common_8h.html#ad0c6e1cb044845ee8a01b5aa1e801a45">setDefaultBehavior</a></div><div class="ttdeci">void setDefaultBehavior(franka::Robot &amp;robot)</div><div class="ttdoc">Sets a default collision behavior, joint impedance and Cartesian impedance.</div><div class="ttdef"><b>Definition:</b> examples_common.cpp:12</div></div>
+<div class="ttc" id="aexception_8h_html"><div class="ttname"><a href="exception_8h.html">exception.h</a></div><div class="ttdoc">Contains exception definitions.</div></div>
+<div class="ttc" id="arobot_8h_html"><div class="ttname"><a href="robot_8h.html">robot.h</a></div><div class="ttdoc">Contains the franka::Robot type.</div></div>
+<div class="ttc" id="astructfranka_1_1Exception_html"><div class="ttname"><a href="structfranka_1_1Exception.html">franka::Exception</a></div><div class="ttdoc">Base class for all exceptions used by libfranka.</div><div class="ttdef"><b>Definition:</b> exception.h:20</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html"><div class="ttname"><a href="structfranka_1_1RobotState.html">franka::RobotState</a></div><div class="ttdoc">Describes the robot state.</div><div class="ttdef"><b>Definition:</b> robot_state.h:34</div></div>
+</div><!-- fragment --> </div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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diff --git a/0.13.6/generate_cartesian_velocity_motion_external_control_loop_8cpp-example.html b/0.13.6/generate_cartesian_velocity_motion_external_control_loop_8cpp-example.html
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+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
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+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+  <div class="headertitle">
+<div class="title">generate_cartesian_velocity_motion_external_control_loop.cpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<p>An example showing how to generate a Cartesian velocity motion with an external control loop.</p><dl class="section warning"><dt>Warning</dt><dd>Before executing this example, make sure there is enough space in front of the robot.</dd></dl>
+<div class="fragment"><div class="line"><span class="comment">// Copyright (c) 2023 Franka Robotics GmbH</span></div>
+<div class="line"><span class="comment">// Use of this source code is governed by the Apache-2.0 license, see LICENSE</span></div>
+<div class="line"><span class="preprocessor">#include &lt;cmath&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;iostream&gt;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="active__control_8h.html">franka/active_control.h</a>&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="active__motion__generator_8h.html">franka/active_motion_generator.h</a>&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="exception_8h.html">franka/exception.h</a>&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="robot_8h.html">franka/robot.h</a>&gt;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="preprocessor">#include &quot;<a class="code" href="examples__common_8h.html">examples_common.h</a>&quot;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="keywordtype">int</span> main(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span>** argv) {</div>
+<div class="line">  <span class="comment">// Check whether the required arguments were passed</span></div>
+<div class="line">  <span class="keywordflow">if</span> (argc != 2) {</div>
+<div class="line">    std::cerr &lt;&lt; <span class="stringliteral">&quot;Usage: &quot;</span> &lt;&lt; argv[0] &lt;&lt; <span class="stringliteral">&quot; &lt;robot-hostname&gt;&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">    <span class="keywordflow">return</span> -1;</div>
+<div class="line">  }</div>
+<div class="line"> </div>
+<div class="line">  <span class="keywordflow">try</span> {</div>
+<div class="line">    <a name="_a0"></a><a class="code" href="classfranka_1_1Robot.html">franka::Robot</a> robot(argv[1]);</div>
+<div class="line">    <a name="a1"></a><a class="code" href="examples__common_8h.html#ad0c6e1cb044845ee8a01b5aa1e801a45">setDefaultBehavior</a>(robot);</div>
+<div class="line"> </div>
+<div class="line">    <span class="comment">// First move the robot to a suitable joint configuration</span></div>
+<div class="line">    std::array&lt;double, 7&gt; q_goal = {{0, -M_PI_4, 0, -3 * M_PI_4, 0, M_PI_2, M_PI_4}};</div>
+<div class="line">    <a name="_a2"></a><a class="code" href="classMotionGenerator.html">MotionGenerator</a> motion_generator(0.5, q_goal);</div>
+<div class="line">    std::cout &lt;&lt; <span class="stringliteral">&quot;WARNING: This example will move the robot! &quot;</span></div>
+<div class="line">              &lt;&lt; <span class="stringliteral">&quot;Please make sure to have the user stop button at hand!&quot;</span> &lt;&lt; std::endl</div>
+<div class="line">              &lt;&lt; <span class="stringliteral">&quot;Press Enter to continue...&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">    std::cin.ignore();</div>
+<div class="line">    robot.<a name="a3"></a><a class="code" href="classfranka_1_1Robot.html#a0d5effba5daff2fee123802bbd5f95d1">control</a>(motion_generator);</div>
+<div class="line">    std::cout &lt;&lt; <span class="stringliteral">&quot;Finished moving to initial joint configuration.&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"> </div>
+<div class="line">    <span class="comment">// Set additional parameters always before the control loop, NEVER in the control loop!</span></div>
+<div class="line">    <span class="comment">// Set the joint impedance.</span></div>
+<div class="line">    robot.<a name="a4"></a><a class="code" href="classfranka_1_1Robot.html#aa18a28697cf6e3be16c6cff2dd839560">setJointImpedance</a>({{3000, 3000, 3000, 2500, 2500, 2000, 2000}});</div>
+<div class="line"> </div>
+<div class="line">    <span class="comment">// Set the collision behavior.</span></div>
+<div class="line">    std::array&lt;double, 7&gt; lower_torque_thresholds_nominal{</div>
+<div class="line">        {25.0, 25.0, 22.0, 20.0, 19.0, 17.0, 14.}};</div>
+<div class="line">    std::array&lt;double, 7&gt; upper_torque_thresholds_nominal{</div>
+<div class="line">        {35.0, 35.0, 32.0, 30.0, 29.0, 27.0, 24.0}};</div>
+<div class="line">    std::array&lt;double, 7&gt; lower_torque_thresholds_acceleration{</div>
+<div class="line">        {25.0, 25.0, 22.0, 20.0, 19.0, 17.0, 14.0}};</div>
+<div class="line">    std::array&lt;double, 7&gt; upper_torque_thresholds_acceleration{</div>
+<div class="line">        {35.0, 35.0, 32.0, 30.0, 29.0, 27.0, 24.0}};</div>
+<div class="line">    std::array&lt;double, 6&gt; lower_force_thresholds_nominal{{30.0, 30.0, 30.0, 25.0, 25.0, 25.0}};</div>
+<div class="line">    std::array&lt;double, 6&gt; upper_force_thresholds_nominal{{40.0, 40.0, 40.0, 35.0, 35.0, 35.0}};</div>
+<div class="line">    std::array&lt;double, 6&gt; lower_force_thresholds_acceleration{{30.0, 30.0, 30.0, 25.0, 25.0, 25.0}};</div>
+<div class="line">    std::array&lt;double, 6&gt; upper_force_thresholds_acceleration{{40.0, 40.0, 40.0, 35.0, 35.0, 35.0}};</div>
+<div class="line">    robot.<a name="a5"></a><a class="code" href="classfranka_1_1Robot.html#a168e1214ac36d74ac64f894332b84534">setCollisionBehavior</a>(</div>
+<div class="line">        lower_torque_thresholds_acceleration, upper_torque_thresholds_acceleration,</div>
+<div class="line">        lower_torque_thresholds_nominal, upper_torque_thresholds_nominal,</div>
+<div class="line">        lower_force_thresholds_acceleration, upper_force_thresholds_acceleration,</div>
+<div class="line">        lower_force_thresholds_nominal, upper_force_thresholds_nominal);</div>
+<div class="line"> </div>
+<div class="line">    <span class="keywordtype">double</span> time_max = 4.0;</div>
+<div class="line">    <span class="keywordtype">double</span> v_max = 0.1;</div>
+<div class="line">    <span class="keywordtype">double</span> angle = M_PI / 4.0;</div>
+<div class="line">    <span class="keywordtype">double</span> time = 0.0;</div>
+<div class="line"> </div>
+<div class="line">    <span class="keyword">auto</span> callback_control = [=, &amp;time](<span class="keyword">const</span> <a name="_a6"></a><a class="code" href="structfranka_1_1RobotState.html">franka::RobotState</a>&amp;,</div>
+<div class="line">                                       <a name="_a7"></a><a class="code" href="classfranka_1_1Duration.html">franka::Duration</a> period) -&gt; <a name="_a8"></a><a class="code" href="classfranka_1_1CartesianVelocities.html">franka::CartesianVelocities</a> {</div>
+<div class="line">      time += period.toSec();</div>
+<div class="line"> </div>
+<div class="line">      <span class="keywordtype">double</span> cycle = std::floor(pow(-1.0, (time - std::fmod(time, time_max)) / time_max));</div>
+<div class="line">      <span class="keywordtype">double</span> v = cycle * v_max / 2.0 * (1.0 - std::cos(2.0 * M_PI / time_max * time));</div>
+<div class="line">      <span class="keywordtype">double</span> v_x = std::cos(angle) * v;</div>
+<div class="line">      <span class="keywordtype">double</span> v_z = -std::sin(angle) * v;</div>
+<div class="line"> </div>
+<div class="line">      <a class="code" href="classfranka_1_1CartesianVelocities.html">franka::CartesianVelocities</a> output = {{v_x, 0.0, v_z, 0.0, 0.0, 0.0}};</div>
+<div class="line">      <span class="keywordflow">if</span> (time &gt;= 2 * time_max) {</div>
+<div class="line">        std::cout &lt;&lt; std::endl &lt;&lt; <span class="stringliteral">&quot;Finished motion, shutting down example&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">        <span class="keywordflow">return</span> <a name="a9"></a><a class="code" href="control__types_8h.html#a20791f7142d78bbbe3c957cc66a23ade">franka::MotionFinished</a>(output);</div>
+<div class="line">      }</div>
+<div class="line">      <span class="keywordflow">return</span> output;</div>
+<div class="line">    };</div>
+<div class="line"> </div>
+<div class="line">    <span class="keywordtype">bool</span> motion_finished = <span class="keyword">false</span>;</div>
+<div class="line">    <span class="keyword">auto</span> active_control = robot.<a name="a10"></a><a class="code" href="classfranka_1_1Robot.html#a838e2cfba6b08dd87742bbcfe62f15bf">startCartesianVelocityControl</a>(</div>
+<div class="line">        research_interface::robot::Move::ControllerMode::kJointImpedance);</div>
+<div class="line">    <span class="keywordflow">while</span> (!motion_finished) {</div>
+<div class="line">      <span class="keyword">auto</span> read_once_return = active_control-&gt;readOnce();</div>
+<div class="line">      <span class="keyword">auto</span> robot_state = read_once_return.first;</div>
+<div class="line">      <span class="keyword">auto</span> duration = read_once_return.second;</div>
+<div class="line">      <span class="keyword">auto</span> cartesian_velocities = callback_control(robot_state, duration);</div>
+<div class="line">      motion_finished = cartesian_velocities.motion_finished;</div>
+<div class="line">      active_control-&gt;writeOnce(cartesian_velocities);</div>
+<div class="line">    }</div>
+<div class="line"> </div>
+<div class="line">  } <span class="keywordflow">catch</span> (<span class="keyword">const</span> <a name="_a11"></a><a class="code" href="structfranka_1_1Exception.html">franka::Exception</a>&amp; e) {</div>
+<div class="line">    std::cout &lt;&lt; e.what() &lt;&lt; std::endl;</div>
+<div class="line">    <span class="keywordflow">return</span> -1;</div>
+<div class="line">  }</div>
+<div class="line"> </div>
+<div class="line">  <span class="keywordflow">return</span> 0;</div>
+<div class="line">}</div>
+<div class="ttc" id="aactive__control_8h_html"><div class="ttname"><a href="active__control_8h.html">active_control.h</a></div><div class="ttdoc">Implements the ActiveControlBase abstract class.</div></div>
+<div class="ttc" id="aactive__motion__generator_8h_html"><div class="ttname"><a href="active__motion__generator_8h.html">active_motion_generator.h</a></div><div class="ttdoc">Contains the franka::ActiveMotionGenerator type.</div></div>
+<div class="ttc" id="aclassMotionGenerator_html"><div class="ttname"><a href="classMotionGenerator.html">MotionGenerator</a></div><div class="ttdoc">An example showing how to generate a joint pose motion to a goal position.</div><div class="ttdef"><b>Definition:</b> examples_common.h:31</div></div>
+<div class="ttc" id="aclassfranka_1_1CartesianVelocities_html"><div class="ttname"><a href="classfranka_1_1CartesianVelocities.html">franka::CartesianVelocities</a></div><div class="ttdoc">Stores values for Cartesian velocity motion generation.</div><div class="ttdef"><b>Definition:</b> control_types.h:211</div></div>
+<div class="ttc" id="aclassfranka_1_1Duration_html"><div class="ttname"><a href="classfranka_1_1Duration.html">franka::Duration</a></div><div class="ttdoc">Represents a duration with millisecond resolution.</div><div class="ttdef"><b>Definition:</b> duration.h:19</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html"><div class="ttname"><a href="classfranka_1_1Robot.html">franka::Robot</a></div><div class="ttdoc">Maintains a network connection to the robot, provides the current robot state, gives access to the mo...</div><div class="ttdef"><b>Definition:</b> robot.h:67</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_a0d5effba5daff2fee123802bbd5f95d1"><div class="ttname"><a href="classfranka_1_1Robot.html#a0d5effba5daff2fee123802bbd5f95d1">franka::Robot::control</a></div><div class="ttdeci">void control(std::function&lt; Torques(const RobotState &amp;, franka::Duration)&gt; control_callback, bool limit_rate=false, double cutoff_frequency=kDefaultCutoffFrequency)</div><div class="ttdoc">Starts a control loop for sending joint-level torque commands.</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_a168e1214ac36d74ac64f894332b84534"><div class="ttname"><a href="classfranka_1_1Robot.html#a168e1214ac36d74ac64f894332b84534">franka::Robot::setCollisionBehavior</a></div><div class="ttdeci">void setCollisionBehavior(const std::array&lt; double, 7 &gt; &amp;lower_torque_thresholds_acceleration, const std::array&lt; double, 7 &gt; &amp;upper_torque_thresholds_acceleration, const std::array&lt; double, 7 &gt; &amp;lower_torque_thresholds_nominal, const std::array&lt; double, 7 &gt; &amp;upper_torque_thresholds_nominal, const std::array&lt; double, 6 &gt; &amp;lower_force_thresholds_acceleration, const std::array&lt; double, 6 &gt; &amp;upper_force_thresholds_acceleration, const std::array&lt; double, 6 &gt; &amp;lower_force_thresholds_nominal, const std::array&lt; double, 6 &gt; &amp;upper_force_thresholds_nominal)</div><div class="ttdoc">Changes the collision behavior.</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_a838e2cfba6b08dd87742bbcfe62f15bf"><div class="ttname"><a href="classfranka_1_1Robot.html#a838e2cfba6b08dd87742bbcfe62f15bf">franka::Robot::startCartesianVelocityControl</a></div><div class="ttdeci">virtual std::unique_ptr&lt; ActiveControlBase &gt; startCartesianVelocityControl(const research_interface::robot::Move::ControllerMode &amp;control_type)</div><div class="ttdoc">Starts a new cartesian velocity motion generator.</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_aa18a28697cf6e3be16c6cff2dd839560"><div class="ttname"><a href="classfranka_1_1Robot.html#aa18a28697cf6e3be16c6cff2dd839560">franka::Robot::setJointImpedance</a></div><div class="ttdeci">void setJointImpedance(const std::array&lt; double, 7 &gt; &amp;K_theta)</div><div class="ttdoc">Sets the impedance for each joint in the internal controller.</div></div>
+<div class="ttc" id="acontrol__types_8h_html_a20791f7142d78bbbe3c957cc66a23ade"><div class="ttname"><a href="control__types_8h.html#a20791f7142d78bbbe3c957cc66a23ade">franka::MotionFinished</a></div><div class="ttdeci">Torques MotionFinished(Torques command) noexcept</div><div class="ttdoc">Helper method to indicate that a motion should stop after processing the given command.</div><div class="ttdef"><b>Definition:</b> control_types.h:294</div></div>
+<div class="ttc" id="aexamples__common_8h_html"><div class="ttname"><a href="examples__common_8h.html">examples_common.h</a></div><div class="ttdoc">Contains common types and functions for the examples.</div></div>
+<div class="ttc" id="aexamples__common_8h_html_ad0c6e1cb044845ee8a01b5aa1e801a45"><div class="ttname"><a href="examples__common_8h.html#ad0c6e1cb044845ee8a01b5aa1e801a45">setDefaultBehavior</a></div><div class="ttdeci">void setDefaultBehavior(franka::Robot &amp;robot)</div><div class="ttdoc">Sets a default collision behavior, joint impedance and Cartesian impedance.</div><div class="ttdef"><b>Definition:</b> examples_common.cpp:12</div></div>
+<div class="ttc" id="aexception_8h_html"><div class="ttname"><a href="exception_8h.html">exception.h</a></div><div class="ttdoc">Contains exception definitions.</div></div>
+<div class="ttc" id="arobot_8h_html"><div class="ttname"><a href="robot_8h.html">robot.h</a></div><div class="ttdoc">Contains the franka::Robot type.</div></div>
+<div class="ttc" id="astructfranka_1_1Exception_html"><div class="ttname"><a href="structfranka_1_1Exception.html">franka::Exception</a></div><div class="ttdoc">Base class for all exceptions used by libfranka.</div><div class="ttdef"><b>Definition:</b> exception.h:20</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html"><div class="ttname"><a href="structfranka_1_1RobotState.html">franka::RobotState</a></div><div class="ttdoc">Describes the robot state.</div><div class="ttdef"><b>Definition:</b> robot_state.h:34</div></div>
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+    extensions: ["tex2jax.js"],
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+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
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+var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
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+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="header">
+  <div class="headertitle">
+<div class="title">generate_consecutive_motions.cpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<p>An example showing how to execute consecutive motions with error recovery.</p><dl class="section warning"><dt>Warning</dt><dd>Before executing this example, make sure there is enough space in front and to the side of the robot.</dd></dl>
+<div class="fragment"><div class="line"><span class="comment">// Copyright (c) 2023 Franka Robotics GmbH</span></div>
+<div class="line"><span class="comment">// Use of this source code is governed by the Apache-2.0 license, see LICENSE</span></div>
+<div class="line"><span class="preprocessor">#include &lt;cmath&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;iostream&gt;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="exception_8h.html">franka/exception.h</a>&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="robot_8h.html">franka/robot.h</a>&gt;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="preprocessor">#include &quot;<a class="code" href="examples__common_8h.html">examples_common.h</a>&quot;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="keywordtype">int</span> main(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span>** argv) {</div>
+<div class="line">  <span class="keywordflow">if</span> (argc != 2) {</div>
+<div class="line">    std::cerr &lt;&lt; <span class="stringliteral">&quot;Usage: &quot;</span> &lt;&lt; argv[0] &lt;&lt; <span class="stringliteral">&quot; &lt;robot-hostname&gt;&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">    <span class="keywordflow">return</span> -1;</div>
+<div class="line">  }</div>
+<div class="line">  <span class="keywordflow">try</span> {</div>
+<div class="line">    <a name="_a0"></a><a class="code" href="classfranka_1_1Robot.html">franka::Robot</a> robot(argv[1]);</div>
+<div class="line">    <a name="a1"></a><a class="code" href="examples__common_8h.html#ad0c6e1cb044845ee8a01b5aa1e801a45">setDefaultBehavior</a>(robot);</div>
+<div class="line"> </div>
+<div class="line">    <span class="comment">// First move the robot to a suitable joint configuration</span></div>
+<div class="line">    std::array&lt;double, 7&gt; q_goal = {{0, -M_PI_4, 0, -3 * M_PI_4, 0, M_PI_2, M_PI_4}};</div>
+<div class="line">    <a name="_a2"></a><a class="code" href="classMotionGenerator.html">MotionGenerator</a> motion_generator(0.5, q_goal);</div>
+<div class="line">    std::cout &lt;&lt; <span class="stringliteral">&quot;WARNING: This example will move the robot! &quot;</span></div>
+<div class="line">              &lt;&lt; <span class="stringliteral">&quot;Please make sure to have the user stop button at hand!&quot;</span> &lt;&lt; std::endl</div>
+<div class="line">              &lt;&lt; <span class="stringliteral">&quot;Press Enter to continue...&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">    std::cin.ignore();</div>
+<div class="line">    robot.<a name="a3"></a><a class="code" href="classfranka_1_1Robot.html#a0d5effba5daff2fee123802bbd5f95d1">control</a>(motion_generator);</div>
+<div class="line">    std::cout &lt;&lt; <span class="stringliteral">&quot;Finished moving to initial joint configuration.&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"> </div>
+<div class="line">    <span class="comment">// Set additional parameters always before the control loop, NEVER in the control loop!</span></div>
+<div class="line">    <span class="comment">// Set collision behavior.</span></div>
+<div class="line">    robot.<a name="a4"></a><a class="code" href="classfranka_1_1Robot.html#a168e1214ac36d74ac64f894332b84534">setCollisionBehavior</a>(</div>
+<div class="line">        {{10.0, 10.0, 9.0, 9.0, 8.0, 7.0, 6.0}}, {{10.0, 10.0, 9.0, 9.0, 8.0, 7.0, 6.0}},</div>
+<div class="line">        {{10.0, 10.0, 9.0, 9.0, 8.0, 7.0, 6.0}}, {{10.0, 10.0, 9.0, 9.0, 8.0, 7.0, 6.0}},</div>
+<div class="line">        {{10.0, 10.0, 10.0, 12.5, 12.5, 12.5}}, {{10.0, 10.0, 10.0, 12.5, 12.5, 12.5}},</div>
+<div class="line">        {{10.0, 10.0, 10.0, 12.5, 12.5, 12.5}}, {{10.0, 10.0, 10.0, 12.5, 12.5, 12.5}});</div>
+<div class="line"> </div>
+<div class="line">    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; 5; i++) {</div>
+<div class="line">      std::cout &lt;&lt; <span class="stringliteral">&quot;Executing motion.&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">      <span class="keywordflow">try</span> {</div>
+<div class="line">        <span class="keywordtype">double</span> time_max = 4.0;</div>
+<div class="line">        <span class="keywordtype">double</span> omega_max = 0.2;</div>
+<div class="line">        <span class="keywordtype">double</span> time = 0.0;</div>
+<div class="line">        robot.<a class="code" href="classfranka_1_1Robot.html#a0d5effba5daff2fee123802bbd5f95d1">control</a>([=, &amp;time](<span class="keyword">const</span> <a name="_a5"></a><a class="code" href="structfranka_1_1RobotState.html">franka::RobotState</a>&amp;,</div>
+<div class="line">                                 <a name="_a6"></a><a class="code" href="classfranka_1_1Duration.html">franka::Duration</a> period) -&gt; <a name="_a7"></a><a class="code" href="classfranka_1_1JointVelocities.html">franka::JointVelocities</a> {</div>
+<div class="line">          time += period.<a name="a8"></a><a class="code" href="classfranka_1_1Duration.html#a497af77a3280159547f231f0374e9ac1">toSec</a>();</div>
+<div class="line"> </div>
+<div class="line">          <span class="keywordtype">double</span> cycle = std::floor(std::pow(-1.0, (time - std::fmod(time, time_max)) / time_max));</div>
+<div class="line">          <span class="keywordtype">double</span> omega = cycle * omega_max / 2.0 * (1.0 - std::cos(2.0 * M_PI / time_max * time));</div>
+<div class="line"> </div>
+<div class="line">          <a class="code" href="classfranka_1_1JointVelocities.html">franka::JointVelocities</a> velocities = {{0.0, 0.0, omega, 0.0, 0.0, 0.0, 0.0}};</div>
+<div class="line">          <span class="keywordflow">if</span> (time &gt;= 2 * time_max) {</div>
+<div class="line">            std::cout &lt;&lt; std::endl &lt;&lt; <span class="stringliteral">&quot;Finished motion.&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">            <span class="keywordflow">return</span> <a name="a9"></a><a class="code" href="control__types_8h.html#a20791f7142d78bbbe3c957cc66a23ade">franka::MotionFinished</a>(velocities);</div>
+<div class="line">          }</div>
+<div class="line">          <span class="keywordflow">return</span> velocities;</div>
+<div class="line">        });</div>
+<div class="line">      } <span class="keywordflow">catch</span> (<span class="keyword">const</span> <a name="_a10"></a><a class="code" href="structfranka_1_1ControlException.html">franka::ControlException</a>&amp; e) {</div>
+<div class="line">        std::cout &lt;&lt; e.what() &lt;&lt; std::endl;</div>
+<div class="line">        std::cout &lt;&lt; <span class="stringliteral">&quot;Running error recovery...&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">        robot.<a name="a11"></a><a class="code" href="classfranka_1_1Robot.html#af682aa673415718715bd859116bc2fed">automaticErrorRecovery</a>();</div>
+<div class="line">      }</div>
+<div class="line">    }</div>
+<div class="line">  } <span class="keywordflow">catch</span> (<span class="keyword">const</span> <a name="_a12"></a><a class="code" href="structfranka_1_1Exception.html">franka::Exception</a>&amp; e) {</div>
+<div class="line">    std::cout &lt;&lt; e.what() &lt;&lt; std::endl;</div>
+<div class="line">    <span class="keywordflow">return</span> -1;</div>
+<div class="line">  }</div>
+<div class="line"> </div>
+<div class="line">  std::cout &lt;&lt; <span class="stringliteral">&quot;Finished.&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"> </div>
+<div class="line">  <span class="keywordflow">return</span> 0;</div>
+<div class="line">}</div>
+<div class="ttc" id="aclassMotionGenerator_html"><div class="ttname"><a href="classMotionGenerator.html">MotionGenerator</a></div><div class="ttdoc">An example showing how to generate a joint pose motion to a goal position.</div><div class="ttdef"><b>Definition:</b> examples_common.h:31</div></div>
+<div class="ttc" id="aclassfranka_1_1Duration_html"><div class="ttname"><a href="classfranka_1_1Duration.html">franka::Duration</a></div><div class="ttdoc">Represents a duration with millisecond resolution.</div><div class="ttdef"><b>Definition:</b> duration.h:19</div></div>
+<div class="ttc" id="aclassfranka_1_1Duration_html_a497af77a3280159547f231f0374e9ac1"><div class="ttname"><a href="classfranka_1_1Duration.html#a497af77a3280159547f231f0374e9ac1">franka::Duration::toSec</a></div><div class="ttdeci">double toSec() const noexcept</div><div class="ttdoc">Returns the stored duration in .</div></div>
+<div class="ttc" id="aclassfranka_1_1JointVelocities_html"><div class="ttname"><a href="classfranka_1_1JointVelocities.html">franka::JointVelocities</a></div><div class="ttdoc">Stores values for joint velocity motion generation.</div><div class="ttdef"><b>Definition:</b> control_types.h:99</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html"><div class="ttname"><a href="classfranka_1_1Robot.html">franka::Robot</a></div><div class="ttdoc">Maintains a network connection to the robot, provides the current robot state, gives access to the mo...</div><div class="ttdef"><b>Definition:</b> robot.h:67</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_a0d5effba5daff2fee123802bbd5f95d1"><div class="ttname"><a href="classfranka_1_1Robot.html#a0d5effba5daff2fee123802bbd5f95d1">franka::Robot::control</a></div><div class="ttdeci">void control(std::function&lt; Torques(const RobotState &amp;, franka::Duration)&gt; control_callback, bool limit_rate=false, double cutoff_frequency=kDefaultCutoffFrequency)</div><div class="ttdoc">Starts a control loop for sending joint-level torque commands.</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_a168e1214ac36d74ac64f894332b84534"><div class="ttname"><a href="classfranka_1_1Robot.html#a168e1214ac36d74ac64f894332b84534">franka::Robot::setCollisionBehavior</a></div><div class="ttdeci">void setCollisionBehavior(const std::array&lt; double, 7 &gt; &amp;lower_torque_thresholds_acceleration, const std::array&lt; double, 7 &gt; &amp;upper_torque_thresholds_acceleration, const std::array&lt; double, 7 &gt; &amp;lower_torque_thresholds_nominal, const std::array&lt; double, 7 &gt; &amp;upper_torque_thresholds_nominal, const std::array&lt; double, 6 &gt; &amp;lower_force_thresholds_acceleration, const std::array&lt; double, 6 &gt; &amp;upper_force_thresholds_acceleration, const std::array&lt; double, 6 &gt; &amp;lower_force_thresholds_nominal, const std::array&lt; double, 6 &gt; &amp;upper_force_thresholds_nominal)</div><div class="ttdoc">Changes the collision behavior.</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_af682aa673415718715bd859116bc2fed"><div class="ttname"><a href="classfranka_1_1Robot.html#af682aa673415718715bd859116bc2fed">franka::Robot::automaticErrorRecovery</a></div><div class="ttdeci">void automaticErrorRecovery()</div><div class="ttdoc">Runs automatic error recovery on the robot.</div></div>
+<div class="ttc" id="acontrol__types_8h_html_a20791f7142d78bbbe3c957cc66a23ade"><div class="ttname"><a href="control__types_8h.html#a20791f7142d78bbbe3c957cc66a23ade">franka::MotionFinished</a></div><div class="ttdeci">Torques MotionFinished(Torques command) noexcept</div><div class="ttdoc">Helper method to indicate that a motion should stop after processing the given command.</div><div class="ttdef"><b>Definition:</b> control_types.h:294</div></div>
+<div class="ttc" id="aexamples__common_8h_html"><div class="ttname"><a href="examples__common_8h.html">examples_common.h</a></div><div class="ttdoc">Contains common types and functions for the examples.</div></div>
+<div class="ttc" id="aexamples__common_8h_html_ad0c6e1cb044845ee8a01b5aa1e801a45"><div class="ttname"><a href="examples__common_8h.html#ad0c6e1cb044845ee8a01b5aa1e801a45">setDefaultBehavior</a></div><div class="ttdeci">void setDefaultBehavior(franka::Robot &amp;robot)</div><div class="ttdoc">Sets a default collision behavior, joint impedance and Cartesian impedance.</div><div class="ttdef"><b>Definition:</b> examples_common.cpp:12</div></div>
+<div class="ttc" id="aexception_8h_html"><div class="ttname"><a href="exception_8h.html">exception.h</a></div><div class="ttdoc">Contains exception definitions.</div></div>
+<div class="ttc" id="arobot_8h_html"><div class="ttname"><a href="robot_8h.html">robot.h</a></div><div class="ttdoc">Contains the franka::Robot type.</div></div>
+<div class="ttc" id="astructfranka_1_1ControlException_html"><div class="ttname"><a href="structfranka_1_1ControlException.html">franka::ControlException</a></div><div class="ttdoc">ControlException is thrown if an error occurs during motion generation or torque control.</div><div class="ttdef"><b>Definition:</b> exception.h:73</div></div>
+<div class="ttc" id="astructfranka_1_1Exception_html"><div class="ttname"><a href="structfranka_1_1Exception.html">franka::Exception</a></div><div class="ttdoc">Base class for all exceptions used by libfranka.</div><div class="ttdef"><b>Definition:</b> exception.h:20</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html"><div class="ttname"><a href="structfranka_1_1RobotState.html">franka::RobotState</a></div><div class="ttdoc">Describes the robot state.</div><div class="ttdef"><b>Definition:</b> robot_state.h:34</div></div>
+</div><!-- fragment --> </div><!-- contents -->
+<!-- start footer part -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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diff --git a/0.13.6/generate_elbow_motion_8cpp-example.html b/0.13.6/generate_elbow_motion_8cpp-example.html
new file mode 100644
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+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>libfranka: generate_elbow_motion.cpp</title>
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+<script type="text/javascript" src="dynsections.js"></script>
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+  MathJax.Hub.Config({
+    extensions: ["tex2jax.js"],
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="header">
+  <div class="headertitle">
+<div class="title">generate_elbow_motion.cpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<p>An example showing how to move the robot's elbow.</p><dl class="section warning"><dt>Warning</dt><dd>Before executing this example, make sure that the elbow has enough space to move.</dd></dl>
+<div class="fragment"><div class="line"><span class="comment">// Copyright (c) 2023 Franka Robotics GmbH</span></div>
+<div class="line"><span class="comment">// Use of this source code is governed by the Apache-2.0 license, see LICENSE</span></div>
+<div class="line"><span class="preprocessor">#include &lt;cmath&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;iostream&gt;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="exception_8h.html">franka/exception.h</a>&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="robot_8h.html">franka/robot.h</a>&gt;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="preprocessor">#include &quot;<a class="code" href="examples__common_8h.html">examples_common.h</a>&quot;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="keywordtype">int</span> main(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span>** argv) {</div>
+<div class="line">  <span class="keywordflow">if</span> (argc != 2) {</div>
+<div class="line">    std::cerr &lt;&lt; <span class="stringliteral">&quot;Usage: &quot;</span> &lt;&lt; argv[0] &lt;&lt; <span class="stringliteral">&quot; &lt;robot-hostname&gt;&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">    <span class="keywordflow">return</span> -1;</div>
+<div class="line">  }</div>
+<div class="line">  <span class="keywordflow">try</span> {</div>
+<div class="line">    <a name="_a0"></a><a class="code" href="classfranka_1_1Robot.html">franka::Robot</a> robot(argv[1]);</div>
+<div class="line">    <a name="a1"></a><a class="code" href="examples__common_8h.html#ad0c6e1cb044845ee8a01b5aa1e801a45">setDefaultBehavior</a>(robot);</div>
+<div class="line"> </div>
+<div class="line">    <span class="comment">// First move the robot to a suitable joint configuration</span></div>
+<div class="line">    std::array&lt;double, 7&gt; q_goal = {{0, -M_PI_4, 0, -3 * M_PI_4, 0, M_PI_2, M_PI_4}};</div>
+<div class="line">    <a name="_a2"></a><a class="code" href="classMotionGenerator.html">MotionGenerator</a> motion_generator(0.5, q_goal);</div>
+<div class="line">    std::cout &lt;&lt; <span class="stringliteral">&quot;WARNING: This example will move the robot! &quot;</span></div>
+<div class="line">              &lt;&lt; <span class="stringliteral">&quot;Please make sure to have the user stop button at hand!&quot;</span> &lt;&lt; std::endl</div>
+<div class="line">              &lt;&lt; <span class="stringliteral">&quot;Press Enter to continue...&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">    std::cin.ignore();</div>
+<div class="line">    robot.<a name="a3"></a><a class="code" href="classfranka_1_1Robot.html#a0d5effba5daff2fee123802bbd5f95d1">control</a>(motion_generator);</div>
+<div class="line">    std::cout &lt;&lt; <span class="stringliteral">&quot;Finished moving to initial joint configuration.&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"> </div>
+<div class="line">    <span class="comment">// Set additional parameters always before the control loop, NEVER in the control loop!</span></div>
+<div class="line">    <span class="comment">// Set collision behavior.</span></div>
+<div class="line">    robot.<a name="a4"></a><a class="code" href="classfranka_1_1Robot.html#a168e1214ac36d74ac64f894332b84534">setCollisionBehavior</a>(</div>
+<div class="line">        {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}}, {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}},</div>
+<div class="line">        {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}}, {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}},</div>
+<div class="line">        {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}}, {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}},</div>
+<div class="line">        {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}}, {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}});</div>
+<div class="line"> </div>
+<div class="line">    std::array&lt;double, 16&gt; initial_pose;</div>
+<div class="line">    std::array&lt;double, 2&gt; initial_elbow;</div>
+<div class="line">    <span class="keywordtype">double</span> time = 0.0;</div>
+<div class="line">    robot.<a class="code" href="classfranka_1_1Robot.html#a0d5effba5daff2fee123802bbd5f95d1">control</a>(</div>
+<div class="line">        [&amp;time, &amp;initial_pose, &amp;initial_elbow](<span class="keyword">const</span> <a name="_a5"></a><a class="code" href="structfranka_1_1RobotState.html">franka::RobotState</a>&amp; robot_state,</div>
+<div class="line">                                               <a name="_a6"></a><a class="code" href="classfranka_1_1Duration.html">franka::Duration</a> period) -&gt; <a name="_a7"></a><a class="code" href="classfranka_1_1CartesianPose.html">franka::CartesianPose</a> {</div>
+<div class="line">          time += period.<a name="a8"></a><a class="code" href="classfranka_1_1Duration.html#a497af77a3280159547f231f0374e9ac1">toSec</a>();</div>
+<div class="line"> </div>
+<div class="line">          <span class="keywordflow">if</span> (time == 0.0) {</div>
+<div class="line">            initial_pose = robot_state.<a name="a9"></a><a class="code" href="structfranka_1_1RobotState.html#a395c48eff099419ea5d42eaf0870fc18">O_T_EE_c</a>;</div>
+<div class="line">            initial_elbow = robot_state.<a name="a10"></a><a class="code" href="structfranka_1_1RobotState.html#a16cfc844894e8b5b1ad829be529962f0">elbow_c</a>;</div>
+<div class="line">          }</div>
+<div class="line"> </div>
+<div class="line">          <span class="keywordtype">double</span> angle = M_PI / 10.0 * (1.0 - std::cos(M_PI / 5.0 * time));</div>
+<div class="line"> </div>
+<div class="line">          <span class="keyword">auto</span> elbow = initial_elbow;</div>
+<div class="line">          elbow[0] += angle;</div>
+<div class="line"> </div>
+<div class="line">          <span class="keywordflow">if</span> (time &gt;= 10.0) {</div>
+<div class="line">            std::cout &lt;&lt; std::endl &lt;&lt; <span class="stringliteral">&quot;Finished motion, shutting down example&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">            <span class="keywordflow">return</span> <a name="a11"></a><a class="code" href="control__types_8h.html#a20791f7142d78bbbe3c957cc66a23ade">franka::MotionFinished</a>({initial_pose, elbow});</div>
+<div class="line">          }</div>
+<div class="line"> </div>
+<div class="line">          <span class="keywordflow">return</span> {initial_pose, elbow};</div>
+<div class="line">        });</div>
+<div class="line">  } <span class="keywordflow">catch</span> (<span class="keyword">const</span> <a name="_a12"></a><a class="code" href="structfranka_1_1Exception.html">franka::Exception</a>&amp; e) {</div>
+<div class="line">    std::cout &lt;&lt; e.what() &lt;&lt; std::endl;</div>
+<div class="line">    <span class="keywordflow">return</span> -1;</div>
+<div class="line">  }</div>
+<div class="line"> </div>
+<div class="line">  <span class="keywordflow">return</span> 0;</div>
+<div class="line">}</div>
+<div class="ttc" id="aclassMotionGenerator_html"><div class="ttname"><a href="classMotionGenerator.html">MotionGenerator</a></div><div class="ttdoc">An example showing how to generate a joint pose motion to a goal position.</div><div class="ttdef"><b>Definition:</b> examples_common.h:31</div></div>
+<div class="ttc" id="aclassfranka_1_1CartesianPose_html"><div class="ttname"><a href="classfranka_1_1CartesianPose.html">franka::CartesianPose</a></div><div class="ttdoc">Stores values for Cartesian pose motion generation.</div><div class="ttdef"><b>Definition:</b> control_types.h:127</div></div>
+<div class="ttc" id="aclassfranka_1_1Duration_html"><div class="ttname"><a href="classfranka_1_1Duration.html">franka::Duration</a></div><div class="ttdoc">Represents a duration with millisecond resolution.</div><div class="ttdef"><b>Definition:</b> duration.h:19</div></div>
+<div class="ttc" id="aclassfranka_1_1Duration_html_a497af77a3280159547f231f0374e9ac1"><div class="ttname"><a href="classfranka_1_1Duration.html#a497af77a3280159547f231f0374e9ac1">franka::Duration::toSec</a></div><div class="ttdeci">double toSec() const noexcept</div><div class="ttdoc">Returns the stored duration in .</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html"><div class="ttname"><a href="classfranka_1_1Robot.html">franka::Robot</a></div><div class="ttdoc">Maintains a network connection to the robot, provides the current robot state, gives access to the mo...</div><div class="ttdef"><b>Definition:</b> robot.h:67</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_a0d5effba5daff2fee123802bbd5f95d1"><div class="ttname"><a href="classfranka_1_1Robot.html#a0d5effba5daff2fee123802bbd5f95d1">franka::Robot::control</a></div><div class="ttdeci">void control(std::function&lt; Torques(const RobotState &amp;, franka::Duration)&gt; control_callback, bool limit_rate=false, double cutoff_frequency=kDefaultCutoffFrequency)</div><div class="ttdoc">Starts a control loop for sending joint-level torque commands.</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_a168e1214ac36d74ac64f894332b84534"><div class="ttname"><a href="classfranka_1_1Robot.html#a168e1214ac36d74ac64f894332b84534">franka::Robot::setCollisionBehavior</a></div><div class="ttdeci">void setCollisionBehavior(const std::array&lt; double, 7 &gt; &amp;lower_torque_thresholds_acceleration, const std::array&lt; double, 7 &gt; &amp;upper_torque_thresholds_acceleration, const std::array&lt; double, 7 &gt; &amp;lower_torque_thresholds_nominal, const std::array&lt; double, 7 &gt; &amp;upper_torque_thresholds_nominal, const std::array&lt; double, 6 &gt; &amp;lower_force_thresholds_acceleration, const std::array&lt; double, 6 &gt; &amp;upper_force_thresholds_acceleration, const std::array&lt; double, 6 &gt; &amp;lower_force_thresholds_nominal, const std::array&lt; double, 6 &gt; &amp;upper_force_thresholds_nominal)</div><div class="ttdoc">Changes the collision behavior.</div></div>
+<div class="ttc" id="acontrol__types_8h_html_a20791f7142d78bbbe3c957cc66a23ade"><div class="ttname"><a href="control__types_8h.html#a20791f7142d78bbbe3c957cc66a23ade">franka::MotionFinished</a></div><div class="ttdeci">Torques MotionFinished(Torques command) noexcept</div><div class="ttdoc">Helper method to indicate that a motion should stop after processing the given command.</div><div class="ttdef"><b>Definition:</b> control_types.h:294</div></div>
+<div class="ttc" id="aexamples__common_8h_html"><div class="ttname"><a href="examples__common_8h.html">examples_common.h</a></div><div class="ttdoc">Contains common types and functions for the examples.</div></div>
+<div class="ttc" id="aexamples__common_8h_html_ad0c6e1cb044845ee8a01b5aa1e801a45"><div class="ttname"><a href="examples__common_8h.html#ad0c6e1cb044845ee8a01b5aa1e801a45">setDefaultBehavior</a></div><div class="ttdeci">void setDefaultBehavior(franka::Robot &amp;robot)</div><div class="ttdoc">Sets a default collision behavior, joint impedance and Cartesian impedance.</div><div class="ttdef"><b>Definition:</b> examples_common.cpp:12</div></div>
+<div class="ttc" id="aexception_8h_html"><div class="ttname"><a href="exception_8h.html">exception.h</a></div><div class="ttdoc">Contains exception definitions.</div></div>
+<div class="ttc" id="arobot_8h_html"><div class="ttname"><a href="robot_8h.html">robot.h</a></div><div class="ttdoc">Contains the franka::Robot type.</div></div>
+<div class="ttc" id="astructfranka_1_1Exception_html"><div class="ttname"><a href="structfranka_1_1Exception.html">franka::Exception</a></div><div class="ttdoc">Base class for all exceptions used by libfranka.</div><div class="ttdef"><b>Definition:</b> exception.h:20</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html"><div class="ttname"><a href="structfranka_1_1RobotState.html">franka::RobotState</a></div><div class="ttdoc">Describes the robot state.</div><div class="ttdef"><b>Definition:</b> robot_state.h:34</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_a16cfc844894e8b5b1ad829be529962f0"><div class="ttname"><a href="structfranka_1_1RobotState.html#a16cfc844894e8b5b1ad829be529962f0">franka::RobotState::elbow_c</a></div><div class="ttdeci">std::array&lt; double, 2 &gt; elbow_c</div><div class="ttdoc">Commanded elbow configuration.</div><div class="ttdef"><b>Definition:</b> robot_state.h:191</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_a395c48eff099419ea5d42eaf0870fc18"><div class="ttname"><a href="structfranka_1_1RobotState.html#a395c48eff099419ea5d42eaf0870fc18">franka::RobotState::O_T_EE_c</a></div><div class="ttdeci">std::array&lt; double, 16 &gt; O_T_EE_c</div><div class="ttdoc">Last commanded end effector pose of motion generation in base frame.</div><div class="ttdef"><b>Definition:</b> robot_state.h:342</div></div>
+</div><!-- fragment --> </div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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diff --git a/0.13.6/generate_joint_position_motion_8cpp-example.html b/0.13.6/generate_joint_position_motion_8cpp-example.html
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+<title>libfranka: generate_joint_position_motion.cpp</title>
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+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
+  </td>
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+<!-- end header part -->
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+<div class="header">
+  <div class="headertitle">
+<div class="title">generate_joint_position_motion.cpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<p>An example showing how to generate a joint position motion.</p><dl class="section warning"><dt>Warning</dt><dd>Before executing this example, make sure there is enough space in front of the robot.</dd></dl>
+<div class="fragment"><div class="line"><span class="comment">// Copyright (c) 2023 Franka Robotics GmbH</span></div>
+<div class="line"><span class="comment">// Use of this source code is governed by the Apache-2.0 license, see LICENSE</span></div>
+<div class="line"><span class="preprocessor">#include &lt;cmath&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;iostream&gt;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="exception_8h.html">franka/exception.h</a>&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="robot_8h.html">franka/robot.h</a>&gt;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="preprocessor">#include &quot;<a class="code" href="examples__common_8h.html">examples_common.h</a>&quot;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="keywordtype">int</span> main(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span>** argv) {</div>
+<div class="line">  <span class="keywordflow">if</span> (argc != 2) {</div>
+<div class="line">    std::cerr &lt;&lt; <span class="stringliteral">&quot;Usage: &quot;</span> &lt;&lt; argv[0] &lt;&lt; <span class="stringliteral">&quot; &lt;robot-hostname&gt;&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">    <span class="keywordflow">return</span> -1;</div>
+<div class="line">  }</div>
+<div class="line">  <span class="keywordflow">try</span> {</div>
+<div class="line">    <a name="_a0"></a><a class="code" href="classfranka_1_1Robot.html">franka::Robot</a> robot(argv[1]);</div>
+<div class="line">    <a name="a1"></a><a class="code" href="examples__common_8h.html#ad0c6e1cb044845ee8a01b5aa1e801a45">setDefaultBehavior</a>(robot);</div>
+<div class="line"> </div>
+<div class="line">    <span class="comment">// First move the robot to a suitable joint configuration</span></div>
+<div class="line">    std::array&lt;double, 7&gt; q_goal = {{0, -M_PI_4, 0, -3 * M_PI_4, 0, M_PI_2, M_PI_4}};</div>
+<div class="line">    <a name="_a2"></a><a class="code" href="classMotionGenerator.html">MotionGenerator</a> motion_generator(0.5, q_goal);</div>
+<div class="line">    std::cout &lt;&lt; <span class="stringliteral">&quot;WARNING: This example will move the robot! &quot;</span></div>
+<div class="line">              &lt;&lt; <span class="stringliteral">&quot;Please make sure to have the user stop button at hand!&quot;</span> &lt;&lt; std::endl</div>
+<div class="line">              &lt;&lt; <span class="stringliteral">&quot;Press Enter to continue...&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">    std::cin.ignore();</div>
+<div class="line">    robot.<a name="a3"></a><a class="code" href="classfranka_1_1Robot.html#a0d5effba5daff2fee123802bbd5f95d1">control</a>(motion_generator);</div>
+<div class="line">    std::cout &lt;&lt; <span class="stringliteral">&quot;Finished moving to initial joint configuration.&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"> </div>
+<div class="line">    <span class="comment">// Set additional parameters always before the control loop, NEVER in the control loop!</span></div>
+<div class="line">    <span class="comment">// Set collision behavior.</span></div>
+<div class="line">    robot.<a name="a4"></a><a class="code" href="classfranka_1_1Robot.html#a168e1214ac36d74ac64f894332b84534">setCollisionBehavior</a>(</div>
+<div class="line">        {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}}, {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}},</div>
+<div class="line">        {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}}, {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}},</div>
+<div class="line">        {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}}, {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}},</div>
+<div class="line">        {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}}, {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}});</div>
+<div class="line"> </div>
+<div class="line">    std::array&lt;double, 7&gt; initial_position;</div>
+<div class="line">    <span class="keywordtype">double</span> time = 0.0;</div>
+<div class="line">    robot.<a class="code" href="classfranka_1_1Robot.html#a0d5effba5daff2fee123802bbd5f95d1">control</a>([&amp;initial_position, &amp;time](<span class="keyword">const</span> <a name="_a5"></a><a class="code" href="structfranka_1_1RobotState.html">franka::RobotState</a>&amp; robot_state,</div>
+<div class="line">                                             <a name="_a6"></a><a class="code" href="classfranka_1_1Duration.html">franka::Duration</a> period) -&gt; <a name="_a7"></a><a class="code" href="classfranka_1_1JointPositions.html">franka::JointPositions</a> {</div>
+<div class="line">      time += period.<a name="a8"></a><a class="code" href="classfranka_1_1Duration.html#a497af77a3280159547f231f0374e9ac1">toSec</a>();</div>
+<div class="line"> </div>
+<div class="line">      <span class="keywordflow">if</span> (time == 0.0) {</div>
+<div class="line">        initial_position = robot_state.<a name="a9"></a><a class="code" href="structfranka_1_1RobotState.html#a706045af1b176049e9e56df755325bd2">q_d</a>;</div>
+<div class="line">      }</div>
+<div class="line"> </div>
+<div class="line">      <span class="keywordtype">double</span> delta_angle = M_PI / 8.0 * (1 - std::cos(M_PI / 2.5 * time));</div>
+<div class="line"> </div>
+<div class="line">      <a class="code" href="classfranka_1_1JointPositions.html">franka::JointPositions</a> output = {{initial_position[0], initial_position[1],</div>
+<div class="line">                                        initial_position[2], initial_position[3] + delta_angle,</div>
+<div class="line">                                        initial_position[4] + delta_angle, initial_position[5],</div>
+<div class="line">                                        initial_position[6] + delta_angle}};</div>
+<div class="line"> </div>
+<div class="line">      <span class="keywordflow">if</span> (time &gt;= 5.0) {</div>
+<div class="line">        std::cout &lt;&lt; std::endl &lt;&lt; <span class="stringliteral">&quot;Finished motion, shutting down example&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">        <span class="keywordflow">return</span> <a name="a10"></a><a class="code" href="control__types_8h.html#a20791f7142d78bbbe3c957cc66a23ade">franka::MotionFinished</a>(output);</div>
+<div class="line">      }</div>
+<div class="line">      <span class="keywordflow">return</span> output;</div>
+<div class="line">    });</div>
+<div class="line">  } <span class="keywordflow">catch</span> (<span class="keyword">const</span> <a name="_a11"></a><a class="code" href="structfranka_1_1Exception.html">franka::Exception</a>&amp; e) {</div>
+<div class="line">    std::cout &lt;&lt; e.what() &lt;&lt; std::endl;</div>
+<div class="line">    <span class="keywordflow">return</span> -1;</div>
+<div class="line">  }</div>
+<div class="line"> </div>
+<div class="line">  <span class="keywordflow">return</span> 0;</div>
+<div class="line">}</div>
+<div class="ttc" id="aclassMotionGenerator_html"><div class="ttname"><a href="classMotionGenerator.html">MotionGenerator</a></div><div class="ttdoc">An example showing how to generate a joint pose motion to a goal position.</div><div class="ttdef"><b>Definition:</b> examples_common.h:31</div></div>
+<div class="ttc" id="aclassfranka_1_1Duration_html"><div class="ttname"><a href="classfranka_1_1Duration.html">franka::Duration</a></div><div class="ttdoc">Represents a duration with millisecond resolution.</div><div class="ttdef"><b>Definition:</b> duration.h:19</div></div>
+<div class="ttc" id="aclassfranka_1_1Duration_html_a497af77a3280159547f231f0374e9ac1"><div class="ttname"><a href="classfranka_1_1Duration.html#a497af77a3280159547f231f0374e9ac1">franka::Duration::toSec</a></div><div class="ttdeci">double toSec() const noexcept</div><div class="ttdoc">Returns the stored duration in .</div></div>
+<div class="ttc" id="aclassfranka_1_1JointPositions_html"><div class="ttname"><a href="classfranka_1_1JointPositions.html">franka::JointPositions</a></div><div class="ttdoc">Stores values for joint position motion generation.</div><div class="ttdef"><b>Definition:</b> control_types.h:72</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html"><div class="ttname"><a href="classfranka_1_1Robot.html">franka::Robot</a></div><div class="ttdoc">Maintains a network connection to the robot, provides the current robot state, gives access to the mo...</div><div class="ttdef"><b>Definition:</b> robot.h:67</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_a0d5effba5daff2fee123802bbd5f95d1"><div class="ttname"><a href="classfranka_1_1Robot.html#a0d5effba5daff2fee123802bbd5f95d1">franka::Robot::control</a></div><div class="ttdeci">void control(std::function&lt; Torques(const RobotState &amp;, franka::Duration)&gt; control_callback, bool limit_rate=false, double cutoff_frequency=kDefaultCutoffFrequency)</div><div class="ttdoc">Starts a control loop for sending joint-level torque commands.</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_a168e1214ac36d74ac64f894332b84534"><div class="ttname"><a href="classfranka_1_1Robot.html#a168e1214ac36d74ac64f894332b84534">franka::Robot::setCollisionBehavior</a></div><div class="ttdeci">void setCollisionBehavior(const std::array&lt; double, 7 &gt; &amp;lower_torque_thresholds_acceleration, const std::array&lt; double, 7 &gt; &amp;upper_torque_thresholds_acceleration, const std::array&lt; double, 7 &gt; &amp;lower_torque_thresholds_nominal, const std::array&lt; double, 7 &gt; &amp;upper_torque_thresholds_nominal, const std::array&lt; double, 6 &gt; &amp;lower_force_thresholds_acceleration, const std::array&lt; double, 6 &gt; &amp;upper_force_thresholds_acceleration, const std::array&lt; double, 6 &gt; &amp;lower_force_thresholds_nominal, const std::array&lt; double, 6 &gt; &amp;upper_force_thresholds_nominal)</div><div class="ttdoc">Changes the collision behavior.</div></div>
+<div class="ttc" id="acontrol__types_8h_html_a20791f7142d78bbbe3c957cc66a23ade"><div class="ttname"><a href="control__types_8h.html#a20791f7142d78bbbe3c957cc66a23ade">franka::MotionFinished</a></div><div class="ttdeci">Torques MotionFinished(Torques command) noexcept</div><div class="ttdoc">Helper method to indicate that a motion should stop after processing the given command.</div><div class="ttdef"><b>Definition:</b> control_types.h:294</div></div>
+<div class="ttc" id="aexamples__common_8h_html"><div class="ttname"><a href="examples__common_8h.html">examples_common.h</a></div><div class="ttdoc">Contains common types and functions for the examples.</div></div>
+<div class="ttc" id="aexamples__common_8h_html_ad0c6e1cb044845ee8a01b5aa1e801a45"><div class="ttname"><a href="examples__common_8h.html#ad0c6e1cb044845ee8a01b5aa1e801a45">setDefaultBehavior</a></div><div class="ttdeci">void setDefaultBehavior(franka::Robot &amp;robot)</div><div class="ttdoc">Sets a default collision behavior, joint impedance and Cartesian impedance.</div><div class="ttdef"><b>Definition:</b> examples_common.cpp:12</div></div>
+<div class="ttc" id="aexception_8h_html"><div class="ttname"><a href="exception_8h.html">exception.h</a></div><div class="ttdoc">Contains exception definitions.</div></div>
+<div class="ttc" id="arobot_8h_html"><div class="ttname"><a href="robot_8h.html">robot.h</a></div><div class="ttdoc">Contains the franka::Robot type.</div></div>
+<div class="ttc" id="astructfranka_1_1Exception_html"><div class="ttname"><a href="structfranka_1_1Exception.html">franka::Exception</a></div><div class="ttdoc">Base class for all exceptions used by libfranka.</div><div class="ttdef"><b>Definition:</b> exception.h:20</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html"><div class="ttname"><a href="structfranka_1_1RobotState.html">franka::RobotState</a></div><div class="ttdoc">Describes the robot state.</div><div class="ttdef"><b>Definition:</b> robot_state.h:34</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_a706045af1b176049e9e56df755325bd2"><div class="ttname"><a href="structfranka_1_1RobotState.html#a706045af1b176049e9e56df755325bd2">franka::RobotState::q_d</a></div><div class="ttdeci">std::array&lt; double, 7 &gt; q_d</div><div class="ttdoc">Desired joint position.</div><div class="ttdef"><b>Definition:</b> robot_state.h:239</div></div>
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diff --git a/0.13.6/generate_joint_position_motion_external_control_loop_8cpp-example.html b/0.13.6/generate_joint_position_motion_external_control_loop_8cpp-example.html
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
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+<div class="title">generate_joint_position_motion_external_control_loop.cpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<p>An example showing how to generate a joint position motion with an external control loop..</p>
+<dl class="section warning"><dt>Warning</dt><dd>Before executing this example, make sure there is enough space in front of the robot.</dd></dl>
+<div class="fragment"><div class="line"><span class="comment">// Copyright (c) 2023 Franka Robotics GmbH</span></div>
+<div class="line"><span class="comment">// Use of this source code is governed by the Apache-2.0 license, see LICENSE</span></div>
+<div class="line"><span class="preprocessor">#include &lt;cmath&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;iostream&gt;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="active__control_8h.html">franka/active_control.h</a>&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="active__motion__generator_8h.html">franka/active_motion_generator.h</a>&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="exception_8h.html">franka/exception.h</a>&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="robot_8h.html">franka/robot.h</a>&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &quot;<a class="code" href="examples__common_8h.html">examples_common.h</a>&quot;</span></div>
+<div class="line"><span class="keywordtype">int</span> main(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span>** argv) {</div>
+<div class="line">  <span class="comment">// Check whether the required arguments were passed</span></div>
+<div class="line">  <span class="keywordflow">if</span> (argc != 2) {</div>
+<div class="line">    std::cerr &lt;&lt; <span class="stringliteral">&quot;Usage: &quot;</span> &lt;&lt; argv[0] &lt;&lt; <span class="stringliteral">&quot; &lt;robot-hostname&gt;&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">    <span class="keywordflow">return</span> -1;</div>
+<div class="line">  }</div>
+<div class="line"> </div>
+<div class="line">  <span class="keywordflow">try</span> {</div>
+<div class="line">    <a name="_a0"></a><a class="code" href="classfranka_1_1Robot.html">franka::Robot</a> robot(argv[1]);</div>
+<div class="line">    <a name="a1"></a><a class="code" href="examples__common_8h.html#ad0c6e1cb044845ee8a01b5aa1e801a45">setDefaultBehavior</a>(robot);</div>
+<div class="line"> </div>
+<div class="line">    <span class="comment">// First move the robot to a suitable joint configuration</span></div>
+<div class="line">    std::array&lt;double, 7&gt; q_goal = {{0, -M_PI_4, 0, -3 * M_PI_4, 0, M_PI_2, M_PI_4}};</div>
+<div class="line">    <a name="_a2"></a><a class="code" href="classMotionGenerator.html">MotionGenerator</a> motion_generator(0.5, q_goal);</div>
+<div class="line">    std::cout &lt;&lt; <span class="stringliteral">&quot;WARNING: This example will move the robot! &quot;</span></div>
+<div class="line">              &lt;&lt; <span class="stringliteral">&quot;Please make sure to have the user stop button at hand!&quot;</span> &lt;&lt; std::endl</div>
+<div class="line">              &lt;&lt; <span class="stringliteral">&quot;Press Enter to continue...&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">    std::cin.ignore();</div>
+<div class="line">    robot.<a name="a3"></a><a class="code" href="classfranka_1_1Robot.html#a0d5effba5daff2fee123802bbd5f95d1">control</a>(motion_generator);</div>
+<div class="line">    std::cout &lt;&lt; <span class="stringliteral">&quot;Finished moving to initial joint configuration.&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"> </div>
+<div class="line">    <span class="comment">// Set additional parameters always before the control loop, NEVER in the control loop!</span></div>
+<div class="line">    <span class="comment">// Set collision behavior.</span></div>
+<div class="line">    robot.<a name="a4"></a><a class="code" href="classfranka_1_1Robot.html#a168e1214ac36d74ac64f894332b84534">setCollisionBehavior</a>(</div>
+<div class="line">        {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}}, {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}},</div>
+<div class="line">        {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}}, {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}},</div>
+<div class="line">        {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}}, {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}},</div>
+<div class="line">        {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}}, {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}});</div>
+<div class="line"> </div>
+<div class="line">    std::array&lt;double, 7&gt; initial_position{{0, 0, 0, 0, 0, 0, 0}};</div>
+<div class="line">    <span class="keywordtype">double</span> time = 0.0;</div>
+<div class="line">    <span class="keyword">auto</span> control_callback = [&amp;initial_position, &amp;time](</div>
+<div class="line">                                <span class="keyword">const</span> <a name="_a5"></a><a class="code" href="structfranka_1_1RobotState.html">franka::RobotState</a>&amp; robot_state,</div>
+<div class="line">                                <a name="_a6"></a><a class="code" href="classfranka_1_1Duration.html">franka::Duration</a> period) -&gt; <a name="_a7"></a><a class="code" href="classfranka_1_1JointPositions.html">franka::JointPositions</a> {</div>
+<div class="line">      time += period.toSec();</div>
+<div class="line"> </div>
+<div class="line">      <span class="keywordflow">if</span> (time == 0.0) {</div>
+<div class="line">        initial_position = robot_state.q_d;</div>
+<div class="line">      }</div>
+<div class="line"> </div>
+<div class="line">      <span class="keywordtype">double</span> delta_angle = M_PI / 8.0 * (1 - std::cos(M_PI / 2.5 * time));</div>
+<div class="line"> </div>
+<div class="line">      <a class="code" href="classfranka_1_1JointPositions.html">franka::JointPositions</a> output = {{initial_position[0], initial_position[1],</div>
+<div class="line">                                        initial_position[2], initial_position[3] + delta_angle,</div>
+<div class="line">                                        initial_position[4] + delta_angle, initial_position[5],</div>
+<div class="line">                                        initial_position[6] + delta_angle}};</div>
+<div class="line"> </div>
+<div class="line">      <span class="keywordflow">if</span> (time &gt;= 5.0) {</div>
+<div class="line">        std::cout &lt;&lt; std::endl &lt;&lt; <span class="stringliteral">&quot;Finished motion, shutting down example&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">        <span class="keywordflow">return</span> <a name="a8"></a><a class="code" href="control__types_8h.html#a20791f7142d78bbbe3c957cc66a23ade">franka::MotionFinished</a>(output);</div>
+<div class="line">      }</div>
+<div class="line">      <span class="keywordflow">return</span> output;</div>
+<div class="line">    };</div>
+<div class="line"> </div>
+<div class="line">    <span class="keywordtype">bool</span> motion_finished = <span class="keyword">false</span>;</div>
+<div class="line">    <span class="keyword">auto</span> active_control = robot.<a name="a9"></a><a class="code" href="classfranka_1_1Robot.html#aca7ecf76cf9c5af49cc5a878c91e19a9">startJointPositionControl</a>(</div>
+<div class="line">        research_interface::robot::Move::ControllerMode::kJointImpedance);</div>
+<div class="line">    <span class="keywordflow">while</span> (!motion_finished) {</div>
+<div class="line">      <span class="keyword">auto</span> read_once_return = active_control-&gt;readOnce();</div>
+<div class="line">      <span class="keyword">auto</span> robot_state = read_once_return.first;</div>
+<div class="line">      <span class="keyword">auto</span> duration = read_once_return.second;</div>
+<div class="line">      <span class="keyword">auto</span> joint_positions = control_callback(robot_state, duration);</div>
+<div class="line">      motion_finished = joint_positions.motion_finished;</div>
+<div class="line">      active_control-&gt;writeOnce(joint_positions);</div>
+<div class="line">    }</div>
+<div class="line"> </div>
+<div class="line">  } <span class="keywordflow">catch</span> (<span class="keyword">const</span> <a name="_a10"></a><a class="code" href="structfranka_1_1Exception.html">franka::Exception</a>&amp; e) {</div>
+<div class="line">    std::cout &lt;&lt; e.what() &lt;&lt; std::endl;</div>
+<div class="line">    <span class="keywordflow">return</span> -1;</div>
+<div class="line">  }</div>
+<div class="line"> </div>
+<div class="line">  <span class="keywordflow">return</span> 0;</div>
+<div class="line">}</div>
+<div class="ttc" id="aactive__control_8h_html"><div class="ttname"><a href="active__control_8h.html">active_control.h</a></div><div class="ttdoc">Implements the ActiveControlBase abstract class.</div></div>
+<div class="ttc" id="aactive__motion__generator_8h_html"><div class="ttname"><a href="active__motion__generator_8h.html">active_motion_generator.h</a></div><div class="ttdoc">Contains the franka::ActiveMotionGenerator type.</div></div>
+<div class="ttc" id="aclassMotionGenerator_html"><div class="ttname"><a href="classMotionGenerator.html">MotionGenerator</a></div><div class="ttdoc">An example showing how to generate a joint pose motion to a goal position.</div><div class="ttdef"><b>Definition:</b> examples_common.h:31</div></div>
+<div class="ttc" id="aclassfranka_1_1Duration_html"><div class="ttname"><a href="classfranka_1_1Duration.html">franka::Duration</a></div><div class="ttdoc">Represents a duration with millisecond resolution.</div><div class="ttdef"><b>Definition:</b> duration.h:19</div></div>
+<div class="ttc" id="aclassfranka_1_1JointPositions_html"><div class="ttname"><a href="classfranka_1_1JointPositions.html">franka::JointPositions</a></div><div class="ttdoc">Stores values for joint position motion generation.</div><div class="ttdef"><b>Definition:</b> control_types.h:72</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html"><div class="ttname"><a href="classfranka_1_1Robot.html">franka::Robot</a></div><div class="ttdoc">Maintains a network connection to the robot, provides the current robot state, gives access to the mo...</div><div class="ttdef"><b>Definition:</b> robot.h:67</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_a0d5effba5daff2fee123802bbd5f95d1"><div class="ttname"><a href="classfranka_1_1Robot.html#a0d5effba5daff2fee123802bbd5f95d1">franka::Robot::control</a></div><div class="ttdeci">void control(std::function&lt; Torques(const RobotState &amp;, franka::Duration)&gt; control_callback, bool limit_rate=false, double cutoff_frequency=kDefaultCutoffFrequency)</div><div class="ttdoc">Starts a control loop for sending joint-level torque commands.</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_a168e1214ac36d74ac64f894332b84534"><div class="ttname"><a href="classfranka_1_1Robot.html#a168e1214ac36d74ac64f894332b84534">franka::Robot::setCollisionBehavior</a></div><div class="ttdeci">void setCollisionBehavior(const std::array&lt; double, 7 &gt; &amp;lower_torque_thresholds_acceleration, const std::array&lt; double, 7 &gt; &amp;upper_torque_thresholds_acceleration, const std::array&lt; double, 7 &gt; &amp;lower_torque_thresholds_nominal, const std::array&lt; double, 7 &gt; &amp;upper_torque_thresholds_nominal, const std::array&lt; double, 6 &gt; &amp;lower_force_thresholds_acceleration, const std::array&lt; double, 6 &gt; &amp;upper_force_thresholds_acceleration, const std::array&lt; double, 6 &gt; &amp;lower_force_thresholds_nominal, const std::array&lt; double, 6 &gt; &amp;upper_force_thresholds_nominal)</div><div class="ttdoc">Changes the collision behavior.</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_aca7ecf76cf9c5af49cc5a878c91e19a9"><div class="ttname"><a href="classfranka_1_1Robot.html#aca7ecf76cf9c5af49cc5a878c91e19a9">franka::Robot::startJointPositionControl</a></div><div class="ttdeci">virtual std::unique_ptr&lt; ActiveControlBase &gt; startJointPositionControl(const research_interface::robot::Move::ControllerMode &amp;control_type)</div><div class="ttdoc">Starts a new joint position motion generator.</div></div>
+<div class="ttc" id="acontrol__types_8h_html_a20791f7142d78bbbe3c957cc66a23ade"><div class="ttname"><a href="control__types_8h.html#a20791f7142d78bbbe3c957cc66a23ade">franka::MotionFinished</a></div><div class="ttdeci">Torques MotionFinished(Torques command) noexcept</div><div class="ttdoc">Helper method to indicate that a motion should stop after processing the given command.</div><div class="ttdef"><b>Definition:</b> control_types.h:294</div></div>
+<div class="ttc" id="aexamples__common_8h_html"><div class="ttname"><a href="examples__common_8h.html">examples_common.h</a></div><div class="ttdoc">Contains common types and functions for the examples.</div></div>
+<div class="ttc" id="aexamples__common_8h_html_ad0c6e1cb044845ee8a01b5aa1e801a45"><div class="ttname"><a href="examples__common_8h.html#ad0c6e1cb044845ee8a01b5aa1e801a45">setDefaultBehavior</a></div><div class="ttdeci">void setDefaultBehavior(franka::Robot &amp;robot)</div><div class="ttdoc">Sets a default collision behavior, joint impedance and Cartesian impedance.</div><div class="ttdef"><b>Definition:</b> examples_common.cpp:12</div></div>
+<div class="ttc" id="aexception_8h_html"><div class="ttname"><a href="exception_8h.html">exception.h</a></div><div class="ttdoc">Contains exception definitions.</div></div>
+<div class="ttc" id="arobot_8h_html"><div class="ttname"><a href="robot_8h.html">robot.h</a></div><div class="ttdoc">Contains the franka::Robot type.</div></div>
+<div class="ttc" id="astructfranka_1_1Exception_html"><div class="ttname"><a href="structfranka_1_1Exception.html">franka::Exception</a></div><div class="ttdoc">Base class for all exceptions used by libfranka.</div><div class="ttdef"><b>Definition:</b> exception.h:20</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html"><div class="ttname"><a href="structfranka_1_1RobotState.html">franka::RobotState</a></div><div class="ttdoc">Describes the robot state.</div><div class="ttdef"><b>Definition:</b> robot_state.h:34</div></div>
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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diff --git a/0.13.6/generate_joint_velocity_motion_8cpp-example.html b/0.13.6/generate_joint_velocity_motion_8cpp-example.html
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+<title>libfranka: generate_joint_velocity_motion.cpp</title>
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+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
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+  <div class="headertitle">
+<div class="title">generate_joint_velocity_motion.cpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<p>An example showing how to generate a joint velocity motion.</p><dl class="section warning"><dt>Warning</dt><dd>Before executing this example, make sure there is enough space in front of the robot.</dd></dl>
+<div class="fragment"><div class="line"><span class="comment">// Copyright (c) 2023 Franka Robotics GmbH</span></div>
+<div class="line"><span class="comment">// Use of this source code is governed by the Apache-2.0 license, see LICENSE</span></div>
+<div class="line"><span class="preprocessor">#include &lt;cmath&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;iostream&gt;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="exception_8h.html">franka/exception.h</a>&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="robot_8h.html">franka/robot.h</a>&gt;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="preprocessor">#include &quot;<a class="code" href="examples__common_8h.html">examples_common.h</a>&quot;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="keywordtype">int</span> main(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span>** argv) {</div>
+<div class="line">  <span class="keywordflow">if</span> (argc != 2) {</div>
+<div class="line">    std::cerr &lt;&lt; <span class="stringliteral">&quot;Usage: &quot;</span> &lt;&lt; argv[0] &lt;&lt; <span class="stringliteral">&quot; &lt;robot-hostname&gt;&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">    <span class="keywordflow">return</span> -1;</div>
+<div class="line">  }</div>
+<div class="line">  <span class="keywordflow">try</span> {</div>
+<div class="line">    <a name="_a0"></a><a class="code" href="classfranka_1_1Robot.html">franka::Robot</a> robot(argv[1]);</div>
+<div class="line">    <a name="a1"></a><a class="code" href="examples__common_8h.html#ad0c6e1cb044845ee8a01b5aa1e801a45">setDefaultBehavior</a>(robot);</div>
+<div class="line"> </div>
+<div class="line">    <span class="comment">// First move the robot to a suitable joint configuration</span></div>
+<div class="line">    std::array&lt;double, 7&gt; q_goal = {{0, -M_PI_4, 0, -3 * M_PI_4, 0, M_PI_2, M_PI_4}};</div>
+<div class="line">    <a name="_a2"></a><a class="code" href="classMotionGenerator.html">MotionGenerator</a> motion_generator(0.5, q_goal);</div>
+<div class="line">    std::cout &lt;&lt; <span class="stringliteral">&quot;WARNING: This example will move the robot! &quot;</span></div>
+<div class="line">              &lt;&lt; <span class="stringliteral">&quot;Please make sure to have the user stop button at hand!&quot;</span> &lt;&lt; std::endl</div>
+<div class="line">              &lt;&lt; <span class="stringliteral">&quot;Press Enter to continue...&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">    std::cin.ignore();</div>
+<div class="line">    robot.<a name="a3"></a><a class="code" href="classfranka_1_1Robot.html#a0d5effba5daff2fee123802bbd5f95d1">control</a>(motion_generator);</div>
+<div class="line">    std::cout &lt;&lt; <span class="stringliteral">&quot;Finished moving to initial joint configuration.&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"> </div>
+<div class="line">    <span class="comment">// Set additional parameters always before the control loop, NEVER in the control loop!</span></div>
+<div class="line">    <span class="comment">// Set collision behavior.</span></div>
+<div class="line">    robot.<a name="a4"></a><a class="code" href="classfranka_1_1Robot.html#a168e1214ac36d74ac64f894332b84534">setCollisionBehavior</a>(</div>
+<div class="line">        {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}}, {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}},</div>
+<div class="line">        {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}}, {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}},</div>
+<div class="line">        {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}}, {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}},</div>
+<div class="line">        {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}}, {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}});</div>
+<div class="line"> </div>
+<div class="line">    <span class="keywordtype">double</span> time_max = 1.0;</div>
+<div class="line">    <span class="keywordtype">double</span> omega_max = 1.0;</div>
+<div class="line">    <span class="keywordtype">double</span> time = 0.0;</div>
+<div class="line">    robot.<a class="code" href="classfranka_1_1Robot.html#a0d5effba5daff2fee123802bbd5f95d1">control</a>(</div>
+<div class="line">        [=, &amp;time](<span class="keyword">const</span> <a name="_a5"></a><a class="code" href="structfranka_1_1RobotState.html">franka::RobotState</a>&amp;, <a name="_a6"></a><a class="code" href="classfranka_1_1Duration.html">franka::Duration</a> period) -&gt; <a name="_a7"></a><a class="code" href="classfranka_1_1JointVelocities.html">franka::JointVelocities</a> {</div>
+<div class="line">          time += period.<a name="a8"></a><a class="code" href="classfranka_1_1Duration.html#a497af77a3280159547f231f0374e9ac1">toSec</a>();</div>
+<div class="line"> </div>
+<div class="line">          <span class="keywordtype">double</span> cycle = std::floor(std::pow(-1.0, (time - std::fmod(time, time_max)) / time_max));</div>
+<div class="line">          <span class="keywordtype">double</span> omega = cycle * omega_max / 2.0 * (1.0 - std::cos(2.0 * M_PI / time_max * time));</div>
+<div class="line"> </div>
+<div class="line">          <a class="code" href="classfranka_1_1JointVelocities.html">franka::JointVelocities</a> velocities = {{0.0, 0.0, 0.0, omega, omega, omega, omega}};</div>
+<div class="line"> </div>
+<div class="line">          <span class="keywordflow">if</span> (time &gt;= 2 * time_max) {</div>
+<div class="line">            std::cout &lt;&lt; std::endl &lt;&lt; <span class="stringliteral">&quot;Finished motion, shutting down example&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">            <span class="keywordflow">return</span> <a name="a9"></a><a class="code" href="control__types_8h.html#a20791f7142d78bbbe3c957cc66a23ade">franka::MotionFinished</a>(velocities);</div>
+<div class="line">          }</div>
+<div class="line">          <span class="keywordflow">return</span> velocities;</div>
+<div class="line">        });</div>
+<div class="line">  } <span class="keywordflow">catch</span> (<span class="keyword">const</span> <a name="_a10"></a><a class="code" href="structfranka_1_1Exception.html">franka::Exception</a>&amp; e) {</div>
+<div class="line">    std::cout &lt;&lt; e.what() &lt;&lt; std::endl;</div>
+<div class="line">    <span class="keywordflow">return</span> -1;</div>
+<div class="line">  }</div>
+<div class="line"> </div>
+<div class="line">  <span class="keywordflow">return</span> 0;</div>
+<div class="line">}</div>
+<div class="ttc" id="aclassMotionGenerator_html"><div class="ttname"><a href="classMotionGenerator.html">MotionGenerator</a></div><div class="ttdoc">An example showing how to generate a joint pose motion to a goal position.</div><div class="ttdef"><b>Definition:</b> examples_common.h:31</div></div>
+<div class="ttc" id="aclassfranka_1_1Duration_html"><div class="ttname"><a href="classfranka_1_1Duration.html">franka::Duration</a></div><div class="ttdoc">Represents a duration with millisecond resolution.</div><div class="ttdef"><b>Definition:</b> duration.h:19</div></div>
+<div class="ttc" id="aclassfranka_1_1Duration_html_a497af77a3280159547f231f0374e9ac1"><div class="ttname"><a href="classfranka_1_1Duration.html#a497af77a3280159547f231f0374e9ac1">franka::Duration::toSec</a></div><div class="ttdeci">double toSec() const noexcept</div><div class="ttdoc">Returns the stored duration in .</div></div>
+<div class="ttc" id="aclassfranka_1_1JointVelocities_html"><div class="ttname"><a href="classfranka_1_1JointVelocities.html">franka::JointVelocities</a></div><div class="ttdoc">Stores values for joint velocity motion generation.</div><div class="ttdef"><b>Definition:</b> control_types.h:99</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html"><div class="ttname"><a href="classfranka_1_1Robot.html">franka::Robot</a></div><div class="ttdoc">Maintains a network connection to the robot, provides the current robot state, gives access to the mo...</div><div class="ttdef"><b>Definition:</b> robot.h:67</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_a0d5effba5daff2fee123802bbd5f95d1"><div class="ttname"><a href="classfranka_1_1Robot.html#a0d5effba5daff2fee123802bbd5f95d1">franka::Robot::control</a></div><div class="ttdeci">void control(std::function&lt; Torques(const RobotState &amp;, franka::Duration)&gt; control_callback, bool limit_rate=false, double cutoff_frequency=kDefaultCutoffFrequency)</div><div class="ttdoc">Starts a control loop for sending joint-level torque commands.</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_a168e1214ac36d74ac64f894332b84534"><div class="ttname"><a href="classfranka_1_1Robot.html#a168e1214ac36d74ac64f894332b84534">franka::Robot::setCollisionBehavior</a></div><div class="ttdeci">void setCollisionBehavior(const std::array&lt; double, 7 &gt; &amp;lower_torque_thresholds_acceleration, const std::array&lt; double, 7 &gt; &amp;upper_torque_thresholds_acceleration, const std::array&lt; double, 7 &gt; &amp;lower_torque_thresholds_nominal, const std::array&lt; double, 7 &gt; &amp;upper_torque_thresholds_nominal, const std::array&lt; double, 6 &gt; &amp;lower_force_thresholds_acceleration, const std::array&lt; double, 6 &gt; &amp;upper_force_thresholds_acceleration, const std::array&lt; double, 6 &gt; &amp;lower_force_thresholds_nominal, const std::array&lt; double, 6 &gt; &amp;upper_force_thresholds_nominal)</div><div class="ttdoc">Changes the collision behavior.</div></div>
+<div class="ttc" id="acontrol__types_8h_html_a20791f7142d78bbbe3c957cc66a23ade"><div class="ttname"><a href="control__types_8h.html#a20791f7142d78bbbe3c957cc66a23ade">franka::MotionFinished</a></div><div class="ttdeci">Torques MotionFinished(Torques command) noexcept</div><div class="ttdoc">Helper method to indicate that a motion should stop after processing the given command.</div><div class="ttdef"><b>Definition:</b> control_types.h:294</div></div>
+<div class="ttc" id="aexamples__common_8h_html"><div class="ttname"><a href="examples__common_8h.html">examples_common.h</a></div><div class="ttdoc">Contains common types and functions for the examples.</div></div>
+<div class="ttc" id="aexamples__common_8h_html_ad0c6e1cb044845ee8a01b5aa1e801a45"><div class="ttname"><a href="examples__common_8h.html#ad0c6e1cb044845ee8a01b5aa1e801a45">setDefaultBehavior</a></div><div class="ttdeci">void setDefaultBehavior(franka::Robot &amp;robot)</div><div class="ttdoc">Sets a default collision behavior, joint impedance and Cartesian impedance.</div><div class="ttdef"><b>Definition:</b> examples_common.cpp:12</div></div>
+<div class="ttc" id="aexception_8h_html"><div class="ttname"><a href="exception_8h.html">exception.h</a></div><div class="ttdoc">Contains exception definitions.</div></div>
+<div class="ttc" id="arobot_8h_html"><div class="ttname"><a href="robot_8h.html">robot.h</a></div><div class="ttdoc">Contains the franka::Robot type.</div></div>
+<div class="ttc" id="astructfranka_1_1Exception_html"><div class="ttname"><a href="structfranka_1_1Exception.html">franka::Exception</a></div><div class="ttdoc">Base class for all exceptions used by libfranka.</div><div class="ttdef"><b>Definition:</b> exception.h:20</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html"><div class="ttname"><a href="structfranka_1_1RobotState.html">franka::RobotState</a></div><div class="ttdoc">Describes the robot state.</div><div class="ttdef"><b>Definition:</b> robot_state.h:34</div></div>
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diff --git a/0.13.6/generate_joint_velocity_motion_external_control_loop_8cpp-example.html b/0.13.6/generate_joint_velocity_motion_external_control_loop_8cpp-example.html
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+</div><!--header-->
+<div class="contents">
+<p>An example showing how to generate a joint velocity motion with an external control loop.</p><dl class="section warning"><dt>Warning</dt><dd>Before executing this example, make sure there is enough space in front of the robot.</dd></dl>
+<div class="fragment"><div class="line"><span class="comment">// Copyright (c) 2023 Franka Robotics GmbH</span></div>
+<div class="line"><span class="comment">// Use of this source code is governed by the Apache-2.0 license, see LICENSE</span></div>
+<div class="line"><span class="preprocessor">#include &lt;cmath&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;iostream&gt;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="active__control_8h.html">franka/active_control.h</a>&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="active__motion__generator_8h.html">franka/active_motion_generator.h</a>&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="exception_8h.html">franka/exception.h</a>&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="robot_8h.html">franka/robot.h</a>&gt;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="preprocessor">#include &quot;<a class="code" href="examples__common_8h.html">examples_common.h</a>&quot;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="keywordtype">int</span> main(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span>** argv) {</div>
+<div class="line">  <span class="comment">// Check whether the required arguments were passed</span></div>
+<div class="line">  <span class="keywordflow">if</span> (argc != 2) {</div>
+<div class="line">    std::cerr &lt;&lt; <span class="stringliteral">&quot;Usage: &quot;</span> &lt;&lt; argv[0] &lt;&lt; <span class="stringliteral">&quot; &lt;robot-hostname&gt;&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">    <span class="keywordflow">return</span> -1;</div>
+<div class="line">  }</div>
+<div class="line"> </div>
+<div class="line">  <span class="keywordflow">try</span> {</div>
+<div class="line">    <a name="_a0"></a><a class="code" href="classfranka_1_1Robot.html">franka::Robot</a> robot(argv[1]);</div>
+<div class="line">    <a name="a1"></a><a class="code" href="examples__common_8h.html#ad0c6e1cb044845ee8a01b5aa1e801a45">setDefaultBehavior</a>(robot);</div>
+<div class="line"> </div>
+<div class="line">    <span class="comment">// First move the robot to a suitable joint configuration</span></div>
+<div class="line">    std::array&lt;double, 7&gt; q_goal = {{0, -M_PI_4, 0, -3 * M_PI_4, 0, M_PI_2, M_PI_4}};</div>
+<div class="line">    <a name="_a2"></a><a class="code" href="classMotionGenerator.html">MotionGenerator</a> motion_generator(0.5, q_goal);</div>
+<div class="line">    std::cout &lt;&lt; <span class="stringliteral">&quot;WARNING: This example will move the robot! &quot;</span></div>
+<div class="line">              &lt;&lt; <span class="stringliteral">&quot;Please make sure to have the user stop button at hand!&quot;</span> &lt;&lt; std::endl</div>
+<div class="line">              &lt;&lt; <span class="stringliteral">&quot;Press Enter to continue...&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">    std::cin.ignore();</div>
+<div class="line">    robot.<a name="a3"></a><a class="code" href="classfranka_1_1Robot.html#a0d5effba5daff2fee123802bbd5f95d1">control</a>(motion_generator);</div>
+<div class="line">    std::cout &lt;&lt; <span class="stringliteral">&quot;Finished moving to initial joint configuration.&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"> </div>
+<div class="line">    <span class="comment">// Set additional parameters always before the control loop, NEVER in the control loop!</span></div>
+<div class="line">    <span class="comment">// Set collision behavior.</span></div>
+<div class="line">    robot.<a name="a4"></a><a class="code" href="classfranka_1_1Robot.html#a168e1214ac36d74ac64f894332b84534">setCollisionBehavior</a>(</div>
+<div class="line">        {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}}, {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}},</div>
+<div class="line">        {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}}, {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}},</div>
+<div class="line">        {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}}, {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}},</div>
+<div class="line">        {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}}, {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}});</div>
+<div class="line"> </div>
+<div class="line">    <span class="keywordtype">double</span> time_max = 1.0;</div>
+<div class="line">    <span class="keywordtype">double</span> omega_max = 1.0;</div>
+<div class="line">    <span class="keywordtype">double</span> time = 0.0;</div>
+<div class="line"> </div>
+<div class="line">    <span class="keyword">auto</span> callback_control = [=, &amp;time](<span class="keyword">const</span> <a name="_a5"></a><a class="code" href="structfranka_1_1RobotState.html">franka::RobotState</a>&amp;,</div>
+<div class="line">                                       <a name="_a6"></a><a class="code" href="classfranka_1_1Duration.html">franka::Duration</a> period) -&gt; <a name="_a7"></a><a class="code" href="classfranka_1_1JointVelocities.html">franka::JointVelocities</a> {</div>
+<div class="line">      time += period.toSec();</div>
+<div class="line"> </div>
+<div class="line">      <span class="keywordtype">double</span> cycle = std::floor(std::pow(-1.0, (time - std::fmod(time, time_max)) / time_max));</div>
+<div class="line">      <span class="keywordtype">double</span> omega = cycle * omega_max / 2.0 * (1.0 - std::cos(2.0 * M_PI / time_max * time));</div>
+<div class="line"> </div>
+<div class="line">      <a class="code" href="classfranka_1_1JointVelocities.html">franka::JointVelocities</a> velocities = {{0.0, 0.0, 0.0, omega, omega, omega, omega}};</div>
+<div class="line"> </div>
+<div class="line">      <span class="keywordflow">if</span> (time &gt;= 2 * time_max) {</div>
+<div class="line">        std::cout &lt;&lt; std::endl &lt;&lt; <span class="stringliteral">&quot;Finished motion, shutting down example&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">        <span class="keywordflow">return</span> <a name="a8"></a><a class="code" href="control__types_8h.html#a20791f7142d78bbbe3c957cc66a23ade">franka::MotionFinished</a>(velocities);</div>
+<div class="line">      }</div>
+<div class="line">      <span class="keywordflow">return</span> velocities;</div>
+<div class="line">    };</div>
+<div class="line"> </div>
+<div class="line">    <span class="keywordtype">bool</span> motion_finished = <span class="keyword">false</span>;</div>
+<div class="line">    <span class="keyword">auto</span> active_control = robot.<a name="a9"></a><a class="code" href="classfranka_1_1Robot.html#ae9c867d10817b2485e306450f389a009">startJointVelocityControl</a>(</div>
+<div class="line">        research_interface::robot::Move::ControllerMode::kJointImpedance);</div>
+<div class="line">    <span class="keywordflow">while</span> (!motion_finished) {</div>
+<div class="line">      <span class="keyword">auto</span> read_once_return = active_control-&gt;readOnce();</div>
+<div class="line">      <span class="keyword">auto</span> robot_state = read_once_return.first;</div>
+<div class="line">      <span class="keyword">auto</span> duration = read_once_return.second;</div>
+<div class="line">      <span class="keyword">auto</span> joint_velocities = callback_control(robot_state, duration);</div>
+<div class="line">      motion_finished = joint_velocities.motion_finished;</div>
+<div class="line">      active_control-&gt;writeOnce(joint_velocities);</div>
+<div class="line">    }</div>
+<div class="line"> </div>
+<div class="line">  } <span class="keywordflow">catch</span> (<span class="keyword">const</span> <a name="_a10"></a><a class="code" href="structfranka_1_1Exception.html">franka::Exception</a>&amp; e) {</div>
+<div class="line">    std::cout &lt;&lt; e.what() &lt;&lt; std::endl;</div>
+<div class="line">    <span class="keywordflow">return</span> -1;</div>
+<div class="line">  }</div>
+<div class="line"> </div>
+<div class="line">  <span class="keywordflow">return</span> 0;</div>
+<div class="line">}</div>
+<div class="ttc" id="aactive__control_8h_html"><div class="ttname"><a href="active__control_8h.html">active_control.h</a></div><div class="ttdoc">Implements the ActiveControlBase abstract class.</div></div>
+<div class="ttc" id="aactive__motion__generator_8h_html"><div class="ttname"><a href="active__motion__generator_8h.html">active_motion_generator.h</a></div><div class="ttdoc">Contains the franka::ActiveMotionGenerator type.</div></div>
+<div class="ttc" id="aclassMotionGenerator_html"><div class="ttname"><a href="classMotionGenerator.html">MotionGenerator</a></div><div class="ttdoc">An example showing how to generate a joint pose motion to a goal position.</div><div class="ttdef"><b>Definition:</b> examples_common.h:31</div></div>
+<div class="ttc" id="aclassfranka_1_1Duration_html"><div class="ttname"><a href="classfranka_1_1Duration.html">franka::Duration</a></div><div class="ttdoc">Represents a duration with millisecond resolution.</div><div class="ttdef"><b>Definition:</b> duration.h:19</div></div>
+<div class="ttc" id="aclassfranka_1_1JointVelocities_html"><div class="ttname"><a href="classfranka_1_1JointVelocities.html">franka::JointVelocities</a></div><div class="ttdoc">Stores values for joint velocity motion generation.</div><div class="ttdef"><b>Definition:</b> control_types.h:99</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html"><div class="ttname"><a href="classfranka_1_1Robot.html">franka::Robot</a></div><div class="ttdoc">Maintains a network connection to the robot, provides the current robot state, gives access to the mo...</div><div class="ttdef"><b>Definition:</b> robot.h:67</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_a0d5effba5daff2fee123802bbd5f95d1"><div class="ttname"><a href="classfranka_1_1Robot.html#a0d5effba5daff2fee123802bbd5f95d1">franka::Robot::control</a></div><div class="ttdeci">void control(std::function&lt; Torques(const RobotState &amp;, franka::Duration)&gt; control_callback, bool limit_rate=false, double cutoff_frequency=kDefaultCutoffFrequency)</div><div class="ttdoc">Starts a control loop for sending joint-level torque commands.</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_a168e1214ac36d74ac64f894332b84534"><div class="ttname"><a href="classfranka_1_1Robot.html#a168e1214ac36d74ac64f894332b84534">franka::Robot::setCollisionBehavior</a></div><div class="ttdeci">void setCollisionBehavior(const std::array&lt; double, 7 &gt; &amp;lower_torque_thresholds_acceleration, const std::array&lt; double, 7 &gt; &amp;upper_torque_thresholds_acceleration, const std::array&lt; double, 7 &gt; &amp;lower_torque_thresholds_nominal, const std::array&lt; double, 7 &gt; &amp;upper_torque_thresholds_nominal, const std::array&lt; double, 6 &gt; &amp;lower_force_thresholds_acceleration, const std::array&lt; double, 6 &gt; &amp;upper_force_thresholds_acceleration, const std::array&lt; double, 6 &gt; &amp;lower_force_thresholds_nominal, const std::array&lt; double, 6 &gt; &amp;upper_force_thresholds_nominal)</div><div class="ttdoc">Changes the collision behavior.</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_ae9c867d10817b2485e306450f389a009"><div class="ttname"><a href="classfranka_1_1Robot.html#ae9c867d10817b2485e306450f389a009">franka::Robot::startJointVelocityControl</a></div><div class="ttdeci">virtual std::unique_ptr&lt; ActiveControlBase &gt; startJointVelocityControl(const research_interface::robot::Move::ControllerMode &amp;control_type)</div><div class="ttdoc">Starts a new joint velocity motion generator.</div></div>
+<div class="ttc" id="acontrol__types_8h_html_a20791f7142d78bbbe3c957cc66a23ade"><div class="ttname"><a href="control__types_8h.html#a20791f7142d78bbbe3c957cc66a23ade">franka::MotionFinished</a></div><div class="ttdeci">Torques MotionFinished(Torques command) noexcept</div><div class="ttdoc">Helper method to indicate that a motion should stop after processing the given command.</div><div class="ttdef"><b>Definition:</b> control_types.h:294</div></div>
+<div class="ttc" id="aexamples__common_8h_html"><div class="ttname"><a href="examples__common_8h.html">examples_common.h</a></div><div class="ttdoc">Contains common types and functions for the examples.</div></div>
+<div class="ttc" id="aexamples__common_8h_html_ad0c6e1cb044845ee8a01b5aa1e801a45"><div class="ttname"><a href="examples__common_8h.html#ad0c6e1cb044845ee8a01b5aa1e801a45">setDefaultBehavior</a></div><div class="ttdeci">void setDefaultBehavior(franka::Robot &amp;robot)</div><div class="ttdoc">Sets a default collision behavior, joint impedance and Cartesian impedance.</div><div class="ttdef"><b>Definition:</b> examples_common.cpp:12</div></div>
+<div class="ttc" id="aexception_8h_html"><div class="ttname"><a href="exception_8h.html">exception.h</a></div><div class="ttdoc">Contains exception definitions.</div></div>
+<div class="ttc" id="arobot_8h_html"><div class="ttname"><a href="robot_8h.html">robot.h</a></div><div class="ttdoc">Contains the franka::Robot type.</div></div>
+<div class="ttc" id="astructfranka_1_1Exception_html"><div class="ttname"><a href="structfranka_1_1Exception.html">franka::Exception</a></div><div class="ttdoc">Base class for all exceptions used by libfranka.</div><div class="ttdef"><b>Definition:</b> exception.h:20</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html"><div class="ttname"><a href="structfranka_1_1RobotState.html">franka::RobotState</a></div><div class="ttdoc">Describes the robot state.</div><div class="ttdef"><b>Definition:</b> robot_state.h:34</div></div>
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+<li>setDefaultBehavior()
+: <a class="el" href="examples__common_8h.html#ad0c6e1cb044845ee8a01b5aa1e801a45">examples_common.h</a>
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+<li>setDefaultBehavior()
+: <a class="el" href="examples__common_8h.html#ad0c6e1cb044845ee8a01b5aa1e801a45">examples_common.h</a>
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
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+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>libfranka: Graph Legend</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<script type="text/x-mathjax-config">
+  MathJax.Hub.Config({
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+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
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+     onmouseout="return searchBox.OnSearchSelectHide()"
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+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="header">
+  <div class="headertitle">
+<div class="title">Graph Legend</div>  </div>
+</div><!--header-->
+<div class="contents">
+<p>This page explains how to interpret the graphs that are generated by doxygen.</p>
+<p>Consider the following example: </p><div class="fragment"><div class="line"><span class="comment">/*! Invisible class because of truncation */</span></div>
+<div class="line"><span class="keyword">class </span>Invisible { };</div>
+<div class="line"><span class="comment"></span> </div>
+<div class="line"><span class="comment">/*! Truncated class, inheritance relation is hidden */</span></div>
+<div class="line"><span class="keyword">class </span>Truncated : <span class="keyword">public</span> Invisible { };</div>
+<div class="line"> </div>
+<div class="line"><span class="comment">/* Class not documented with doxygen comments */</span></div>
+<div class="line"><span class="keyword">class </span>Undocumented { };</div>
+<div class="line"><span class="comment"></span> </div>
+<div class="line"><span class="comment">/*! Class that is inherited using public inheritance */</span></div>
+<div class="line"><span class="keyword">class </span>PublicBase : <span class="keyword">public</span> Truncated { };</div>
+<div class="line"><span class="comment"></span> </div>
+<div class="line"><span class="comment">/*! A template class */</span></div>
+<div class="line"><span class="keyword">template</span>&lt;<span class="keyword">class</span> T&gt; <span class="keyword">class </span>Templ { };</div>
+<div class="line"><span class="comment"></span> </div>
+<div class="line"><span class="comment">/*! Class that is inherited using protected inheritance */</span></div>
+<div class="line"><span class="keyword">class </span>ProtectedBase { };</div>
+<div class="line"><span class="comment"></span> </div>
+<div class="line"><span class="comment">/*! Class that is inherited using private inheritance */</span></div>
+<div class="line"><span class="keyword">class </span>PrivateBase { };</div>
+<div class="line"><span class="comment"></span> </div>
+<div class="line"><span class="comment">/*! Class that is used by the Inherited class */</span></div>
+<div class="line"><span class="keyword">class </span>Used { };</div>
+<div class="line"><span class="comment"></span> </div>
+<div class="line"><span class="comment">/*! Super class that inherits a number of other classes */</span></div>
+<div class="line"><span class="keyword">class </span>Inherited : <span class="keyword">public</span> PublicBase,</div>
+<div class="line">                  <span class="keyword">protected</span> ProtectedBase,</div>
+<div class="line">                  <span class="keyword">private</span> PrivateBase,</div>
+<div class="line">                  <span class="keyword">public</span> Undocumented,</div>
+<div class="line">                  <span class="keyword">public</span> Templ&lt;int&gt;</div>
+<div class="line">{</div>
+<div class="line">  <span class="keyword">private</span>:</div>
+<div class="line">    Used *m_usedClass;</div>
+<div class="line">};</div>
+</div><!-- fragment --><p> This will result in the following graph:</p>
+<center><img src="graph_legend.png" alt="" class="inline"/></center><p>The boxes in the above graph have the following meaning: </p>
+<ul>
+<li>
+A filled gray box represents the struct or class for which the graph is generated. </li>
+<li>
+A box with a black border denotes a documented struct or class. </li>
+<li>
+A box with a gray border denotes an undocumented struct or class. </li>
+<li>
+A box with a red border denotes a documented struct or class forwhich not all inheritance/containment relations are shown. A graph is truncated if it does not fit within the specified boundaries. </li>
+</ul>
+<p>The arrows have the following meaning: </p>
+<ul>
+<li>
+A dark blue arrow is used to visualize a public inheritance relation between two classes. </li>
+<li>
+A dark green arrow is used for protected inheritance. </li>
+<li>
+A dark red arrow is used for private inheritance. </li>
+<li>
+A purple dashed arrow is used if a class is contained or used by another class. The arrow is labelled with the variable(s) through which the pointed class or struct is accessible. </li>
+<li>
+A yellow dashed arrow denotes a relation between a template instance and the template class it was instantiated from. The arrow is labelled with the template parameters of the instance. </li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/0.13.6/graph_legend.md5 b/0.13.6/graph_legend.md5
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index 00000000..8fcdccd1
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
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+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+        name="MSearchResults" id="MSearchResults">
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+
+<div class="header">
+  <div class="headertitle">
+<div class="title">grasp_object.cpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<p>An example showing how to control FRANKA's gripper.</p>
+<div class="fragment"><div class="line"><span class="comment">// Copyright (c) 2023 Franka Robotics GmbH</span></div>
+<div class="line"><span class="comment">// Use of this source code is governed by the Apache-2.0 license, see LICENSE</span></div>
+<div class="line"><span class="preprocessor">#include &lt;iostream&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;sstream&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;string&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;thread&gt;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="exception_8h.html">franka/exception.h</a>&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="gripper_8h.html">franka/gripper.h</a>&gt;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="keywordtype">int</span> main(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span>** argv) {</div>
+<div class="line">  <span class="keywordflow">if</span> (argc != 4) {</div>
+<div class="line">    std::cerr &lt;&lt; <span class="stringliteral">&quot;Usage: ./grasp_object &lt;gripper-hostname&gt; &lt;homing&gt; &lt;object-width&gt;&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">    <span class="keywordflow">return</span> -1;</div>
+<div class="line">  }</div>
+<div class="line"> </div>
+<div class="line">  <span class="keywordflow">try</span> {</div>
+<div class="line">    <a name="_a0"></a><a class="code" href="classfranka_1_1Gripper.html">franka::Gripper</a> gripper(argv[1]);</div>
+<div class="line">    <span class="keywordtype">double</span> grasping_width = std::stod(argv[3]);</div>
+<div class="line"> </div>
+<div class="line">    std::stringstream ss(argv[2]);</div>
+<div class="line">    <span class="keywordtype">bool</span> homing;</div>
+<div class="line">    <span class="keywordflow">if</span> (!(ss &gt;&gt; homing)) {</div>
+<div class="line">      std::cerr &lt;&lt; <span class="stringliteral">&quot;&lt;homing&gt; can be 0 or 1.&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">      <span class="keywordflow">return</span> -1;</div>
+<div class="line">    }</div>
+<div class="line"> </div>
+<div class="line">    <span class="keywordflow">if</span> (homing) {</div>
+<div class="line">      <span class="comment">// Do a homing in order to estimate the maximum grasping width with the current fingers.</span></div>
+<div class="line">      gripper.<a name="a1"></a><a class="code" href="classfranka_1_1Gripper.html#aef356f93a4c3b9d6b2532c29126d478c">homing</a>();</div>
+<div class="line">    }</div>
+<div class="line"> </div>
+<div class="line">    <span class="comment">// Check for the maximum grasping width.</span></div>
+<div class="line">    <a name="_a2"></a><a class="code" href="structfranka_1_1GripperState.html">franka::GripperState</a> gripper_state = gripper.<a name="a3"></a><a class="code" href="classfranka_1_1Gripper.html#ab0afc8a41c9c5fff808e76851dcf23ce">readOnce</a>();</div>
+<div class="line">    <span class="keywordflow">if</span> (gripper_state.<a name="a4"></a><a class="code" href="structfranka_1_1GripperState.html#ab71a26356c2898c49609bf991843e166">max_width</a> &lt; grasping_width) {</div>
+<div class="line">      std::cout &lt;&lt; <span class="stringliteral">&quot;Object is too large for the current fingers on the gripper.&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">      <span class="keywordflow">return</span> -1;</div>
+<div class="line">    }</div>
+<div class="line"> </div>
+<div class="line">    <span class="comment">// Grasp the object.</span></div>
+<div class="line">    <span class="keywordflow">if</span> (!gripper.<a name="a5"></a><a class="code" href="classfranka_1_1Gripper.html#abff6a03a6c75b9079bd4b9b5ca380254">grasp</a>(grasping_width, 0.1, 60)) {</div>
+<div class="line">      std::cout &lt;&lt; <span class="stringliteral">&quot;Failed to grasp object.&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">      <span class="keywordflow">return</span> -1;</div>
+<div class="line">    }</div>
+<div class="line"> </div>
+<div class="line">    <span class="comment">// Wait 3s and check afterwards, if the object is still grasped.</span></div>
+<div class="line">    std::this_thread::sleep_for(std::chrono::duration&lt;double, std::milli&gt;(3000));</div>
+<div class="line"> </div>
+<div class="line">    gripper_state = gripper.<a class="code" href="classfranka_1_1Gripper.html#ab0afc8a41c9c5fff808e76851dcf23ce">readOnce</a>();</div>
+<div class="line">    <span class="keywordflow">if</span> (!gripper_state.<a name="a6"></a><a class="code" href="structfranka_1_1GripperState.html#aa65b46313e740454ead9c9ea27e7bf8d">is_grasped</a>) {</div>
+<div class="line">      std::cout &lt;&lt; <span class="stringliteral">&quot;Object lost.&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">      <span class="keywordflow">return</span> -1;</div>
+<div class="line">    }</div>
+<div class="line"> </div>
+<div class="line">    std::cout &lt;&lt; <span class="stringliteral">&quot;Grasped object, will release it now.&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">    gripper.<a name="a7"></a><a class="code" href="classfranka_1_1Gripper.html#add7397fb6c5631650c139d26a85c8e1d">stop</a>();</div>
+<div class="line">  } <span class="keywordflow">catch</span> (<a name="_a8"></a><a class="code" href="structfranka_1_1Exception.html">franka::Exception</a> <span class="keyword">const</span>&amp; e) {</div>
+<div class="line">    std::cout &lt;&lt; e.what() &lt;&lt; std::endl;</div>
+<div class="line">    <span class="keywordflow">return</span> -1;</div>
+<div class="line">  }</div>
+<div class="line"> </div>
+<div class="line">  <span class="keywordflow">return</span> 0;</div>
+<div class="line">}</div>
+<div class="ttc" id="aclassfranka_1_1Gripper_html"><div class="ttname"><a href="classfranka_1_1Gripper.html">franka::Gripper</a></div><div class="ttdoc">Maintains a network connection to the gripper, provides the current gripper state,...</div><div class="ttdef"><b>Definition:</b> gripper.h:27</div></div>
+<div class="ttc" id="aclassfranka_1_1Gripper_html_ab0afc8a41c9c5fff808e76851dcf23ce"><div class="ttname"><a href="classfranka_1_1Gripper.html#ab0afc8a41c9c5fff808e76851dcf23ce">franka::Gripper::readOnce</a></div><div class="ttdeci">GripperState readOnce() const</div><div class="ttdoc">Waits for a gripper state update and returns it.</div></div>
+<div class="ttc" id="aclassfranka_1_1Gripper_html_abff6a03a6c75b9079bd4b9b5ca380254"><div class="ttname"><a href="classfranka_1_1Gripper.html#abff6a03a6c75b9079bd4b9b5ca380254">franka::Gripper::grasp</a></div><div class="ttdeci">bool grasp(double width, double speed, double force, double epsilon_inner=0.005, double epsilon_outer=0.005) const</div><div class="ttdoc">Grasps an object.</div></div>
+<div class="ttc" id="aclassfranka_1_1Gripper_html_add7397fb6c5631650c139d26a85c8e1d"><div class="ttname"><a href="classfranka_1_1Gripper.html#add7397fb6c5631650c139d26a85c8e1d">franka::Gripper::stop</a></div><div class="ttdeci">bool stop() const</div><div class="ttdoc">Stops a currently running gripper move or grasp.</div></div>
+<div class="ttc" id="aclassfranka_1_1Gripper_html_aef356f93a4c3b9d6b2532c29126d478c"><div class="ttname"><a href="classfranka_1_1Gripper.html#aef356f93a4c3b9d6b2532c29126d478c">franka::Gripper::homing</a></div><div class="ttdeci">bool homing() const</div><div class="ttdoc">Performs homing of the gripper.</div></div>
+<div class="ttc" id="aexception_8h_html"><div class="ttname"><a href="exception_8h.html">exception.h</a></div><div class="ttdoc">Contains exception definitions.</div></div>
+<div class="ttc" id="agripper_8h_html"><div class="ttname"><a href="gripper_8h.html">gripper.h</a></div><div class="ttdoc">Contains the franka::Gripper type.</div></div>
+<div class="ttc" id="astructfranka_1_1Exception_html"><div class="ttname"><a href="structfranka_1_1Exception.html">franka::Exception</a></div><div class="ttdoc">Base class for all exceptions used by libfranka.</div><div class="ttdef"><b>Definition:</b> exception.h:20</div></div>
+<div class="ttc" id="astructfranka_1_1GripperState_html"><div class="ttname"><a href="structfranka_1_1GripperState.html">franka::GripperState</a></div><div class="ttdoc">Describes the gripper state.</div><div class="ttdef"><b>Definition:</b> gripper_state.h:20</div></div>
+<div class="ttc" id="astructfranka_1_1GripperState_html_aa65b46313e740454ead9c9ea27e7bf8d"><div class="ttname"><a href="structfranka_1_1GripperState.html#aa65b46313e740454ead9c9ea27e7bf8d">franka::GripperState::is_grasped</a></div><div class="ttdeci">bool is_grasped</div><div class="ttdoc">Indicates whether an object is currently grasped.</div><div class="ttdef"><b>Definition:</b> gripper_state.h:38</div></div>
+<div class="ttc" id="astructfranka_1_1GripperState_html_ab71a26356c2898c49609bf991843e166"><div class="ttname"><a href="structfranka_1_1GripperState.html#ab71a26356c2898c49609bf991843e166">franka::GripperState::max_width</a></div><div class="ttdeci">double max_width</div><div class="ttdoc">Maximum gripper opening width.</div><div class="ttdef"><b>Definition:</b> gripper_state.h:33</div></div>
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>libfranka: include/franka/gripper.h File Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
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+</table>
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+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+  $(document).ready(function() { init_search(); });
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_5f30c89189ebb3336d6b33aa932838ba.html">franka</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a>  </div>
+  <div class="headertitle">
+<div class="title">gripper.h File Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Contains the <a class="el" href="classfranka_1_1Gripper.html" title="Maintains a network connection to the gripper, provides the current gripper state,...">franka::Gripper</a> type.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &lt;cstdint&gt;</code><br />
+<code>#include &lt;memory&gt;</code><br />
+<code>#include &lt;string&gt;</code><br />
+<code>#include &lt;<a class="el" href="gripper__state_8h_source.html">franka/gripper_state.h</a>&gt;</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for gripper.h:</div>
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+<p><a href="gripper_8h_source.html">Go to the source code of this file.</a></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Gripper.html">franka::Gripper</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Maintains a network connection to the gripper, provides the current gripper state, and allows the execution of commands.  <a href="classfranka_1_1Gripper.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Contains the <a class="el" href="classfranka_1_1Gripper.html" title="Maintains a network connection to the gripper, provides the current gripper state,...">franka::Gripper</a> type. </p>
+</div></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gripper.h</div>  </div>
+</div><!--header-->
+<div class="contents">
+<a href="gripper_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// Copyright (c) 2023 Franka Robotics GmbH</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Use of this source code is governed by the Apache-2.0 license, see LICENSE</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160; </div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;cstdint&gt;</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;memory&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;string&gt;</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160; </div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="gripper__state_8h.html">franka/gripper_state.h</a>&gt;</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="keyword">namespace </span>franka {</div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160; </div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="keyword">class </span>Network;</div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160; </div>
+<div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="classfranka_1_1Gripper.html">   27</a></span>&#160;<span class="keyword">class </span><a class="code" href="classfranka_1_1Gripper.html">Gripper</a> {</div>
+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160; <span class="keyword">public</span>:</div>
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+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160; </div>
+<div class="line"><a name="l00042"></a><span class="lineno"><a class="line" href="classfranka_1_1Gripper.html#a02b30632b08001592c62d3563561afc5">   42</a></span>&#160;  <span class="keyword">explicit</span> <a class="code" href="classfranka_1_1Gripper.html#a02b30632b08001592c62d3563561afc5">Gripper</a>(<span class="keyword">const</span> std::string&amp; franka_address);</div>
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+<div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="classfranka_1_1Gripper.html#aa045ea81b36f22420f9bc6f2a256a4f0">   49</a></span>&#160;  <a class="code" href="classfranka_1_1Gripper.html#aa045ea81b36f22420f9bc6f2a256a4f0">Gripper</a>(<a class="code" href="classfranka_1_1Gripper.html">Gripper</a>&amp;&amp; gripper) noexcept;</div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; </div>
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+<div class="line"><a name="l00099"></a><span class="lineno"><a class="line" href="classfranka_1_1Gripper.html#abff6a03a6c75b9079bd4b9b5ca380254">   99</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classfranka_1_1Gripper.html#abff6a03a6c75b9079bd4b9b5ca380254">grasp</a>(<span class="keywordtype">double</span> width,</div>
+<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;             <span class="keywordtype">double</span> speed,</div>
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+<div class="line"><a name="l00126"></a><span class="lineno"><a class="line" href="classfranka_1_1Gripper.html#add7397fb6c5631650c139d26a85c8e1d">  126</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classfranka_1_1Gripper.html#add7397fb6c5631650c139d26a85c8e1d">stop</a>() const;</div>
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+<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160; private:</div>
+<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;  std::unique_ptr&lt;Network&gt; network_;</div>
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+<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  uint16_t ri_version_;</div>
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+<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
+<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;}  <span class="comment">// namespace franka</span></div>
+<div class="ttc" id="aclassfranka_1_1Gripper_html"><div class="ttname"><a href="classfranka_1_1Gripper.html">franka::Gripper</a></div><div class="ttdoc">Maintains a network connection to the gripper, provides the current gripper state,...</div><div class="ttdef"><b>Definition:</b> gripper.h:27</div></div>
+<div class="ttc" id="aclassfranka_1_1Gripper_html_a02b30632b08001592c62d3563561afc5"><div class="ttname"><a href="classfranka_1_1Gripper.html#a02b30632b08001592c62d3563561afc5">franka::Gripper::Gripper</a></div><div class="ttdeci">Gripper(const std::string &amp;franka_address)</div><div class="ttdoc">Establishes a connection with a gripper connected to a robot.</div></div>
+<div class="ttc" id="aclassfranka_1_1Gripper_html_a047bc39267d66d6fb26c4c70669d68c2"><div class="ttname"><a href="classfranka_1_1Gripper.html#a047bc39267d66d6fb26c4c70669d68c2">franka::Gripper::move</a></div><div class="ttdeci">bool move(double width, double speed) const</div><div class="ttdoc">Moves the gripper fingers to a specified width.</div></div>
+<div class="ttc" id="aclassfranka_1_1Gripper_html_a3c99c6973f8951ca489c4177cfacb069"><div class="ttname"><a href="classfranka_1_1Gripper.html#a3c99c6973f8951ca489c4177cfacb069">franka::Gripper::operator=</a></div><div class="ttdeci">Gripper &amp; operator=(Gripper &amp;&amp;gripper) noexcept</div><div class="ttdoc">Move-assigns this Gripper from another Gripper instance.</div></div>
+<div class="ttc" id="aclassfranka_1_1Gripper_html_a613bf52d9433b733685d0fb9ea71602e"><div class="ttname"><a href="classfranka_1_1Gripper.html#a613bf52d9433b733685d0fb9ea71602e">franka::Gripper::ServerVersion</a></div><div class="ttdeci">uint16_t ServerVersion</div><div class="ttdoc">Version of the gripper server.</div><div class="ttdef"><b>Definition:</b> gripper.h:32</div></div>
+<div class="ttc" id="aclassfranka_1_1Gripper_html_a8b0b4246c042465fb00871b31efdbd8b"><div class="ttname"><a href="classfranka_1_1Gripper.html#a8b0b4246c042465fb00871b31efdbd8b">franka::Gripper::serverVersion</a></div><div class="ttdeci">ServerVersion serverVersion() const noexcept</div><div class="ttdoc">Returns the software version reported by the connected server.</div></div>
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+<div class="ttc" id="agripper__state_8h_html"><div class="ttname"><a href="gripper__state_8h.html">gripper_state.h</a></div><div class="ttdoc">Contains the franka::GripperState type.</div></div>
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+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#func-members">Functions</a>  </div>
+  <div class="headertitle">
+<div class="title">gripper_state.h File Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Contains the <a class="el" href="structfranka_1_1GripperState.html" title="Describes the gripper state.">franka::GripperState</a> type.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &lt;cstdint&gt;</code><br />
+<code>#include &lt;ostream&gt;</code><br />
+<code>#include &lt;<a class="el" href="duration_8h_source.html">franka/duration.h</a>&gt;</code><br />
+</div><div class="textblock"><div class="dynheader">
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+<p><a href="gripper__state_8h_source.html">Go to the source code of this file.</a></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1GripperState.html">franka::GripperState</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Describes the gripper state.  <a href="structfranka_1_1GripperState.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
+Functions</h2></td></tr>
+<tr class="memitem:ab66181a74d1d3b7e90ae3b424ee85f4f"><td class="memItemLeft" align="right" valign="top">std::ostream &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="gripper__state_8h.html#ab66181a74d1d3b7e90ae3b424ee85f4f">franka::operator&lt;&lt;</a> (std::ostream &amp;ostream, const <a class="el" href="structfranka_1_1GripperState.html">franka::GripperState</a> &amp;gripper_state)</td></tr>
+<tr class="memdesc:ab66181a74d1d3b7e90ae3b424ee85f4f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Streams the gripper state as JSON object: {"field_name_1": value, "field_name_2": value, ...}.  <a href="gripper__state_8h.html#ab66181a74d1d3b7e90ae3b424ee85f4f">More...</a><br /></td></tr>
+<tr class="separator:ab66181a74d1d3b7e90ae3b424ee85f4f"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Contains the <a class="el" href="structfranka_1_1GripperState.html" title="Describes the gripper state.">franka::GripperState</a> type. </p>
+</div><h2 class="groupheader">Function Documentation</h2>
+<a id="ab66181a74d1d3b7e90ae3b424ee85f4f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab66181a74d1d3b7e90ae3b424ee85f4f">&#9670;&nbsp;</a></span>operator&lt;&lt;()</h2>
+
+<div class="memitem">
+<div class="memproto">
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+        <tr>
+          <td class="memname">std::ostream&amp; franka::operator&lt;&lt; </td>
+          <td>(</td>
+          <td class="paramtype">std::ostream &amp;&#160;</td>
+          <td class="paramname"><em>ostream</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="structfranka_1_1GripperState.html">franka::GripperState</a> &amp;&#160;</td>
+          <td class="paramname"><em>gripper_state</em>&#160;</td>
+        </tr>
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+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Streams the gripper state as JSON object: {"field_name_1": value, "field_name_2": value, ...}. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">ostream</td><td>Ostream instance </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">gripper_state</td><td>GripperState struct instance to stream</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Ostream instance </dd></dl>
+
+</div>
+</div>
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new file mode 100644
index 00000000..357bc039
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+<div class="title">gripper_state.h</div>  </div>
+</div><!--header-->
+<div class="contents">
+<a href="gripper__state_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// Copyright (c) 2023 Franka Robotics GmbH</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Use of this source code is governed by the Apache-2.0 license, see LICENSE</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160; </div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;cstdint&gt;</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;ostream&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="duration_8h.html">franka/duration.h</a>&gt;</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="keyword">namespace </span>franka {</div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160; </div>
+<div class="line"><a name="l00020"></a><span class="lineno"><a class="line" href="structfranka_1_1GripperState.html">   20</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structfranka_1_1GripperState.html">GripperState</a> {</div>
+<div class="line"><a name="l00024"></a><span class="lineno"><a class="line" href="structfranka_1_1GripperState.html#adf095f446ec39a9a48e120b209dcd6e9">   24</a></span>&#160;  <span class="keywordtype">double</span> <a class="code" href="structfranka_1_1GripperState.html#adf095f446ec39a9a48e120b209dcd6e9">width</a>{};</div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160; </div>
+<div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="structfranka_1_1GripperState.html#ab71a26356c2898c49609bf991843e166">   33</a></span>&#160;  <span class="keywordtype">double</span> <a class="code" href="structfranka_1_1GripperState.html#ab71a26356c2898c49609bf991843e166">max_width</a>{};</div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160; </div>
+<div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="structfranka_1_1GripperState.html#aa65b46313e740454ead9c9ea27e7bf8d">   38</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="structfranka_1_1GripperState.html#aa65b46313e740454ead9c9ea27e7bf8d">is_grasped</a>{};</div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
+<div class="line"><a name="l00043"></a><span class="lineno"><a class="line" href="structfranka_1_1GripperState.html#aa6733fa786dbf3b073acbaf3779e34b3">   43</a></span>&#160;  uint16_t <a class="code" href="structfranka_1_1GripperState.html#aa6733fa786dbf3b073acbaf3779e34b3">temperature</a>{};</div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
+<div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="structfranka_1_1GripperState.html#a80bf474b0e4351e2eefab62d1bd10c07">   48</a></span>&#160;  <a class="code" href="classfranka_1_1Duration.html">Duration</a> <a class="code" href="structfranka_1_1GripperState.html#a80bf474b0e4351e2eefab62d1bd10c07">time</a>{};</div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;};</div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; </div>
+<div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="gripper__state_8h.html#ab66181a74d1d3b7e90ae3b424ee85f4f">   59</a></span>&#160;std::ostream&amp; <a class="code" href="errors_8h.html#ad1027058086c3c154f4bbc9cade1f197">operator&lt;&lt;</a>(std::ostream&amp; ostream, <span class="keyword">const</span> <a class="code" href="structfranka_1_1GripperState.html">franka::GripperState</a>&amp; gripper_state);</div>
+<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
+<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;}  <span class="comment">// namespace franka</span></div>
+<div class="ttc" id="aclassfranka_1_1Duration_html"><div class="ttname"><a href="classfranka_1_1Duration.html">franka::Duration</a></div><div class="ttdoc">Represents a duration with millisecond resolution.</div><div class="ttdef"><b>Definition:</b> duration.h:19</div></div>
+<div class="ttc" id="aduration_8h_html"><div class="ttname"><a href="duration_8h.html">duration.h</a></div><div class="ttdoc">Contains the franka::Duration type.</div></div>
+<div class="ttc" id="aerrors_8h_html_ad1027058086c3c154f4bbc9cade1f197"><div class="ttname"><a href="errors_8h.html#ad1027058086c3c154f4bbc9cade1f197">franka::operator&lt;&lt;</a></div><div class="ttdeci">std::ostream &amp; operator&lt;&lt;(std::ostream &amp;ostream, const Errors &amp;errors)</div><div class="ttdoc">Streams the errors as JSON array.</div></div>
+<div class="ttc" id="astructfranka_1_1GripperState_html"><div class="ttname"><a href="structfranka_1_1GripperState.html">franka::GripperState</a></div><div class="ttdoc">Describes the gripper state.</div><div class="ttdef"><b>Definition:</b> gripper_state.h:20</div></div>
+<div class="ttc" id="astructfranka_1_1GripperState_html_a80bf474b0e4351e2eefab62d1bd10c07"><div class="ttname"><a href="structfranka_1_1GripperState.html#a80bf474b0e4351e2eefab62d1bd10c07">franka::GripperState::time</a></div><div class="ttdeci">Duration time</div><div class="ttdoc">Strictly monotonically increasing timestamp since robot start.</div><div class="ttdef"><b>Definition:</b> gripper_state.h:48</div></div>
+<div class="ttc" id="astructfranka_1_1GripperState_html_aa65b46313e740454ead9c9ea27e7bf8d"><div class="ttname"><a href="structfranka_1_1GripperState.html#aa65b46313e740454ead9c9ea27e7bf8d">franka::GripperState::is_grasped</a></div><div class="ttdeci">bool is_grasped</div><div class="ttdoc">Indicates whether an object is currently grasped.</div><div class="ttdef"><b>Definition:</b> gripper_state.h:38</div></div>
+<div class="ttc" id="astructfranka_1_1GripperState_html_aa6733fa786dbf3b073acbaf3779e34b3"><div class="ttname"><a href="structfranka_1_1GripperState.html#aa6733fa786dbf3b073acbaf3779e34b3">franka::GripperState::temperature</a></div><div class="ttdeci">uint16_t temperature</div><div class="ttdoc">Current gripper temperature.</div><div class="ttdef"><b>Definition:</b> gripper_state.h:43</div></div>
+<div class="ttc" id="astructfranka_1_1GripperState_html_ab71a26356c2898c49609bf991843e166"><div class="ttname"><a href="structfranka_1_1GripperState.html#ab71a26356c2898c49609bf991843e166">franka::GripperState::max_width</a></div><div class="ttdeci">double max_width</div><div class="ttdoc">Maximum gripper opening width.</div><div class="ttdef"><b>Definition:</b> gripper_state.h:33</div></div>
+<div class="ttc" id="astructfranka_1_1GripperState_html_adf095f446ec39a9a48e120b209dcd6e9"><div class="ttname"><a href="structfranka_1_1GripperState.html#adf095f446ec39a9a48e120b209dcd6e9">franka::GripperState::width</a></div><div class="ttdeci">double width</div><div class="ttdoc">Current gripper opening width.</div><div class="ttdef"><b>Definition:</b> gripper_state.h:24</div></div>
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+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
+  </td>
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+  <div class="headertitle">
+<div class="title">Class Hierarchy</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock">
+<p><a href="inherits.html">Go to the graphical class hierarchy</a></p>
+This inheritance list is sorted roughly, but not completely, alphabetically:</div><div class="directory">
+<div class="levels">[detail level <span onclick="javascript:toggleLevel(1);">1</span><span onclick="javascript:toggleLevel(2);">2</span><span onclick="javascript:toggleLevel(3);">3</span>]</div><table class="directory">
+<tr id="row_0_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_0_" class="arrow" onclick="toggleFolder('0_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classfranka_1_1ActiveControlBase.html" target="_self">franka::ActiveControlBase</a></td><td class="desc">Allows the user to read the state of a <a class="el" href="classfranka_1_1Robot.html" title="Maintains a network connection to the robot, provides the current robot state, gives access to the mo...">Robot</a> and to send new control commands after starting a control process of a <a class="el" href="classfranka_1_1Robot.html" title="Maintains a network connection to the robot, provides the current robot state, gives access to the mo...">Robot</a> </td></tr>
+<tr id="row_0_0_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_0_0_" class="arrow" onclick="toggleFolder('0_0_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classfranka_1_1ActiveControl.html" target="_self">franka::ActiveControl</a></td><td class="desc">Documented in <a class="el" href="classfranka_1_1ActiveControlBase.html" title="Allows the user to read the state of a Robot and to send new control commands after starting a contro...">ActiveControlBase</a> </td></tr>
+<tr id="row_0_0_0_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classfranka_1_1ActiveMotionGenerator.html" target="_self">franka::ActiveMotionGenerator&lt; MotionGeneratorType &gt;</a></td><td class="desc">Allows the user to read the state of a <a class="el" href="classfranka_1_1Robot.html" title="Maintains a network connection to the robot, provides the current robot state, gives access to the mo...">Robot</a> and to send new motion generator commands after starting a control process of a <a class="el" href="classfranka_1_1Robot.html" title="Maintains a network connection to the robot, provides the current robot state, gives access to the mo...">Robot</a> </td></tr>
+<tr id="row_0_0_1_"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classfranka_1_1ActiveTorqueControl.html" target="_self">franka::ActiveTorqueControl</a></td><td class="desc">Allows the user to read the state of a <a class="el" href="classfranka_1_1Robot.html" title="Maintains a network connection to the robot, provides the current robot state, gives access to the mo...">Robot</a> and to send new torque control commands after starting a control process of a <a class="el" href="classfranka_1_1Robot.html" title="Maintains a network connection to the robot, provides the current robot state, gives access to the mo...">Robot</a> </td></tr>
+<tr id="row_1_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classfranka_1_1Duration.html" target="_self">franka::Duration</a></td><td class="desc">Represents a duration with millisecond resolution </td></tr>
+<tr id="row_2_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structfranka_1_1Errors.html" target="_self">franka::Errors</a></td><td class="desc">Enumerates errors that can occur while controlling a <a class="el" href="classfranka_1_1Robot.html" title="Maintains a network connection to the robot, provides the current robot state, gives access to the mo...">franka::Robot</a> </td></tr>
+<tr id="row_3_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_3_" class="arrow" onclick="toggleFolder('3_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structfranka_1_1Finishable.html" target="_self">franka::Finishable</a></td><td class="desc">Helper type for control and motion generation loops </td></tr>
+<tr id="row_3_0_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classfranka_1_1CartesianPose.html" target="_self">franka::CartesianPose</a></td><td class="desc">Stores values for Cartesian pose motion generation </td></tr>
+<tr id="row_3_1_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classfranka_1_1CartesianVelocities.html" target="_self">franka::CartesianVelocities</a></td><td class="desc">Stores values for Cartesian velocity motion generation </td></tr>
+<tr id="row_3_2_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classfranka_1_1JointPositions.html" target="_self">franka::JointPositions</a></td><td class="desc">Stores values for joint position motion generation </td></tr>
+<tr id="row_3_3_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classfranka_1_1JointVelocities.html" target="_self">franka::JointVelocities</a></td><td class="desc">Stores values for joint velocity motion generation </td></tr>
+<tr id="row_3_4_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classfranka_1_1Torques.html" target="_self">franka::Torques</a></td><td class="desc">Stores joint-level torque commands without gravity and friction </td></tr>
+<tr id="row_4_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classfranka_1_1Gripper.html" target="_self">franka::Gripper</a></td><td class="desc">Maintains a network connection to the gripper, provides the current gripper state, and allows the execution of commands </td></tr>
+<tr id="row_5_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structfranka_1_1GripperState.html" target="_self">franka::GripperState</a></td><td class="desc">Describes the gripper state </td></tr>
+<tr id="row_6_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classfranka_1_1Model.html" target="_self">franka::Model</a></td><td class="desc">Calculates poses of joints and dynamic properties of the robot </td></tr>
+<tr id="row_7_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classMotionGenerator.html" target="_self">MotionGenerator</a></td><td class="desc">An example showing how to generate a joint pose motion to a goal position </td></tr>
+<tr id="row_8_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structfranka_1_1Record.html" target="_self">franka::Record</a></td><td class="desc">One row of the log contains a robot command of timestamp n and a corresponding robot state of timestamp n+1 </td></tr>
+<tr id="row_9_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classfranka_1_1Robot.html" target="_self">franka::Robot</a></td><td class="desc">Maintains a network connection to the robot, provides the current robot state, gives access to the model library and allows to control the robot </td></tr>
+<tr id="row_10_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structfranka_1_1RobotCommand.html" target="_self">franka::RobotCommand</a></td><td class="desc">Command sent to the robot </td></tr>
+<tr id="row_11_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structfranka_1_1RobotState.html" target="_self">franka::RobotState</a></td><td class="desc">Describes the robot state </td></tr>
+<tr id="row_12_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_12_" class="arrow" onclick="toggleFolder('12_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><b>std::runtime_error</b></td><td class="desc"></td></tr>
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+<tr id="row_12_0_0_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structfranka_1_1CommandException.html" target="_self">franka::CommandException</a></td><td class="desc"><a class="el" href="structfranka_1_1CommandException.html" title="CommandException is thrown if an error occurs during command execution.">CommandException</a> is thrown if an error occurs during command execution </td></tr>
+<tr id="row_12_0_1_"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structfranka_1_1ControlException.html" target="_self">franka::ControlException</a></td><td class="desc"><a class="el" href="structfranka_1_1ControlException.html" title="ControlException is thrown if an error occurs during motion generation or torque control.">ControlException</a> is thrown if an error occurs during motion generation or torque control </td></tr>
+<tr id="row_12_0_2_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structfranka_1_1IncompatibleVersionException.html" target="_self">franka::IncompatibleVersionException</a></td><td class="desc"><a class="el" href="structfranka_1_1IncompatibleVersionException.html" title="IncompatibleVersionException is thrown if the robot does not support this version of libfranka.">IncompatibleVersionException</a> is thrown if the robot does not support this version of libfranka </td></tr>
+<tr id="row_12_0_3_"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structfranka_1_1InvalidOperationException.html" target="_self">franka::InvalidOperationException</a></td><td class="desc"><a class="el" href="structfranka_1_1InvalidOperationException.html" title="InvalidOperationException is thrown if an operation cannot be performed.">InvalidOperationException</a> is thrown if an operation cannot be performed </td></tr>
+<tr id="row_12_0_4_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structfranka_1_1ModelException.html" target="_self">franka::ModelException</a></td><td class="desc"><a class="el" href="structfranka_1_1ModelException.html" title="ModelException is thrown if an error occurs when loading the model library.">ModelException</a> is thrown if an error occurs when loading the model library </td></tr>
+<tr id="row_12_0_5_"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structfranka_1_1NetworkException.html" target="_self">franka::NetworkException</a></td><td class="desc"><a class="el" href="structfranka_1_1NetworkException.html" title="NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occu...">NetworkException</a> is thrown if a connection to the robot cannot be established, or when a timeout occurs </td></tr>
+<tr id="row_12_0_6_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structfranka_1_1ProtocolException.html" target="_self">franka::ProtocolException</a></td><td class="desc"><a class="el" href="structfranka_1_1ProtocolException.html" title="ProtocolException is thrown if the robot returns an incorrect message.">ProtocolException</a> is thrown if the robot returns an incorrect message </td></tr>
+<tr id="row_12_0_7_"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structfranka_1_1RealtimeException.html" target="_self">franka::RealtimeException</a></td><td class="desc"><a class="el" href="structfranka_1_1RealtimeException.html" title="RealtimeException is thrown if realtime priority cannot be set.">RealtimeException</a> is thrown if realtime priority cannot be set </td></tr>
+<tr id="row_13_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classfranka_1_1VacuumGripper.html" target="_self">franka::VacuumGripper</a></td><td class="desc">Maintains a network connection to the vacuum gripper, provides the current vacuum gripper state, and allows the execution of commands </td></tr>
+<tr id="row_14_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structfranka_1_1VacuumGripperState.html" target="_self">franka::VacuumGripperState</a></td><td class="desc">Describes the vacuum gripper state </td></tr>
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
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+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
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+<div class="title">libfranka: C++ library for Franka Robotics research robots </div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><p><a class="anchor" id="md_doc_main"></a> With this library, you can control research versions of Franka Robotics robots. See the <a href="https://frankaemika.github.io/docs">Franka Control Interface (FCI) documentation</a> for more information about what <code>libfranka</code> can do and how to set it up.</p>
+<h1><a class="anchor" id="autotoc_md1"></a>
+License</h1>
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diff --git a/0.13.6/inherit_graph_1.map b/0.13.6/inherit_graph_1.map
new file mode 100644
index 00000000..7ad0c002
--- /dev/null
+++ b/0.13.6/inherit_graph_1.map
@@ -0,0 +1,3 @@
+<map id="Graphical Class Hierarchy" name="Graphical Class Hierarchy">
+<area shape="rect" id="node1" href="$classfranka_1_1Duration.html" title="Represents a duration with millisecond resolution." alt="" coords="5,5,132,32"/>
+</map>
diff --git a/0.13.6/inherit_graph_1.md5 b/0.13.6/inherit_graph_1.md5
new file mode 100644
index 00000000..51b7c9df
--- /dev/null
+++ b/0.13.6/inherit_graph_1.md5
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/0.13.6/inherit_graph_1.png b/0.13.6/inherit_graph_1.png
new file mode 100644
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new file mode 100644
index 00000000..7abc423c
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new file mode 100644
index 00000000..e7b8a6c9
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diff --git a/0.13.6/inherit_graph_13.map b/0.13.6/inherit_graph_13.map
new file mode 100644
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diff --git a/0.13.6/inherit_graph_13.md5 b/0.13.6/inherit_graph_13.md5
new file mode 100644
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literal 0
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diff --git a/0.13.6/inherit_graph_14.map b/0.13.6/inherit_graph_14.map
new file mode 100644
index 00000000..b115b839
--- /dev/null
+++ b/0.13.6/inherit_graph_14.map
@@ -0,0 +1,3 @@
+<map id="Graphical Class Hierarchy" name="Graphical Class Hierarchy">
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+</map>
diff --git a/0.13.6/inherit_graph_14.md5 b/0.13.6/inherit_graph_14.md5
new file mode 100644
index 00000000..bad5aa85
--- /dev/null
+++ b/0.13.6/inherit_graph_14.md5
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/0.13.6/inherit_graph_14.png b/0.13.6/inherit_graph_14.png
new file mode 100644
index 0000000000000000000000000000000000000000..1a377db758d10c4c52a6528e076f2c4fca39634e
GIT binary patch
literal 1485
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literal 0
HcmV?d00001

diff --git a/0.13.6/inherit_graph_2.map b/0.13.6/inherit_graph_2.map
new file mode 100644
index 00000000..b41e75d4
--- /dev/null
+++ b/0.13.6/inherit_graph_2.map
@@ -0,0 +1,3 @@
+<map id="Graphical Class Hierarchy" name="Graphical Class Hierarchy">
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diff --git a/0.13.6/inherit_graph_2.md5 b/0.13.6/inherit_graph_2.md5
new file mode 100644
index 00000000..5f0af392
--- /dev/null
+++ b/0.13.6/inherit_graph_2.md5
@@ -0,0 +1 @@
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diff --git a/0.13.6/inherit_graph_2.png b/0.13.6/inherit_graph_2.png
new file mode 100644
index 0000000000000000000000000000000000000000..63f01b973185e102fa4b31428d92c84c3bf0adf3
GIT binary patch
literal 1128
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literal 0
HcmV?d00001

diff --git a/0.13.6/inherit_graph_3.map b/0.13.6/inherit_graph_3.map
new file mode 100644
index 00000000..8629045b
--- /dev/null
+++ b/0.13.6/inherit_graph_3.map
@@ -0,0 +1,12 @@
+<map id="Graphical Class Hierarchy" name="Graphical Class Hierarchy">
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+<area shape="rect" id="node9" href="$structfranka_1_1ProtocolException.html" title="ProtocolException is thrown if the robot returns an incorrect message." alt="" coords="383,340,571,367"/>
+<area shape="rect" id="node10" href="$structfranka_1_1RealtimeException.html" title="RealtimeException is thrown if realtime priority cannot be set." alt="" coords="379,391,574,417"/>
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diff --git a/0.13.6/inherit_graph_3.md5 b/0.13.6/inherit_graph_3.md5
new file mode 100644
index 00000000..c02b22e8
--- /dev/null
+++ b/0.13.6/inherit_graph_3.md5
@@ -0,0 +1 @@
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diff --git a/0.13.6/inherit_graph_3.png b/0.13.6/inherit_graph_3.png
new file mode 100644
index 0000000000000000000000000000000000000000..5092dc283a195b76f6141dba98f2e735c27df787
GIT binary patch
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+<div class="title">Class Hierarchy</div>  </div>
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+<p><a href="hierarchy.html">Go to the textual class hierarchy</a></p>
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+<tr><td><img src="inherit_graph_8.png" border="0" usemap="#afranka_1_1Record" alt=""/>
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+<tr><td><img src="inherit_graph_9.png" border="0" usemap="#afranka_1_1Robot" alt=""/>
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+</td></tr>
+<tr><td><img src="inherit_graph_10.png" border="0" usemap="#afranka_1_1RobotCommand" alt=""/>
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+</td></tr>
+<tr><td><img src="inherit_graph_11.png" border="0" usemap="#afranka_1_1RobotState" alt=""/>
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+</td></tr>
+<tr><td><img src="inherit_graph_12.png" border="0" usemap="#afranka_1_1VacuumGripper" alt=""/>
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+<area shape="rect" href="classfranka_1_1VacuumGripper.html" title="Maintains a network connection to the vacuum gripper, provides the current vacuum gripper state,..." alt="" coords="5,5,176,32"/>
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+</td></tr>
+<tr><td><img src="inherit_graph_13.png" border="0" usemap="#afranka_1_1VacuumGripperState" alt=""/>
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+<area shape="rect" href="structfranka_1_1VacuumGripperState.html" title="Describes the vacuum gripper state." alt="" coords="5,5,211,32"/>
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+</td></tr>
+<tr><td><img src="inherit_graph_14.png" border="0" usemap="#aMotionGenerator" alt=""/>
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+<area shape="rect" href="classMotionGenerator.html" title="An example showing how to generate a joint pose motion to a goal position." alt="" coords="5,5,137,32"/>
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+</td></tr>
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
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+  <div class="headertitle">
+<div class="title">joint_impedance_control.cpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<p>An example showing a joint impedance type control that executes a Cartesian motion in the shape of a circle. The example illustrates how to use the internal inverse kinematics to map a Cartesian trajectory to joint space. The joint space target is tracked by an impedance control that additionally compensates coriolis terms using the libfranka model library. This example also serves to compare commanded vs. measured torques. The results are printed from a separate thread to avoid blocking print functions in the real-time loop.</p>
+<div class="fragment"><div class="line"><span class="comment">// Copyright (c) 2023 Franka Robotics GmbH</span></div>
+<div class="line"><span class="comment">// Use of this source code is governed by the Apache-2.0 license, see LICENSE</span></div>
+<div class="line"><span class="preprocessor">#include &lt;array&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;atomic&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;cmath&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;functional&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;iostream&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;iterator&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;mutex&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;thread&gt;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="duration_8h.html">franka/duration.h</a>&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="exception_8h.html">franka/exception.h</a>&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="model_8h.html">franka/model.h</a>&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="rate__limiting_8h.html">franka/rate_limiting.h</a>&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="robot_8h.html">franka/robot.h</a>&gt;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="preprocessor">#include &quot;<a class="code" href="examples__common_8h.html">examples_common.h</a>&quot;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="keyword">namespace </span>{</div>
+<div class="line"><span class="keyword">template</span> &lt;<span class="keyword">class</span> T, <span class="keywordtype">size_t</span> N&gt;</div>
+<div class="line">std::ostream&amp; <a name="a0"></a><a class="code" href="errors_8h.html#ad1027058086c3c154f4bbc9cade1f197">operator&lt;&lt;</a>(std::ostream&amp; ostream, <span class="keyword">const</span> std::array&lt;T, N&gt;&amp; array) {</div>
+<div class="line">  ostream &lt;&lt; <span class="stringliteral">&quot;[&quot;</span>;</div>
+<div class="line">  std::copy(array.cbegin(), array.cend() - 1, std::ostream_iterator&lt;T&gt;(ostream, <span class="stringliteral">&quot;,&quot;</span>));</div>
+<div class="line">  std::copy(array.cend() - 1, array.cend(), std::ostream_iterator&lt;T&gt;(ostream));</div>
+<div class="line">  ostream &lt;&lt; <span class="stringliteral">&quot;]&quot;</span>;</div>
+<div class="line">  <span class="keywordflow">return</span> ostream;</div>
+<div class="line">}</div>
+<div class="line">}  <span class="comment">// anonymous namespace</span></div>
+<div class="line"> </div>
+<div class="line"><span class="keywordtype">int</span> main(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span>** argv) {</div>
+<div class="line">  <span class="comment">// Check whether the required arguments were passed.</span></div>
+<div class="line">  <span class="keywordflow">if</span> (argc != 2) {</div>
+<div class="line">    std::cerr &lt;&lt; <span class="stringliteral">&quot;Usage: &quot;</span> &lt;&lt; argv[0] &lt;&lt; <span class="stringliteral">&quot; &lt;robot-hostname&gt;&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">    <span class="keywordflow">return</span> -1;</div>
+<div class="line">  }</div>
+<div class="line">  <span class="comment">// Set and initialize trajectory parameters.</span></div>
+<div class="line">  <span class="keyword">const</span> <span class="keywordtype">double</span> radius = 0.05;</div>
+<div class="line">  <span class="keyword">const</span> <span class="keywordtype">double</span> vel_max = 0.25;</div>
+<div class="line">  <span class="keyword">const</span> <span class="keywordtype">double</span> acceleration_time = 2.0;</div>
+<div class="line">  <span class="keyword">const</span> <span class="keywordtype">double</span> run_time = 20.0;</div>
+<div class="line">  <span class="comment">// Set print rate for comparing commanded vs. measured torques.</span></div>
+<div class="line">  <span class="keyword">const</span> <span class="keywordtype">double</span> print_rate = 10.0;</div>
+<div class="line"> </div>
+<div class="line">  <span class="keywordtype">double</span> vel_current = 0.0;</div>
+<div class="line">  <span class="keywordtype">double</span> angle = 0.0;</div>
+<div class="line">  <span class="keywordtype">double</span> time = 0.0;</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">// Initialize data fields for the print thread.</span></div>
+<div class="line">  <span class="keyword">struct </span>{</div>
+<div class="line">    std::mutex mutex;</div>
+<div class="line">    <span class="keywordtype">bool</span> has_data;</div>
+<div class="line">    std::array&lt;double, 7&gt; tau_d_last;</div>
+<div class="line">    <a name="_a1"></a><a class="code" href="structfranka_1_1RobotState.html">franka::RobotState</a> robot_state;</div>
+<div class="line">    std::array&lt;double, 7&gt; gravity;</div>
+<div class="line">  } print_data{};</div>
+<div class="line">  std::atomic_bool running{<span class="keyword">true</span>};</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">// Start print thread.</span></div>
+<div class="line">  std::thread print_thread([print_rate, &amp;print_data, &amp;running]() {</div>
+<div class="line">    <span class="keywordflow">while</span> (running) {</div>
+<div class="line">      <span class="comment">// Sleep to achieve the desired print rate.</span></div>
+<div class="line">      std::this_thread::sleep_for(</div>
+<div class="line">          std::chrono::milliseconds(<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>((1.0 / print_rate * 1000.0))));</div>
+<div class="line"> </div>
+<div class="line">      <span class="comment">// Try to lock data to avoid read write collisions.</span></div>
+<div class="line">      <span class="keywordflow">if</span> (print_data.mutex.try_lock()) {</div>
+<div class="line">        <span class="keywordflow">if</span> (print_data.has_data) {</div>
+<div class="line">          std::array&lt;double, 7&gt; tau_error{};</div>
+<div class="line">          <span class="keywordtype">double</span> error_rms(0.0);</div>
+<div class="line">          std::array&lt;double, 7&gt; tau_d_actual{};</div>
+<div class="line">          <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; 7; ++i) {</div>
+<div class="line">            tau_d_actual[i] = print_data.tau_d_last[i] + print_data.gravity[i];</div>
+<div class="line">            tau_error[i] = tau_d_actual[i] - print_data.robot_state.tau_J[i];</div>
+<div class="line">            error_rms += std::pow(tau_error[i], 2.0) / tau_error.size();</div>
+<div class="line">          }</div>
+<div class="line">          error_rms = std::sqrt(error_rms);</div>
+<div class="line"> </div>
+<div class="line">          <span class="comment">// Print data to console</span></div>
+<div class="line">          std::cout &lt;&lt; <span class="stringliteral">&quot;tau_error [Nm]: &quot;</span> &lt;&lt; tau_error &lt;&lt; std::endl</div>
+<div class="line">                    &lt;&lt; <span class="stringliteral">&quot;tau_commanded [Nm]: &quot;</span> &lt;&lt; tau_d_actual &lt;&lt; std::endl</div>
+<div class="line">                    &lt;&lt; <span class="stringliteral">&quot;tau_measured [Nm]: &quot;</span> &lt;&lt; print_data.robot_state.tau_J &lt;&lt; std::endl</div>
+<div class="line">                    &lt;&lt; <span class="stringliteral">&quot;root mean square of tau_error [Nm]: &quot;</span> &lt;&lt; error_rms &lt;&lt; std::endl</div>
+<div class="line">                    &lt;&lt; <span class="stringliteral">&quot;-----------------------&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">          print_data.has_data = <span class="keyword">false</span>;</div>
+<div class="line">        }</div>
+<div class="line">        print_data.mutex.unlock();</div>
+<div class="line">      }</div>
+<div class="line">    }</div>
+<div class="line">  });</div>
+<div class="line"> </div>
+<div class="line">  <span class="keywordflow">try</span> {</div>
+<div class="line">    <span class="comment">// Connect to robot.</span></div>
+<div class="line">    <a name="_a2"></a><a class="code" href="classfranka_1_1Robot.html">franka::Robot</a> robot(argv[1]);</div>
+<div class="line">    <a name="a3"></a><a class="code" href="examples__common_8h.html#ad0c6e1cb044845ee8a01b5aa1e801a45">setDefaultBehavior</a>(robot);</div>
+<div class="line"> </div>
+<div class="line">    <span class="comment">// First move the robot to a suitable joint configuration</span></div>
+<div class="line">    std::array&lt;double, 7&gt; q_goal = {{0, -M_PI_4, 0, -3 * M_PI_4, 0, M_PI_2, M_PI_4}};</div>
+<div class="line">    <a name="_a4"></a><a class="code" href="classMotionGenerator.html">MotionGenerator</a> motion_generator(0.5, q_goal);</div>
+<div class="line">    std::cout &lt;&lt; <span class="stringliteral">&quot;WARNING: This example will move the robot! &quot;</span></div>
+<div class="line">              &lt;&lt; <span class="stringliteral">&quot;Please make sure to have the user stop button at hand!&quot;</span> &lt;&lt; std::endl</div>
+<div class="line">              &lt;&lt; <span class="stringliteral">&quot;Press Enter to continue...&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">    std::cin.ignore();</div>
+<div class="line">    robot.control(motion_generator);</div>
+<div class="line">    std::cout &lt;&lt; <span class="stringliteral">&quot;Finished moving to initial joint configuration.&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"> </div>
+<div class="line">    <span class="comment">// Set additional parameters always before the control loop, NEVER in the control loop!</span></div>
+<div class="line">    <span class="comment">// Set collision behavior.</span></div>
+<div class="line">    robot.setCollisionBehavior(</div>
+<div class="line">        {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}}, {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}},</div>
+<div class="line">        {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}}, {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}},</div>
+<div class="line">        {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}}, {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}},</div>
+<div class="line">        {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}}, {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}});</div>
+<div class="line"> </div>
+<div class="line">    <span class="comment">// Load the kinematics and dynamics model.</span></div>
+<div class="line">    <a name="_a5"></a><a class="code" href="classfranka_1_1Model.html">franka::Model</a> model = robot.loadModel();</div>
+<div class="line"> </div>
+<div class="line">    std::array&lt;double, 16&gt; initial_pose;</div>
+<div class="line"> </div>
+<div class="line">    <span class="comment">// Define callback function to send Cartesian pose goals to get inverse kinematics solved.</span></div>
+<div class="line">    <span class="keyword">auto</span> cartesian_pose_callback = [=, &amp;time, &amp;vel_current, &amp;running, &amp;angle, &amp;initial_pose](</div>
+<div class="line">                                       <span class="keyword">const</span> <a class="code" href="structfranka_1_1RobotState.html">franka::RobotState</a>&amp; robot_state,</div>
+<div class="line">                                       <a name="_a6"></a><a class="code" href="classfranka_1_1Duration.html">franka::Duration</a> period) -&gt; <a name="_a7"></a><a class="code" href="classfranka_1_1CartesianPose.html">franka::CartesianPose</a> {</div>
+<div class="line">      <span class="comment">// Update time.</span></div>
+<div class="line">      time += period.toSec();</div>
+<div class="line"> </div>
+<div class="line">      <span class="keywordflow">if</span> (time == 0.0) {</div>
+<div class="line">        <span class="comment">// Read the initial pose to start the motion from in the first time step.</span></div>
+<div class="line">        initial_pose = robot_state.O_T_EE_c;</div>
+<div class="line">      }</div>
+<div class="line"> </div>
+<div class="line">      <span class="comment">// Compute Cartesian velocity.</span></div>
+<div class="line">      <span class="keywordflow">if</span> (vel_current &lt; vel_max &amp;&amp; time &lt; run_time) {</div>
+<div class="line">        vel_current += period.toSec() * std::fabs(vel_max / acceleration_time);</div>
+<div class="line">      }</div>
+<div class="line">      <span class="keywordflow">if</span> (vel_current &gt; 0.0 &amp;&amp; time &gt; run_time) {</div>
+<div class="line">        vel_current -= period.toSec() * std::fabs(vel_max / acceleration_time);</div>
+<div class="line">      }</div>
+<div class="line">      vel_current = std::fmax(vel_current, 0.0);</div>
+<div class="line">      vel_current = std::fmin(vel_current, vel_max);</div>
+<div class="line"> </div>
+<div class="line">      <span class="comment">// Compute new angle for our circular trajectory.</span></div>
+<div class="line">      angle += period.toSec() * vel_current / std::fabs(radius);</div>
+<div class="line">      <span class="keywordflow">if</span> (angle &gt; 2 * M_PI) {</div>
+<div class="line">        angle -= 2 * M_PI;</div>
+<div class="line">      }</div>
+<div class="line"> </div>
+<div class="line">      <span class="comment">// Compute relative y and z positions of desired pose.</span></div>
+<div class="line">      <span class="keywordtype">double</span> delta_y = radius * (1 - std::cos(angle));</div>
+<div class="line">      <span class="keywordtype">double</span> delta_z = radius * std::sin(angle);</div>
+<div class="line">      <a class="code" href="classfranka_1_1CartesianPose.html">franka::CartesianPose</a> pose_desired = initial_pose;</div>
+<div class="line">      pose_desired.<a name="a8"></a><a class="code" href="classfranka_1_1CartesianPose.html#a406e53e3d8fe594a11888f516eb4bf7d">O_T_EE</a>[13] += delta_y;</div>
+<div class="line">      pose_desired.<a class="code" href="classfranka_1_1CartesianPose.html#a406e53e3d8fe594a11888f516eb4bf7d">O_T_EE</a>[14] += delta_z;</div>
+<div class="line"> </div>
+<div class="line">      <span class="comment">// Send desired pose.</span></div>
+<div class="line">      <span class="keywordflow">if</span> (time &gt;= run_time + acceleration_time) {</div>
+<div class="line">        running = <span class="keyword">false</span>;</div>
+<div class="line">        <span class="keywordflow">return</span> <a name="a9"></a><a class="code" href="control__types_8h.html#a20791f7142d78bbbe3c957cc66a23ade">franka::MotionFinished</a>(pose_desired);</div>
+<div class="line">      }</div>
+<div class="line"> </div>
+<div class="line">      <span class="keywordflow">return</span> pose_desired;</div>
+<div class="line">    };</div>
+<div class="line"> </div>
+<div class="line">    <span class="comment">// Set gains for the joint impedance control.</span></div>
+<div class="line">    <span class="comment">// Stiffness</span></div>
+<div class="line">    <span class="keyword">const</span> std::array&lt;double, 7&gt; k_gains = {{600.0, 600.0, 600.0, 600.0, 250.0, 150.0, 50.0}};</div>
+<div class="line">    <span class="comment">// Damping</span></div>
+<div class="line">    <span class="keyword">const</span> std::array&lt;double, 7&gt; d_gains = {{50.0, 50.0, 50.0, 50.0, 30.0, 25.0, 15.0}};</div>
+<div class="line"> </div>
+<div class="line">    <span class="comment">// Define callback for the joint torque control loop.</span></div>
+<div class="line">    std::function&lt;<a name="_a10"></a><a class="code" href="classfranka_1_1Torques.html">franka::Torques</a>(<span class="keyword">const</span> <a class="code" href="structfranka_1_1RobotState.html">franka::RobotState</a>&amp;, <a class="code" href="classfranka_1_1Duration.html">franka::Duration</a>)&gt;</div>
+<div class="line">        impedance_control_callback =</div>
+<div class="line">            [&amp;print_data, &amp;model, k_gains, d_gains](</div>
+<div class="line">                <span class="keyword">const</span> <a class="code" href="structfranka_1_1RobotState.html">franka::RobotState</a>&amp; state, <a class="code" href="classfranka_1_1Duration.html">franka::Duration</a> <span class="comment">/*period*/</span>) -&gt; <a class="code" href="classfranka_1_1Torques.html">franka::Torques</a> {</div>
+<div class="line">      <span class="comment">// Read current coriolis terms from model.</span></div>
+<div class="line">      std::array&lt;double, 7&gt; coriolis = model.coriolis(state);</div>
+<div class="line"> </div>
+<div class="line">      <span class="comment">// Compute torque command from joint impedance control law.</span></div>
+<div class="line">      <span class="comment">// Note: The answer to our Cartesian pose inverse kinematics is always in state.q_d with one</span></div>
+<div class="line">      <span class="comment">// time step delay.</span></div>
+<div class="line">      std::array&lt;double, 7&gt; tau_d_calculated;</div>
+<div class="line">      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; 7; i++) {</div>
+<div class="line">        tau_d_calculated[i] =</div>
+<div class="line">            k_gains[i] * (state.q_d[i] - state.q[i]) - d_gains[i] * state.dq[i] + coriolis[i];</div>
+<div class="line">      }</div>
+<div class="line"> </div>
+<div class="line">      <span class="comment">// The following line is only necessary for printing the rate limited torque. As we activated</span></div>
+<div class="line">      <span class="comment">// rate limiting for the control loop (activated by default), the torque would anyway be</span></div>
+<div class="line">      <span class="comment">// adjusted!</span></div>
+<div class="line">      std::array&lt;double, 7&gt; tau_d_rate_limited =</div>
+<div class="line">          <a name="a11"></a><a class="code" href="rate__limiting_8h.html#aea6895d6bf209a86319c6cd5180e4b60">franka::limitRate</a>(<a name="a12"></a>franka::kMaxTorqueRate, tau_d_calculated, state.tau_J_d);</div>
+<div class="line"> </div>
+<div class="line">      <span class="comment">// Update data to print.</span></div>
+<div class="line">      <span class="keywordflow">if</span> (print_data.mutex.try_lock()) {</div>
+<div class="line">        print_data.has_data = <span class="keyword">true</span>;</div>
+<div class="line">        print_data.robot_state = state;</div>
+<div class="line">        print_data.tau_d_last = tau_d_rate_limited;</div>
+<div class="line">        print_data.gravity = model.gravity(state);</div>
+<div class="line">        print_data.mutex.unlock();</div>
+<div class="line">      }</div>
+<div class="line"> </div>
+<div class="line">      <span class="comment">// Send torque command.</span></div>
+<div class="line">      <span class="keywordflow">return</span> tau_d_rate_limited;</div>
+<div class="line">    };</div>
+<div class="line"> </div>
+<div class="line">    <span class="comment">// Start real-time control loop.</span></div>
+<div class="line">    robot.control(impedance_control_callback, cartesian_pose_callback);</div>
+<div class="line"> </div>
+<div class="line">  } <span class="keywordflow">catch</span> (<span class="keyword">const</span> <a name="_a13"></a><a class="code" href="structfranka_1_1Exception.html">franka::Exception</a>&amp; ex) {</div>
+<div class="line">    running = <span class="keyword">false</span>;</div>
+<div class="line">    std::cerr &lt;&lt; ex.what() &lt;&lt; std::endl;</div>
+<div class="line">  }</div>
+<div class="line"> </div>
+<div class="line">  <span class="keywordflow">if</span> (print_thread.joinable()) {</div>
+<div class="line">    print_thread.join();</div>
+<div class="line">  }</div>
+<div class="line">  <span class="keywordflow">return</span> 0;</div>
+<div class="line">}</div>
+<div class="ttc" id="aclassMotionGenerator_html"><div class="ttname"><a href="classMotionGenerator.html">MotionGenerator</a></div><div class="ttdoc">An example showing how to generate a joint pose motion to a goal position.</div><div class="ttdef"><b>Definition:</b> examples_common.h:31</div></div>
+<div class="ttc" id="aclassfranka_1_1CartesianPose_html"><div class="ttname"><a href="classfranka_1_1CartesianPose.html">franka::CartesianPose</a></div><div class="ttdoc">Stores values for Cartesian pose motion generation.</div><div class="ttdef"><b>Definition:</b> control_types.h:127</div></div>
+<div class="ttc" id="aclassfranka_1_1CartesianPose_html_a406e53e3d8fe594a11888f516eb4bf7d"><div class="ttname"><a href="classfranka_1_1CartesianPose.html#a406e53e3d8fe594a11888f516eb4bf7d">franka::CartesianPose::O_T_EE</a></div><div class="ttdeci">std::array&lt; double, 16 &gt; O_T_EE</div><div class="ttdoc">Homogeneous transformation , column major, that transforms from the end effector frame  to base frame...</div><div class="ttdef"><b>Definition:</b> control_types.h:178</div></div>
+<div class="ttc" id="aclassfranka_1_1Duration_html"><div class="ttname"><a href="classfranka_1_1Duration.html">franka::Duration</a></div><div class="ttdoc">Represents a duration with millisecond resolution.</div><div class="ttdef"><b>Definition:</b> duration.h:19</div></div>
+<div class="ttc" id="aclassfranka_1_1Model_html"><div class="ttname"><a href="classfranka_1_1Model.html">franka::Model</a></div><div class="ttdoc">Calculates poses of joints and dynamic properties of the robot.</div><div class="ttdef"><b>Definition:</b> model.h:51</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html"><div class="ttname"><a href="classfranka_1_1Robot.html">franka::Robot</a></div><div class="ttdoc">Maintains a network connection to the robot, provides the current robot state, gives access to the mo...</div><div class="ttdef"><b>Definition:</b> robot.h:67</div></div>
+<div class="ttc" id="aclassfranka_1_1Torques_html"><div class="ttname"><a href="classfranka_1_1Torques.html">franka::Torques</a></div><div class="ttdoc">Stores joint-level torque commands without gravity and friction.</div><div class="ttdef"><b>Definition:</b> control_types.h:45</div></div>
+<div class="ttc" id="acontrol__types_8h_html_a20791f7142d78bbbe3c957cc66a23ade"><div class="ttname"><a href="control__types_8h.html#a20791f7142d78bbbe3c957cc66a23ade">franka::MotionFinished</a></div><div class="ttdeci">Torques MotionFinished(Torques command) noexcept</div><div class="ttdoc">Helper method to indicate that a motion should stop after processing the given command.</div><div class="ttdef"><b>Definition:</b> control_types.h:294</div></div>
+<div class="ttc" id="aduration_8h_html"><div class="ttname"><a href="duration_8h.html">duration.h</a></div><div class="ttdoc">Contains the franka::Duration type.</div></div>
+<div class="ttc" id="aerrors_8h_html_ad1027058086c3c154f4bbc9cade1f197"><div class="ttname"><a href="errors_8h.html#ad1027058086c3c154f4bbc9cade1f197">franka::operator&lt;&lt;</a></div><div class="ttdeci">std::ostream &amp; operator&lt;&lt;(std::ostream &amp;ostream, const Errors &amp;errors)</div><div class="ttdoc">Streams the errors as JSON array.</div></div>
+<div class="ttc" id="aexamples__common_8h_html"><div class="ttname"><a href="examples__common_8h.html">examples_common.h</a></div><div class="ttdoc">Contains common types and functions for the examples.</div></div>
+<div class="ttc" id="aexamples__common_8h_html_ad0c6e1cb044845ee8a01b5aa1e801a45"><div class="ttname"><a href="examples__common_8h.html#ad0c6e1cb044845ee8a01b5aa1e801a45">setDefaultBehavior</a></div><div class="ttdeci">void setDefaultBehavior(franka::Robot &amp;robot)</div><div class="ttdoc">Sets a default collision behavior, joint impedance and Cartesian impedance.</div><div class="ttdef"><b>Definition:</b> examples_common.cpp:12</div></div>
+<div class="ttc" id="aexception_8h_html"><div class="ttname"><a href="exception_8h.html">exception.h</a></div><div class="ttdoc">Contains exception definitions.</div></div>
+<div class="ttc" id="amodel_8h_html"><div class="ttname"><a href="model_8h.html">model.h</a></div><div class="ttdoc">Contains model library types.</div></div>
+<div class="ttc" id="arate__limiting_8h_html"><div class="ttname"><a href="rate__limiting_8h.html">rate_limiting.h</a></div><div class="ttdoc">Contains functions for limiting the rate of torques, Cartesian pose, Cartesian velocity,...</div></div>
+<div class="ttc" id="arate__limiting_8h_html_aea6895d6bf209a86319c6cd5180e4b60"><div class="ttname"><a href="rate__limiting_8h.html#aea6895d6bf209a86319c6cd5180e4b60">franka::limitRate</a></div><div class="ttdeci">std::array&lt; double, 7 &gt; limitRate(const std::array&lt; double, 7 &gt; &amp;max_derivatives, const std::array&lt; double, 7 &gt; &amp;commanded_values, const std::array&lt; double, 7 &gt; &amp;last_commanded_values)</div><div class="ttdoc">Limits the rate of an input vector of per-joint commands considering the maximum allowed time derivat...</div></div>
+<div class="ttc" id="arobot_8h_html"><div class="ttname"><a href="robot_8h.html">robot.h</a></div><div class="ttdoc">Contains the franka::Robot type.</div></div>
+<div class="ttc" id="astructfranka_1_1Exception_html"><div class="ttname"><a href="structfranka_1_1Exception.html">franka::Exception</a></div><div class="ttdoc">Base class for all exceptions used by libfranka.</div><div class="ttdef"><b>Definition:</b> exception.h:20</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html"><div class="ttname"><a href="structfranka_1_1RobotState.html">franka::RobotState</a></div><div class="ttdoc">Describes the robot state.</div><div class="ttdef"><b>Definition:</b> robot_state.h:34</div></div>
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
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+  <div class="headertitle">
+<div class="title">joint_point_to_point_motion.cpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<p>An example that moves the robot to a target position by commanding joint positions.</p><dl class="section warning"><dt>Warning</dt><dd>Before executing this example, make sure there is enough space in front of the robot.</dd></dl>
+<div class="fragment"><div class="line"><span class="comment">// Copyright (c) 2023 Franka Robotics GmbH</span></div>
+<div class="line"><span class="comment">// Use of this source code is governed by the Apache-2.0 license, see LICENSE</span></div>
+<div class="line"><span class="preprocessor">#include &lt;cmath&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;iostream&gt;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="exception_8h.html">franka/exception.h</a>&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="robot_8h.html">franka/robot.h</a>&gt;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="preprocessor">#include &quot;<a class="code" href="examples__common_8h.html">examples_common.h</a>&quot;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="keywordtype">int</span> main(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span>** argv) {</div>
+<div class="line">  <span class="keywordflow">if</span> (argc != 10) {</div>
+<div class="line">    std::cerr &lt;&lt; <span class="stringliteral">&quot;Usage: &quot;</span> &lt;&lt; argv[0] &lt;&lt; <span class="stringliteral">&quot; &lt;robot-hostname&gt; &quot;</span></div>
+<div class="line">              &lt;&lt; <span class="stringliteral">&quot;&lt;joint0&gt; &lt;joint1&gt; &lt;joint2&gt; &lt;joint3&gt; &lt;joint4&gt; &lt;joint5&gt; &lt;joint6&gt; &quot;</span></div>
+<div class="line">              &lt;&lt; <span class="stringliteral">&quot;&lt;speed-factor&gt;&quot;</span> &lt;&lt; std::endl</div>
+<div class="line">              &lt;&lt; <span class="stringliteral">&quot;joint0 to joint6 are joint angles in [rad].&quot;</span> &lt;&lt; std::endl</div>
+<div class="line">              &lt;&lt; <span class="stringliteral">&quot;speed-factor must be between zero and one.&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">    <span class="keywordflow">return</span> -1;</div>
+<div class="line">  }</div>
+<div class="line">  <span class="keywordflow">try</span> {</div>
+<div class="line">    <a name="_a0"></a><a class="code" href="classfranka_1_1Robot.html">franka::Robot</a> robot(argv[1]);</div>
+<div class="line">    <a name="a1"></a><a class="code" href="examples__common_8h.html#ad0c6e1cb044845ee8a01b5aa1e801a45">setDefaultBehavior</a>(robot);</div>
+<div class="line"> </div>
+<div class="line">    std::array&lt;double, 7&gt; q_goal;</div>
+<div class="line">    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; 7; i++) {</div>
+<div class="line">      q_goal[i] = std::stod(argv[i + 2]);</div>
+<div class="line">    }</div>
+<div class="line">    <span class="keywordtype">double</span> speed_factor = std::stod(argv[9]);</div>
+<div class="line"> </div>
+<div class="line">    <span class="comment">// Set additional parameters always before the control loop, NEVER in the control loop!</span></div>
+<div class="line">    <span class="comment">// Set collision behavior.</span></div>
+<div class="line">    robot.<a name="a2"></a><a class="code" href="classfranka_1_1Robot.html#a168e1214ac36d74ac64f894332b84534">setCollisionBehavior</a>(</div>
+<div class="line">        {{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}},</div>
+<div class="line">        {{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}},</div>
+<div class="line">        {{20.0, 20.0, 20.0, 20.0, 20.0, 20.0}}, {{20.0, 20.0, 20.0, 20.0, 20.0, 20.0}},</div>
+<div class="line">        {{10.0, 10.0, 10.0, 10.0, 10.0, 10.0}}, {{10.0, 10.0, 10.0, 10.0, 10.0, 10.0}});</div>
+<div class="line"> </div>
+<div class="line">    <a name="_a3"></a><a class="code" href="classMotionGenerator.html">MotionGenerator</a> motion_generator(speed_factor, q_goal);</div>
+<div class="line">    std::cout &lt;&lt; <span class="stringliteral">&quot;WARNING: This example will move the robot! &quot;</span></div>
+<div class="line">              &lt;&lt; <span class="stringliteral">&quot;Please make sure to have the user stop button at hand!&quot;</span> &lt;&lt; std::endl</div>
+<div class="line">              &lt;&lt; <span class="stringliteral">&quot;Press Enter to continue...&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">    std::cin.ignore();</div>
+<div class="line">    robot.<a name="a4"></a><a class="code" href="classfranka_1_1Robot.html#a0d5effba5daff2fee123802bbd5f95d1">control</a>(motion_generator);</div>
+<div class="line">    std::cout &lt;&lt; <span class="stringliteral">&quot;Motion finished&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">  } <span class="keywordflow">catch</span> (<span class="keyword">const</span> <a name="_a5"></a><a class="code" href="structfranka_1_1Exception.html">franka::Exception</a>&amp; e) {</div>
+<div class="line">    std::cout &lt;&lt; e.what() &lt;&lt; std::endl;</div>
+<div class="line">    <span class="keywordflow">return</span> -1;</div>
+<div class="line">  }</div>
+<div class="line"> </div>
+<div class="line">  <span class="keywordflow">return</span> 0;</div>
+<div class="line">}</div>
+<div class="ttc" id="aclassMotionGenerator_html"><div class="ttname"><a href="classMotionGenerator.html">MotionGenerator</a></div><div class="ttdoc">An example showing how to generate a joint pose motion to a goal position.</div><div class="ttdef"><b>Definition:</b> examples_common.h:31</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html"><div class="ttname"><a href="classfranka_1_1Robot.html">franka::Robot</a></div><div class="ttdoc">Maintains a network connection to the robot, provides the current robot state, gives access to the mo...</div><div class="ttdef"><b>Definition:</b> robot.h:67</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_a0d5effba5daff2fee123802bbd5f95d1"><div class="ttname"><a href="classfranka_1_1Robot.html#a0d5effba5daff2fee123802bbd5f95d1">franka::Robot::control</a></div><div class="ttdeci">void control(std::function&lt; Torques(const RobotState &amp;, franka::Duration)&gt; control_callback, bool limit_rate=false, double cutoff_frequency=kDefaultCutoffFrequency)</div><div class="ttdoc">Starts a control loop for sending joint-level torque commands.</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_a168e1214ac36d74ac64f894332b84534"><div class="ttname"><a href="classfranka_1_1Robot.html#a168e1214ac36d74ac64f894332b84534">franka::Robot::setCollisionBehavior</a></div><div class="ttdeci">void setCollisionBehavior(const std::array&lt; double, 7 &gt; &amp;lower_torque_thresholds_acceleration, const std::array&lt; double, 7 &gt; &amp;upper_torque_thresholds_acceleration, const std::array&lt; double, 7 &gt; &amp;lower_torque_thresholds_nominal, const std::array&lt; double, 7 &gt; &amp;upper_torque_thresholds_nominal, const std::array&lt; double, 6 &gt; &amp;lower_force_thresholds_acceleration, const std::array&lt; double, 6 &gt; &amp;upper_force_thresholds_acceleration, const std::array&lt; double, 6 &gt; &amp;lower_force_thresholds_nominal, const std::array&lt; double, 6 &gt; &amp;upper_force_thresholds_nominal)</div><div class="ttdoc">Changes the collision behavior.</div></div>
+<div class="ttc" id="aexamples__common_8h_html"><div class="ttname"><a href="examples__common_8h.html">examples_common.h</a></div><div class="ttdoc">Contains common types and functions for the examples.</div></div>
+<div class="ttc" id="aexamples__common_8h_html_ad0c6e1cb044845ee8a01b5aa1e801a45"><div class="ttname"><a href="examples__common_8h.html#ad0c6e1cb044845ee8a01b5aa1e801a45">setDefaultBehavior</a></div><div class="ttdeci">void setDefaultBehavior(franka::Robot &amp;robot)</div><div class="ttdoc">Sets a default collision behavior, joint impedance and Cartesian impedance.</div><div class="ttdef"><b>Definition:</b> examples_common.cpp:12</div></div>
+<div class="ttc" id="aexception_8h_html"><div class="ttname"><a href="exception_8h.html">exception.h</a></div><div class="ttdoc">Contains exception definitions.</div></div>
+<div class="ttc" id="arobot_8h_html"><div class="ttname"><a href="robot_8h.html">robot.h</a></div><div class="ttdoc">Contains the franka::Robot type.</div></div>
+<div class="ttc" id="astructfranka_1_1Exception_html"><div class="ttname"><a href="structfranka_1_1Exception.html">franka::Exception</a></div><div class="ttdoc">Base class for all exceptions used by libfranka.</div><div class="ttdef"><b>Definition:</b> exception.h:20</div></div>
+</div><!-- fragment --> </div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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i&&(o=e,e=i,i=void 0),e&&!1!==i&&this.queue(i||"fx",[]),this.each(function(){var e=!0,t=null!=i&&i+"queueHooks",n=k.timers,r=Q.get(this);if(t)r[t]&&r[t].stop&&a(r[t]);else for(t in r)r[t]&&r[t].stop&&ut.test(t)&&a(r[t]);for(t=n.length;t--;)n[t].elem!==this||null!=i&&n[t].queue!==i||(n[t].anim.stop(o),e=!1,n.splice(t,1));!e&&o||k.dequeue(this,i)})},finish:function(a){return!1!==a&&(a=a||"fx"),this.each(function(){var e,t=Q.get(this),n=t[a+"queue"],r=t[a+"queueHooks"],i=k.timers,o=n?n.length:0;for(t.finish=!0,k.queue(this,a,[]),r&&r.stop&&r.stop.call(this,!0),e=i.length;e--;)i[e].elem===this&&i[e].queue===a&&(i[e].anim.stop(!0),i.splice(e,1));for(e=0;e<o;e++)n[e]&&n[e].finish&&n[e].finish.call(this);delete t.finish})}}),k.each(["toggle","show","hide"],function(e,r){var i=k.fn[r];k.fn[r]=function(e,t,n){return null==e||"boolean"==typeof e?i.apply(this,arguments):this.animate(ft(r,!0),e,t,n)}}),k.each({slideDown:ft("show"),slideUp:ft("hide"),slideToggle:ft("toggle"),fadeIn:{opacity:"show"},fadeOut:{opacity:"hide"},fadeToggle:{opacity:"toggle"}},function(e,r){k.fn[e]=function(e,t,n){return this.animate(r,e,t,n)}}),k.timers=[],k.fx.tick=function(){var e,t=0,n=k.timers;for(rt=Date.now();t<n.length;t++)(e=n[t])()||n[t]!==e||n.splice(t--,1);n.length||k.fx.stop(),rt=void 0},k.fx.timer=function(e){k.timers.push(e),k.fx.start()},k.fx.interval=13,k.fx.start=function(){it||(it=!0,lt())},k.fx.stop=function(){it=null},k.fx.speeds={slow:600,fast:200,_default:400},k.fn.delay=function(r,e){return r=k.fx&&k.fx.speeds[r]||r,e=e||"fx",this.queue(e,function(e,t){var n=C.setTimeout(e,r);t.stop=function(){C.clearTimeout(n)}})},ot=E.createElement("input"),at=E.createElement("select").appendChild(E.createElement("option")),ot.type="checkbox",y.checkOn=""!==ot.value,y.optSelected=at.selected,(ot=E.createElement("input")).value="t",ot.type="radio",y.radioValue="t"===ot.value;var ht,gt=k.expr.attrHandle;k.fn.extend({attr:function(e,t){return _(this,k.attr,e,t,1<arguments.length)},removeAttr:function(e){return this.each(function(){k.removeAttr(this,e)})}}),k.extend({attr:function(e,t,n){var r,i,o=e.nodeType;if(3!==o&&8!==o&&2!==o)return"undefined"==typeof e.getAttribute?k.prop(e,t,n):(1===o&&k.isXMLDoc(e)||(i=k.attrHooks[t.toLowerCase()]||(k.expr.match.bool.test(t)?ht:void 0)),void 0!==n?null===n?void k.removeAttr(e,t):i&&"set"in i&&void 0!==(r=i.set(e,n,t))?r:(e.setAttribute(t,n+""),n):i&&"get"in i&&null!==(r=i.get(e,t))?r:null==(r=k.find.attr(e,t))?void 0:r)},attrHooks:{type:{set:function(e,t){if(!y.radioValue&&"radio"===t&&A(e,"input")){var n=e.value;return e.setAttribute("type",t),n&&(e.value=n),t}}}},removeAttr:function(e,t){var n,r=0,i=t&&t.match(R);if(i&&1===e.nodeType)while(n=i[r++])e.removeAttribute(n)}}),ht={set:function(e,t,n){return!1===t?k.removeAttr(e,n):e.setAttribute(n,n),n}},k.each(k.expr.match.bool.source.match(/\w+/g),function(e,t){var a=gt[t]||k.find.attr;gt[t]=function(e,t,n){var r,i,o=t.toLowerCase();return n||(i=gt[o],gt[o]=r,r=null!=a(e,t,n)?o:null,gt[o]=i),r}});var vt=/^(?:input|select|textarea|button)$/i,yt=/^(?:a|area)$/i;function mt(e){return(e.match(R)||[]).join(" ")}function xt(e){return e.getAttribute&&e.getAttribute("class")||""}function bt(e){return Array.isArray(e)?e:"string"==typeof e&&e.match(R)||[]}k.fn.extend({prop:function(e,t){return _(this,k.prop,e,t,1<arguments.length)},removeProp:function(e){return this.each(function(){delete this[k.propFix[e]||e]})}}),k.extend({prop:function(e,t,n){var r,i,o=e.nodeType;if(3!==o&&8!==o&&2!==o)return 1===o&&k.isXMLDoc(e)||(t=k.propFix[t]||t,i=k.propHooks[t]),void 0!==n?i&&"set"in i&&void 0!==(r=i.set(e,n,t))?r:e[t]=n:i&&"get"in i&&null!==(r=i.get(e,t))?r:e[t]},propHooks:{tabIndex:{get:function(e){var t=k.find.attr(e,"tabindex");return t?parseInt(t,10):vt.test(e.nodeName)||yt.test(e.nodeName)&&e.href?0:-1}}},propFix:{"for":"htmlFor","class":"className"}}),y.optSelected||(k.propHooks.selected={get:function(e){var t=e.parentNode;return t&&t.parentNode&&t.parentNode.selectedIndex,null},set:function(e){var t=e.parentNode;t&&(t.selectedIndex,t.parentNode&&t.parentNode.selectedIndex)}}),k.each(["tabIndex","readOnly","maxLength","cellSpacing","cellPadding","rowSpan","colSpan","useMap","frameBorder","contentEditable"],function(){k.propFix[this.toLowerCase()]=this}),k.fn.extend({addClass:function(t){var e,n,r,i,o,a,s,u=0;if(m(t))return this.each(function(e){k(this).addClass(t.call(this,e,xt(this)))});if((e=bt(t)).length)while(n=this[u++])if(i=xt(n),r=1===n.nodeType&&" "+mt(i)+" 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null!=t?t:mt(k.text(e))}},select:{get:function(e){var t,n,r,i=e.options,o=e.selectedIndex,a="select-one"===e.type,s=a?null:[],u=a?o+1:i.length;for(r=o<0?u:a?o:0;r<u;r++)if(((n=i[r]).selected||r===o)&&!n.disabled&&(!n.parentNode.disabled||!A(n.parentNode,"optgroup"))){if(t=k(n).val(),a)return t;s.push(t)}return s},set:function(e,t){var n,r,i=e.options,o=k.makeArray(t),a=i.length;while(a--)((r=i[a]).selected=-1<k.inArray(k.valHooks.option.get(r),o))&&(n=!0);return n||(e.selectedIndex=-1),o}}}}),k.each(["radio","checkbox"],function(){k.valHooks[this]={set:function(e,t){if(Array.isArray(t))return e.checked=-1<k.inArray(k(e).val(),t)}},y.checkOn||(k.valHooks[this].get=function(e){return null===e.getAttribute("value")?"on":e.value})}),y.focusin="onfocusin"in C;var Tt=/^(?:focusinfocus|focusoutblur)$/,Ct=function(e){e.stopPropagation()};k.extend(k.event,{trigger:function(e,t,n,r){var i,o,a,s,u,l,c,f,p=[n||E],d=v.call(e,"type")?e.type:e,h=v.call(e,"namespace")?e.namespace.split("."):[];if(o=f=a=n=n||E,3!==n.nodeType&&8!==n.nodeType&&!Tt.test(d+k.event.triggered)&&(-1<d.indexOf(".")&&(d=(h=d.split(".")).shift(),h.sort()),u=d.indexOf(":")<0&&"on"+d,(e=e[k.expando]?e:new k.Event(d,"object"==typeof e&&e)).isTrigger=r?2:3,e.namespace=h.join("."),e.rnamespace=e.namespace?new RegExp("(^|\\.)"+h.join("\\.(?:.*\\.|)")+"(\\.|$)"):null,e.result=void 0,e.target||(e.target=n),t=null==t?[e]:k.makeArray(t,[e]),c=k.event.special[d]||{},r||!c.trigger||!1!==c.trigger.apply(n,t))){if(!r&&!c.noBubble&&!x(n)){for(s=c.delegateType||d,Tt.test(s+d)||(o=o.parentNode);o;o=o.parentNode)p.push(o),a=o;a===(n.ownerDocument||E)&&p.push(a.defaultView||a.parentWindow||C)}i=0;while((o=p[i++])&&!e.isPropagationStopped())f=o,e.type=1<i?s:c.bindType||d,(l=(Q.get(o,"events")||{})[e.type]&&Q.get(o,"handle"))&&l.apply(o,t),(l=u&&o[u])&&l.apply&&G(o)&&(e.result=l.apply(o,t),!1===e.result&&e.preventDefault());return e.type=d,r||e.isDefaultPrevented()||c._default&&!1!==c._default.apply(p.pop(),t)||!G(n)||u&&m(n[d])&&!x(n)&&((a=n[u])&&(n[u]=null),k.event.triggered=d,e.isPropagationStopped()&&f.addEventListener(d,Ct),n[d](),e.isPropagationStopped()&&f.removeEventListener(d,Ct),k.event.triggered=void 0,a&&(n[u]=a)),e.result}},simulate:function(e,t,n){var r=k.extend(new 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s=t(this).resizable("instance"),n=s.options,o=s.originalSize,a=s.originalPosition,r={height:s.size.height-o.height||0,width:s.size.width-o.width||0,top:s.position.top-a.top||0,left:s.position.left-a.left||0};t(n.alsoResize).each(function(){var e=t(this),s=t(this).data("ui-resizable-alsoresize"),n={},o=e.parents(i.originalElement[0]).length?["width","height"]:["width","height","top","left"];t.each(o,function(t,e){var i=(s[e]||0)+(r[e]||0);i&&i>=0&&(n[e]=i||null)}),e.css(n)})},stop:function(){t(this).removeData("ui-resizable-alsoresize")}}),t.ui.plugin.add("resizable","ghost",{start:function(){var e=t(this).resizable("instance"),i=e.size;e.ghost=e.originalElement.clone(),e.ghost.css({opacity:.25,display:"block",position:"relative",height:i.height,width:i.width,margin:0,left:0,top:0}),e._addClass(e.ghost,"ui-resizable-ghost"),t.uiBackCompat!==!1&&"string"==typeof e.options.ghost&&e.ghost.addClass(this.options.ghost),e.ghost.appendTo(e.helper)},resize:function(){var 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+ * Copyright (c) 2007 Ariel Flesler - aflesler ○ gmail • com | https://github.com/flesler
+ * Licensed under MIT
+ * @author Ariel Flesler
+ * @version 2.1.2
+ */
+;(function(f){"use strict";"function"===typeof define&&define.amd?define(["jquery"],f):"undefined"!==typeof module&&module.exports?module.exports=f(require("jquery")):f(jQuery)})(function($){"use strict";function n(a){return!a.nodeName||-1!==$.inArray(a.nodeName.toLowerCase(),["iframe","#document","html","body"])}function h(a){return $.isFunction(a)||$.isPlainObject(a)?a:{top:a,left:a}}var p=$.scrollTo=function(a,d,b){return $(window).scrollTo(a,d,b)};p.defaults={axis:"xy",duration:0,limit:!0};$.fn.scrollTo=function(a,d,b){"object"=== typeof d&&(b=d,d=0);"function"===typeof b&&(b={onAfter:b});"max"===a&&(a=9E9);b=$.extend({},p.defaults,b);d=d||b.duration;var u=b.queue&&1<b.axis.length;u&&(d/=2);b.offset=h(b.offset);b.over=h(b.over);return this.each(function(){function k(a){var k=$.extend({},b,{queue:!0,duration:d,complete:a&&function(){a.call(q,e,b)}});r.animate(f,k)}if(null!==a){var l=n(this),q=l?this.contentWindow||window:this,r=$(q),e=a,f={},t;switch(typeof e){case "number":case "string":if(/^([+-]=?)?\d+(\.\d+)?(px|%)?$/.test(e)){e= h(e);break}e=l?$(e):$(e,q);case "object":if(e.length===0)return;if(e.is||e.style)t=(e=$(e)).offset()}var v=$.isFunction(b.offset)&&b.offset(q,e)||b.offset;$.each(b.axis.split(""),function(a,c){var d="x"===c?"Left":"Top",m=d.toLowerCase(),g="scroll"+d,h=r[g](),n=p.max(q,c);t?(f[g]=t[m]+(l?0:h-r.offset()[m]),b.margin&&(f[g]-=parseInt(e.css("margin"+d),10)||0,f[g]-=parseInt(e.css("border"+d+"Width"),10)||0),f[g]+=v[m]||0,b.over[m]&&(f[g]+=e["x"===c?"width":"height"]()*b.over[m])):(d=e[m],f[g]=d.slice&& "%"===d.slice(-1)?parseFloat(d)/100*n:d);b.limit&&/^\d+$/.test(f[g])&&(f[g]=0>=f[g]?0:Math.min(f[g],n));!a&&1<b.axis.length&&(h===f[g]?f={}:u&&(k(b.onAfterFirst),f={}))});k(b.onAfter)}})};p.max=function(a,d){var b="x"===d?"Width":"Height",h="scroll"+b;if(!n(a))return a[h]-$(a)[b.toLowerCase()]();var b="client"+b,k=a.ownerDocument||a.document,l=k.documentElement,k=k.body;return Math.max(l[h],k[h])-Math.min(l[b],k[b])};$.Tween.propHooks.scrollLeft=$.Tween.propHooks.scrollTop={get:function(a){return $(a.elem)[a.prop]()}, set:function(a){var d=this.get(a);if(a.options.interrupt&&a._last&&a._last!==d)return $(a.elem).stop();var b=Math.round(a.now);d!==b&&($(a.elem)[a.prop](b),a._last=this.get(a))}};return p});
+/*!
+ PowerTip v1.3.1 (2018-04-15)
+ https://stevenbenner.github.io/jquery-powertip/
+ Copyright (c) 2018 Steven Benner (http://stevenbenner.com/).
+ Released under MIT license.
+ https://raw.github.com/stevenbenner/jquery-powertip/master/LICENSE.txt
+*/
+(function(root,factory){if(typeof define==="function"&&define.amd){define(["jquery"],factory)}else if(typeof module==="object"&&module.exports){module.exports=factory(require("jquery"))}else{factory(root.jQuery)}})(this,function($){var $document=$(document),$window=$(window),$body=$("body");var DATA_DISPLAYCONTROLLER="displayController",DATA_HASACTIVEHOVER="hasActiveHover",DATA_FORCEDOPEN="forcedOpen",DATA_HASMOUSEMOVE="hasMouseMove",DATA_MOUSEONTOTIP="mouseOnToPopup",DATA_ORIGINALTITLE="originalTitle",DATA_POWERTIP="powertip",DATA_POWERTIPJQ="powertipjq",DATA_POWERTIPTARGET="powertiptarget",EVENT_NAMESPACE=".powertip",RAD2DEG=180/Math.PI,MOUSE_EVENTS=["click","dblclick","mousedown","mouseup","mousemove","mouseover","mouseout","mouseenter","mouseleave","contextmenu"];var 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+ * jQuery UI Touch Punch 0.2.3
+ *
+ * Copyright 2011–2014, Dave Furfero
+ * Dual licensed under the MIT or GPL Version 2 licenses.
+ *
+ * Depends:
+ *  jquery.ui.widget.js
+ *  jquery.ui.mouse.js
+ */
+!function(a){function f(a,b){if(!(a.originalEvent.touches.length>1)){a.preventDefault();var c=a.originalEvent.changedTouches[0],d=document.createEvent("MouseEvents");d.initMouseEvent(b,!0,!0,window,1,c.screenX,c.screenY,c.clientX,c.clientY,!1,!1,!1,!1,0,null),a.target.dispatchEvent(d)}}if(a.support.touch="ontouchend"in document,a.support.touch){var e,b=a.ui.mouse.prototype,c=b._mouseInit,d=b._mouseDestroy;b._touchStart=function(a){var b=this;!e&&b._mouseCapture(a.originalEvent.changedTouches[0])&&(e=!0,b._touchMoved=!1,f(a,"mouseover"),f(a,"mousemove"),f(a,"mousedown"))},b._touchMove=function(a){e&&(this._touchMoved=!0,f(a,"mousemove"))},b._touchEnd=function(a){e&&(f(a,"mouseup"),f(a,"mouseout"),this._touchMoved||f(a,"click"),e=!1)},b._mouseInit=function(){var b=this;b.element.bind({touchstart:a.proxy(b,"_touchStart"),touchmove:a.proxy(b,"_touchMove"),touchend:a.proxy(b,"_touchEnd")}),c.call(b)},b._mouseDestroy=function(){var b=this;b.element.unbind({touchstart:a.proxy(b,"_touchStart"),touchmove:a.proxy(b,"_touchMove"),touchend:a.proxy(b,"_touchEnd")}),d.call(b)}}}(jQuery);/*! SmartMenus jQuery Plugin - v1.1.0 - September 17, 2017
+ * http://www.smartmenus.org/
+ * Copyright Vasil Dinkov, Vadikom Web Ltd. http://vadikom.com; Licensed MIT */(function(t){"function"==typeof define&&define.amd?define(["jquery"],t):"object"==typeof module&&"object"==typeof module.exports?module.exports=t(require("jquery")):t(jQuery)})(function($){function initMouseDetection(t){var e=".smartmenus_mouse";if(mouseDetectionEnabled||t)mouseDetectionEnabled&&t&&($(document).off(e),mouseDetectionEnabled=!1);else{var i=!0,s=null,o={mousemove:function(t){var e={x:t.pageX,y:t.pageY,timeStamp:(new Date).getTime()};if(s){var o=Math.abs(s.x-e.x),a=Math.abs(s.y-e.y);if((o>0||a>0)&&2>=o&&2>=a&&300>=e.timeStamp-s.timeStamp&&(mouse=!0,i)){var n=$(t.target).closest("a");n.is("a")&&$.each(menuTrees,function(){return $.contains(this.$root[0],n[0])?(this.itemEnter({currentTarget:n[0]}),!1):void 0}),i=!1}}s=e}};o[touchEvents?"touchstart":"pointerover pointermove pointerout MSPointerOver MSPointerMove 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+<title>libfranka: include/franka/log.h File Reference</title>
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
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+<!-- iframe showing the search results (closed by default) -->
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+        name="MSearchResults" id="MSearchResults">
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+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_5f30c89189ebb3336d6b33aa932838ba.html">franka</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#func-members">Functions</a>  </div>
+  <div class="headertitle">
+<div class="title">log.h File Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Contains helper types for logging sent commands and received robot states.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &lt;vector&gt;</code><br />
+<code>#include &lt;<a class="el" href="control__types_8h_source.html">franka/control_types.h</a>&gt;</code><br />
+<code>#include &lt;<a class="el" href="robot__state_8h_source.html">franka/robot_state.h</a>&gt;</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for log.h:</div>
+<div class="dyncontent">
+<div class="center"><img src="log_8h__incl.png" border="0" usemap="#ainclude_2franka_2log_8h" alt=""/></div>
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+<area shape="rect" href="robot__state_8h.html" title="Contains the franka::RobotState types." alt="" coords="344,80,497,107"/>
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+<area shape="rect" title=" " alt="" coords="89,155,152,181"/>
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+<area shape="rect" title=" " alt="" coords="389,229,465,256"/>
+<area shape="rect" href="duration_8h.html" title="Contains the franka::Duration type." alt="" coords="554,155,687,181"/>
+<area shape="rect" href="errors_8h.html" title="Contains the franka::Errors type." alt="" coords="362,155,479,181"/>
+<area shape="rect" title=" " alt="" coords="497,229,563,256"/>
+<area shape="rect" title=" " alt="" coords="587,229,654,256"/>
+<area shape="rect" title=" " alt="" coords="679,229,731,256"/>
+</map>
+</div>
+</div><div class="textblock"><div class="dynheader">
+This graph shows which files directly or indirectly include this file:</div>
+<div class="dyncontent">
+<div class="center"><img src="log_8h__dep__incl.png" border="0" usemap="#ainclude_2franka_2log_8hdep" alt=""/></div>
+<map name="ainclude_2franka_2log_8hdep" id="ainclude_2franka_2log_8hdep">
+<area shape="rect" title="Contains helper types for logging sent commands and received robot states." alt="" coords="100,5,251,32"/>
+<area shape="rect" href="exception_8h.html" title="Contains exception definitions." alt="" coords="78,80,273,107"/>
+<area shape="rect" href="active__control_8h.html" title="Implements the ActiveControlBase abstract class." alt="" coords="96,244,255,285"/>
+<area shape="rect" href="active__control__base_8h.html" title="Abstract interface class as the base of the active controllers." alt="" coords="155,155,313,196"/>
+<area shape="rect" href="active__motion__generator_8h.html" title="Contains the franka::ActiveMotionGenerator type." alt="" coords="5,333,164,375"/>
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+</map>
+</div>
+</div>
+<p><a href="log_8h_source.html">Go to the source code of this file.</a></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1RobotCommand.html">franka::RobotCommand</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Command sent to the robot.  <a href="structfranka_1_1RobotCommand.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1Record.html">franka::Record</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">One row of the log contains a robot command of timestamp n and a corresponding robot state of timestamp n+1.  <a href="structfranka_1_1Record.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
+Functions</h2></td></tr>
+<tr class="memitem:a01fbdb37b0e6beb04ba108d5f5024fd9"><td class="memItemLeft" align="right" valign="top">std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="log_8h.html#a01fbdb37b0e6beb04ba108d5f5024fd9">franka::logToCSV</a> (const std::vector&lt; Record &gt; &amp;log)</td></tr>
+<tr class="memdesc:a01fbdb37b0e6beb04ba108d5f5024fd9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Writes the log to a string in CSV format.  <a href="log_8h.html#a01fbdb37b0e6beb04ba108d5f5024fd9">More...</a><br /></td></tr>
+<tr class="separator:a01fbdb37b0e6beb04ba108d5f5024fd9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Contains helper types for logging sent commands and received robot states. </p>
+</div><h2 class="groupheader">Function Documentation</h2>
+<a id="a01fbdb37b0e6beb04ba108d5f5024fd9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a01fbdb37b0e6beb04ba108d5f5024fd9">&#9670;&nbsp;</a></span>logToCSV()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::string franka::logToCSV </td>
+          <td>(</td>
+          <td class="paramtype">const std::vector&lt; <a class="el" href="structfranka_1_1Record.html">Record</a> &gt; &amp;&#160;</td>
+          <td class="paramname"><em>log</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Writes the log to a string in CSV format. </p>
+<p>If the string is not empty, the first row contains the header with names of columns. The following lines contain rows of values separated by commas.</p>
+<p>If the log is empty, the function returns an empty string.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">log</td><td>Log provided by the ControlException.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>a string in CSV format, or empty string. </dd></dl>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="motion_with_control_8cpp-example.html#a15">motion_with_control.cpp</a>, and <a class="el" href="motion_with_control_external_control_loop_8cpp-example.html#a15">motion_with_control_external_control_loop.cpp</a>.</dd>
+</dl>
+
+</div>
+</div>
+</div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_5f30c89189ebb3336d6b33aa932838ba.html">franka</a></li>  </ul>
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+<div class="title">log.h</div>  </div>
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+<a href="log_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// Copyright (c) 2023 Franka Robotics GmbH</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Use of this source code is governed by the Apache-2.0 license, see LICENSE</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#pragma once</span></div>
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+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="keyword">namespace </span>franka {</div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160; </div>
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+<div class="line"><a name="l00036"></a><span class="lineno"><a class="line" href="structfranka_1_1RobotCommand.html#a04b4841130fab920936190be1bc5dba3">   36</a></span>&#160;  <a class="code" href="classfranka_1_1CartesianVelocities.html">CartesianVelocities</a> <a class="code" href="structfranka_1_1RobotCommand.html#a04b4841130fab920936190be1bc5dba3">cartesian_velocities</a>{0, 0, 0, 0, 0, 0};</div>
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+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;};</div>
+<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
+<div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="log_8h.html#a01fbdb37b0e6beb04ba108d5f5024fd9">   69</a></span>&#160;std::string <a class="code" href="log_8h.html#a01fbdb37b0e6beb04ba108d5f5024fd9">logToCSV</a>(<span class="keyword">const</span> std::vector&lt;Record&gt;&amp; log);</div>
+<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;}  <span class="comment">// namespace franka</span></div>
+<div class="ttc" id="aclassfranka_1_1CartesianPose_html"><div class="ttname"><a href="classfranka_1_1CartesianPose.html">franka::CartesianPose</a></div><div class="ttdoc">Stores values for Cartesian pose motion generation.</div><div class="ttdef"><b>Definition:</b> control_types.h:127</div></div>
+<div class="ttc" id="aclassfranka_1_1CartesianVelocities_html"><div class="ttname"><a href="classfranka_1_1CartesianVelocities.html">franka::CartesianVelocities</a></div><div class="ttdoc">Stores values for Cartesian velocity motion generation.</div><div class="ttdef"><b>Definition:</b> control_types.h:211</div></div>
+<div class="ttc" id="aclassfranka_1_1JointPositions_html"><div class="ttname"><a href="classfranka_1_1JointPositions.html">franka::JointPositions</a></div><div class="ttdoc">Stores values for joint position motion generation.</div><div class="ttdef"><b>Definition:</b> control_types.h:72</div></div>
+<div class="ttc" id="aclassfranka_1_1JointVelocities_html"><div class="ttname"><a href="classfranka_1_1JointVelocities.html">franka::JointVelocities</a></div><div class="ttdoc">Stores values for joint velocity motion generation.</div><div class="ttdef"><b>Definition:</b> control_types.h:99</div></div>
+<div class="ttc" id="aclassfranka_1_1Torques_html"><div class="ttname"><a href="classfranka_1_1Torques.html">franka::Torques</a></div><div class="ttdoc">Stores joint-level torque commands without gravity and friction.</div><div class="ttdef"><b>Definition:</b> control_types.h:45</div></div>
+<div class="ttc" id="acontrol__types_8h_html"><div class="ttname"><a href="control__types_8h.html">control_types.h</a></div><div class="ttdoc">Contains helper types for returning motion generation and joint-level torque commands.</div></div>
+<div class="ttc" id="alog_8h_html_a01fbdb37b0e6beb04ba108d5f5024fd9"><div class="ttname"><a href="log_8h.html#a01fbdb37b0e6beb04ba108d5f5024fd9">franka::logToCSV</a></div><div class="ttdeci">std::string logToCSV(const std::vector&lt; Record &gt; &amp;log)</div><div class="ttdoc">Writes the log to a string in CSV format.</div></div>
+<div class="ttc" id="arobot__state_8h_html"><div class="ttname"><a href="robot__state_8h.html">robot_state.h</a></div><div class="ttdoc">Contains the franka::RobotState types.</div></div>
+<div class="ttc" id="astructfranka_1_1Record_html"><div class="ttname"><a href="structfranka_1_1Record.html">franka::Record</a></div><div class="ttdoc">One row of the log contains a robot command of timestamp n and a corresponding robot state of timesta...</div><div class="ttdef"><b>Definition:</b> log.h:48</div></div>
+<div class="ttc" id="astructfranka_1_1Record_html_a58249658c9549fbc792eea90e7b6a7cc"><div class="ttname"><a href="structfranka_1_1Record.html#a58249658c9549fbc792eea90e7b6a7cc">franka::Record::state</a></div><div class="ttdeci">RobotState state</div><div class="ttdoc">Robot state of timestamp n+1.</div><div class="ttdef"><b>Definition:</b> log.h:52</div></div>
+<div class="ttc" id="astructfranka_1_1Record_html_a8106f2ba9c2cf5ec7cbcf914c4c99e9c"><div class="ttname"><a href="structfranka_1_1Record.html#a8106f2ba9c2cf5ec7cbcf914c4c99e9c">franka::Record::command</a></div><div class="ttdeci">RobotCommand command</div><div class="ttdoc">Robot command of timestamp n, after rate limiting (if activated).</div><div class="ttdef"><b>Definition:</b> log.h:56</div></div>
+<div class="ttc" id="astructfranka_1_1RobotCommand_html"><div class="ttname"><a href="structfranka_1_1RobotCommand.html">franka::RobotCommand</a></div><div class="ttdoc">Command sent to the robot.</div><div class="ttdef"><b>Definition:</b> log.h:20</div></div>
+<div class="ttc" id="astructfranka_1_1RobotCommand_html_a049657cf2bbbb53d6ffa5581721e7b71"><div class="ttname"><a href="structfranka_1_1RobotCommand.html#a049657cf2bbbb53d6ffa5581721e7b71">franka::RobotCommand::joint_velocities</a></div><div class="ttdeci">JointVelocities joint_velocities</div><div class="ttdoc">sent to the robot.</div><div class="ttdef"><b>Definition:</b> log.h:28</div></div>
+<div class="ttc" id="astructfranka_1_1RobotCommand_html_a04b4841130fab920936190be1bc5dba3"><div class="ttname"><a href="structfranka_1_1RobotCommand.html#a04b4841130fab920936190be1bc5dba3">franka::RobotCommand::cartesian_velocities</a></div><div class="ttdeci">CartesianVelocities cartesian_velocities</div><div class="ttdoc">sent to the robot.</div><div class="ttdef"><b>Definition:</b> log.h:36</div></div>
+<div class="ttc" id="astructfranka_1_1RobotCommand_html_a086afcec596eae5284b6c39dc1452280"><div class="ttname"><a href="structfranka_1_1RobotCommand.html#a086afcec596eae5284b6c39dc1452280">franka::RobotCommand::joint_positions</a></div><div class="ttdeci">JointPositions joint_positions</div><div class="ttdoc">sent to the robot.</div><div class="ttdef"><b>Definition:</b> log.h:24</div></div>
+<div class="ttc" id="astructfranka_1_1RobotCommand_html_a8b23e8b669b1fd594988ecdbf54bfbce"><div class="ttname"><a href="structfranka_1_1RobotCommand.html#a8b23e8b669b1fd594988ecdbf54bfbce">franka::RobotCommand::torques</a></div><div class="ttdeci">Torques torques</div><div class="ttdoc">sent to the robot.</div><div class="ttdef"><b>Definition:</b> log.h:40</div></div>
+<div class="ttc" id="astructfranka_1_1RobotCommand_html_acce2090d696ebb9759fd0f37fd35a298"><div class="ttname"><a href="structfranka_1_1RobotCommand.html#acce2090d696ebb9759fd0f37fd35a298">franka::RobotCommand::cartesian_pose</a></div><div class="ttdeci">CartesianPose cartesian_pose</div><div class="ttdoc">sent to the robot.</div><div class="ttdef"><b>Definition:</b> log.h:32</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html"><div class="ttname"><a href="structfranka_1_1RobotState.html">franka::RobotState</a></div><div class="ttdoc">Describes the robot state.</div><div class="ttdef"><b>Definition:</b> robot_state.h:34</div></div>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#func-members">Functions</a> &#124;
+<a href="#var-members">Variables</a>  </div>
+  <div class="headertitle">
+<div class="title">lowpass_filter.h File Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Contains functions for filtering signals with a low-pass filter.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &lt;array&gt;</code><br />
+<code>#include &lt;cmath&gt;</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for lowpass_filter.h:</div>
+<div class="dyncontent">
+<div class="center"><img src="lowpass__filter_8h__incl.png" border="0" usemap="#ainclude_2franka_2lowpass__filter_8h" alt=""/></div>
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+</div>
+</div><div class="textblock"><div class="dynheader">
+This graph shows which files directly or indirectly include this file:</div>
+<div class="dyncontent">
+<div class="center"><img src="lowpass__filter_8h__dep__incl.png" border="0" usemap="#ainclude_2franka_2lowpass__filter_8hdep" alt=""/></div>
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+</map>
+</div>
+</div>
+<p><a href="lowpass__filter_8h_source.html">Go to the source code of this file.</a></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
+Functions</h2></td></tr>
+<tr class="memitem:a94c21b0e87afce0147a9cd6025c239ca"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="lowpass__filter_8h.html#a94c21b0e87afce0147a9cd6025c239ca">franka::lowpassFilter</a> (double sample_time, double y, double y_last, double cutoff_frequency)</td></tr>
+<tr class="memdesc:a94c21b0e87afce0147a9cd6025c239ca"><td class="mdescLeft">&#160;</td><td class="mdescRight">Applies a first-order low-pass filter.  <a href="lowpass__filter_8h.html#a94c21b0e87afce0147a9cd6025c239ca">More...</a><br /></td></tr>
+<tr class="separator:a94c21b0e87afce0147a9cd6025c239ca"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac25e174345ea5e2ea9099287ad43cd2b"><td class="memItemLeft" align="right" valign="top">std::array&lt; double, 16 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="lowpass__filter_8h.html#ac25e174345ea5e2ea9099287ad43cd2b">franka::cartesianLowpassFilter</a> (double sample_time, std::array&lt; double, 16 &gt; y, std::array&lt; double, 16 &gt; y_last, double cutoff_frequency)</td></tr>
+<tr class="memdesc:ac25e174345ea5e2ea9099287ad43cd2b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Applies a first-order low-pass filter to the translation and spherical linear interpolation to the rotation of a transformation matrix which represents a Cartesian Motion.  <a href="lowpass__filter_8h.html#ac25e174345ea5e2ea9099287ad43cd2b">More...</a><br /></td></tr>
+<tr class="separator:ac25e174345ea5e2ea9099287ad43cd2b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="var-members"></a>
+Variables</h2></td></tr>
+<tr class="memitem:adb10b364af8deb9e17d9bcc1ff2695be"><td class="memItemLeft" align="right" valign="top"><a id="adb10b364af8deb9e17d9bcc1ff2695be"></a>
+constexpr double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="lowpass__filter_8h.html#adb10b364af8deb9e17d9bcc1ff2695be">franka::kMaxCutoffFrequency</a> = 1000.0</td></tr>
+<tr class="memdesc:adb10b364af8deb9e17d9bcc1ff2695be"><td class="mdescLeft">&#160;</td><td class="mdescRight">Maximum cutoff frequency. <br /></td></tr>
+<tr class="separator:adb10b364af8deb9e17d9bcc1ff2695be"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad8e3b7da346e03181ab5ac138a4171d4"><td class="memItemLeft" align="right" valign="top"><a id="ad8e3b7da346e03181ab5ac138a4171d4"></a>
+constexpr double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="lowpass__filter_8h.html#ad8e3b7da346e03181ab5ac138a4171d4">franka::kDefaultCutoffFrequency</a> = 100.0</td></tr>
+<tr class="memdesc:ad8e3b7da346e03181ab5ac138a4171d4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Default cutoff frequency. <br /></td></tr>
+<tr class="separator:ad8e3b7da346e03181ab5ac138a4171d4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Contains functions for filtering signals with a low-pass filter. </p>
+</div><h2 class="groupheader">Function Documentation</h2>
+<a id="ac25e174345ea5e2ea9099287ad43cd2b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac25e174345ea5e2ea9099287ad43cd2b">&#9670;&nbsp;</a></span>cartesianLowpassFilter()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::array&lt;double, 16&gt; franka::cartesianLowpassFilter </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>sample_time</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::array&lt; double, 16 &gt;&#160;</td>
+          <td class="paramname"><em>y</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::array&lt; double, 16 &gt;&#160;</td>
+          <td class="paramname"><em>y_last</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>cutoff_frequency</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Applies a first-order low-pass filter to the translation and spherical linear interpolation to the rotation of a transformation matrix which represents a Cartesian Motion. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">sample_time</td><td>Sample time constant </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">y</td><td>Current Cartesian transformation matrix to be filtered </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">y_last</td><td>Cartesian transformation matrix from the previous time step </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">cutoff_frequency</td><td>Cutoff frequency of the low-pass filter</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname">std::invalid_argument</td><td>if elements of y is infinite or NaN. </td></tr>
+    <tr><td class="paramname">std::invalid_argument</td><td>if elements of y_last is infinite or NaN. </td></tr>
+    <tr><td class="paramname">std::invalid_argument</td><td>if cutoff_frequency is zero, negative, infinite or NaN. </td></tr>
+    <tr><td class="paramname">std::invalid_argument</td><td>if sample_time is negative, infinite or NaN.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Filtered Cartesian transformation matrix. </dd></dl>
+
+</div>
+</div>
+<a id="a94c21b0e87afce0147a9cd6025c239ca"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a94c21b0e87afce0147a9cd6025c239ca">&#9670;&nbsp;</a></span>lowpassFilter()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double franka::lowpassFilter </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>sample_time</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>y</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>y_last</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>cutoff_frequency</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Applies a first-order low-pass filter. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">sample_time</td><td>Sample time constant </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">y</td><td>Current value of the signal to be filtered </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">y_last</td><td>Value of the signal to be filtered in the previous time step </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">cutoff_frequency</td><td>Cutoff frequency of the low-pass filter</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname">std::invalid_argument</td><td>if y is infinite or NaN. </td></tr>
+    <tr><td class="paramname">std::invalid_argument</td><td>if y_last is infinite or NaN. </td></tr>
+    <tr><td class="paramname">std::invalid_argument</td><td>if cutoff_frequency is zero, negative, infinite or NaN. </td></tr>
+    <tr><td class="paramname">std::invalid_argument</td><td>if sample_time is negative, infinite or NaN.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Filtered value. </dd></dl>
+
+</div>
+</div>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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new file mode 100644
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_5f30c89189ebb3336d6b33aa932838ba.html">franka</a></li>  </ul>
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+<div class="title">lowpass_filter.h</div>  </div>
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+<a href="lowpass__filter_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// Copyright (c) 2023 Franka Robotics GmbH</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Use of this source code is governed by the Apache-2.0 license, see LICENSE</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160; </div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;array&gt;</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;cmath&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="keyword">namespace </span>franka {</div>
+<div class="line"><a name="l00017"></a><span class="lineno"><a class="line" href="lowpass__filter_8h.html#adb10b364af8deb9e17d9bcc1ff2695be">   17</a></span>&#160;constexpr <span class="keywordtype">double</span> <a class="code" href="lowpass__filter_8h.html#adb10b364af8deb9e17d9bcc1ff2695be">kMaxCutoffFrequency</a> = 1000.0;</div>
+<div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="lowpass__filter_8h.html#ad8e3b7da346e03181ab5ac138a4171d4">   21</a></span>&#160;constexpr <span class="keywordtype">double</span> <a class="code" href="lowpass__filter_8h.html#ad8e3b7da346e03181ab5ac138a4171d4">kDefaultCutoffFrequency</a> = 100.0;</div>
+<div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="lowpass__filter_8h.html#a94c21b0e87afce0147a9cd6025c239ca">   37</a></span>&#160;<span class="keywordtype">double</span> <a class="code" href="lowpass__filter_8h.html#a94c21b0e87afce0147a9cd6025c239ca">lowpassFilter</a>(<span class="keywordtype">double</span> sample_time, <span class="keywordtype">double</span> y, <span class="keywordtype">double</span> y_last, <span class="keywordtype">double</span> cutoff_frequency);</div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
+<div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="lowpass__filter_8h.html#ac25e174345ea5e2ea9099287ad43cd2b">   56</a></span>&#160;std::array&lt;double, 16&gt; <a class="code" href="lowpass__filter_8h.html#ac25e174345ea5e2ea9099287ad43cd2b">cartesianLowpassFilter</a>(<span class="keywordtype">double</span> sample_time,</div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;                                              std::array&lt;double, 16&gt; y,</div>
+<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;                                              std::array&lt;double, 16&gt; y_last,</div>
+<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;                                              <span class="keywordtype">double</span> cutoff_frequency);</div>
+<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;}  <span class="comment">// namespace franka</span></div>
+<div class="ttc" id="alowpass__filter_8h_html_a94c21b0e87afce0147a9cd6025c239ca"><div class="ttname"><a href="lowpass__filter_8h.html#a94c21b0e87afce0147a9cd6025c239ca">franka::lowpassFilter</a></div><div class="ttdeci">double lowpassFilter(double sample_time, double y, double y_last, double cutoff_frequency)</div><div class="ttdoc">Applies a first-order low-pass filter.</div></div>
+<div class="ttc" id="alowpass__filter_8h_html_ac25e174345ea5e2ea9099287ad43cd2b"><div class="ttname"><a href="lowpass__filter_8h.html#ac25e174345ea5e2ea9099287ad43cd2b">franka::cartesianLowpassFilter</a></div><div class="ttdeci">std::array&lt; double, 16 &gt; cartesianLowpassFilter(double sample_time, std::array&lt; double, 16 &gt; y, std::array&lt; double, 16 &gt; y_last, double cutoff_frequency)</div><div class="ttdoc">Applies a first-order low-pass filter to the translation and spherical linear interpolation to the ro...</div></div>
+<div class="ttc" id="alowpass__filter_8h_html_ad8e3b7da346e03181ab5ac138a4171d4"><div class="ttname"><a href="lowpass__filter_8h.html#ad8e3b7da346e03181ab5ac138a4171d4">franka::kDefaultCutoffFrequency</a></div><div class="ttdeci">constexpr double kDefaultCutoffFrequency</div><div class="ttdoc">Default cutoff frequency.</div><div class="ttdef"><b>Definition:</b> lowpass_filter.h:21</div></div>
+<div class="ttc" id="alowpass__filter_8h_html_adb10b364af8deb9e17d9bcc1ff2695be"><div class="ttname"><a href="lowpass__filter_8h.html#adb10b364af8deb9e17d9bcc1ff2695be">franka::kMaxCutoffFrequency</a></div><div class="ttdeci">constexpr double kMaxCutoffFrequency</div><div class="ttdoc">Maximum cutoff frequency.</div><div class="ttdef"><b>Definition:</b> lowpass_filter.h:17</div></div>
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+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#enum-members">Enumerations</a> &#124;
+<a href="#func-members">Functions</a>  </div>
+  <div class="headertitle">
+<div class="title">model.h File Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Contains model library types.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &lt;array&gt;</code><br />
+<code>#include &lt;memory&gt;</code><br />
+<code>#include &lt;<a class="el" href="robot_8h_source.html">franka/robot.h</a>&gt;</code><br />
+<code>#include &lt;<a class="el" href="robot__state_8h_source.html">franka/robot_state.h</a>&gt;</code><br />
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+<p><a href="model_8h_source.html">Go to the source code of this file.</a></p>
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+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Model.html">franka::Model</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calculates poses of joints and dynamic properties of the robot.  <a href="classfranka_1_1Model.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:a00b729ddce916481d3f0d10febec4f5b"><td class="memItemLeft" align="right" valign="top"><a id="a00b729ddce916481d3f0d10febec4f5b"></a>enum class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="model_8h.html#a00b729ddce916481d3f0d10febec4f5b">franka::Frame</a> { <br />
+&#160;&#160;<b>kJoint1</b>
+, <b>kJoint2</b>
+, <b>kJoint3</b>
+, <b>kJoint4</b>
+, <br />
+&#160;&#160;<b>kJoint5</b>
+, <b>kJoint6</b>
+, <b>kJoint7</b>
+, <b>kFlange</b>
+, <br />
+&#160;&#160;<b>kEndEffector</b>
+, <b>kStiffness</b>
+<br />
+ }</td></tr>
+<tr class="memdesc:a00b729ddce916481d3f0d10febec4f5b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enumerates the seven joints, the flange, and the end effector of a robot. <br /></td></tr>
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+<tr class="memitem:ae39c3a098fdb1bc9a097a262312454d0"><td class="memItemLeft" align="right" valign="top">Frame&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="model_8h.html#ae39c3a098fdb1bc9a097a262312454d0">franka::operator++</a> (Frame &amp;frame, int) noexcept</td></tr>
+<tr class="memdesc:ae39c3a098fdb1bc9a097a262312454d0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Post-increments the given Frame by one.  <a href="model_8h.html#ae39c3a098fdb1bc9a097a262312454d0">More...</a><br /></td></tr>
+<tr class="separator:ae39c3a098fdb1bc9a097a262312454d0"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Contains model library types. </p>
+</div><h2 class="groupheader">Function Documentation</h2>
+<a id="ae39c3a098fdb1bc9a097a262312454d0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae39c3a098fdb1bc9a097a262312454d0">&#9670;&nbsp;</a></span>operator++()</h2>
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+          <td>(</td>
+          <td class="paramtype"><a class="el" href="model_8h.html#a00b729ddce916481d3f0d10febec4f5b">Frame</a> &amp;&#160;</td>
+          <td class="paramname"><em>frame</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname">&#160;</td>
+        </tr>
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+          <td></td><td></td>
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+<p>Post-increments the given Frame by one. </p>
+<p>For example, Frame::kJoint2++ results in Frame::kJoint3.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">frame</td><td>Frame to increment.</td></tr>
+  </table>
+  </dd>
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+<dl class="section return"><dt>Returns</dt><dd>Original Frame. </dd></dl>
+
+</div>
+</div>
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+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
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+  <ul>
+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_5f30c89189ebb3336d6b33aa932838ba.html">franka</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">model.h</div>  </div>
+</div><!--header-->
+<div class="contents">
+<a href="model_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// Copyright (c) 2023 Franka Robotics GmbH</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Use of this source code is governed by the Apache-2.0 license, see LICENSE</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160; </div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;array&gt;</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;memory&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="robot_8h.html">franka/robot.h</a>&gt;</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="robot__state_8h.html">franka/robot_state.h</a>&gt;</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="keyword">namespace </span>franka {</div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160; </div>
+<div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="model_8h.html#a00b729ddce916481d3f0d10febec4f5b">   21</a></span>&#160;<span class="keyword">enum class</span> <a class="code" href="model_8h.html#a00b729ddce916481d3f0d10febec4f5b">Frame</a> {</div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;  kJoint1,</div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  kJoint2,</div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  kJoint3,</div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;  kJoint4,</div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;  kJoint5,</div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  kJoint6,</div>
+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;  kJoint7,</div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;  kFlange,</div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;  kEndEffector,</div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;  kStiffness</div>
+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;};</div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160; </div>
+<div class="line"><a name="l00043"></a><span class="lineno"><a class="line" href="model_8h.html#ae39c3a098fdb1bc9a097a262312454d0">   43</a></span>&#160;<a class="code" href="model_8h.html#a00b729ddce916481d3f0d10febec4f5b">Frame</a> <a class="code" href="model_8h.html#ae39c3a098fdb1bc9a097a262312454d0">operator++</a>(<a class="code" href="model_8h.html#a00b729ddce916481d3f0d10febec4f5b">Frame</a>&amp; frame, <span class="keywordtype">int</span> <span class="comment">/* dummy */</span>) noexcept;</div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="keyword">class </span>ModelLibrary;</div>
+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">class </span>Network;</div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
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+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="classfranka_1_1Model.html#a751d939935eb51f06dcfd18c6c756ceb">   64</a></span>&#160;  <span class="keyword">explicit</span> <a class="code" href="classfranka_1_1Model.html#a751d939935eb51f06dcfd18c6c756ceb">Model</a>(franka::Network&amp; network);</div>
+<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
+<div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="classfranka_1_1Model.html#a8b58ff37f62512aecdcd0e6aabfd9548">   71</a></span>&#160;  <a class="code" href="classfranka_1_1Model.html#a8b58ff37f62512aecdcd0e6aabfd9548">Model</a>(<a class="code" href="classfranka_1_1Model.html">Model</a>&amp;&amp; model) noexcept;</div>
+<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
+<div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="classfranka_1_1Model.html#a625529a4c9aed7783c9c6e150dbba793">   80</a></span>&#160;  <a class="code" href="classfranka_1_1Model.html">Model</a>&amp; <a class="code" href="classfranka_1_1Model.html#a625529a4c9aed7783c9c6e150dbba793">operator=</a>(<a class="code" href="classfranka_1_1Model.html">Model</a>&amp;&amp; model) noexcept;</div>
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+<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;      const;</div>
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+<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      <a class="code" href="model_8h.html#a00b729ddce916481d3f0d10febec4f5b">Frame</a> frame,</div>
+<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;      const std::array&lt;<span class="keywordtype">double</span>, 7&gt;&amp; q,</div>
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+<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;      const std::array&lt;<span class="keywordtype">double</span>, 16&gt;&amp; EE_T_K)  <span class="comment">// NOLINT(readability-identifier-naming)</span></div>
+<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      const;</div>
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+<div class="line"><a name="l00187"></a><span class="lineno"><a class="line" href="classfranka_1_1Model.html#ad5f6156064bc18e42fc0b6d2f36b2006">  187</a></span>&#160;  std::array&lt;<span class="keywordtype">double</span>, 49&gt; <a class="code" href="classfranka_1_1Model.html#ad5f6156064bc18e42fc0b6d2f36b2006">mass</a>(const franka::<a class="code" href="structfranka_1_1RobotState.html">RobotState</a>&amp; robot_state) const noexcept;</div>
+<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160; </div>
+<div class="line"><a name="l00202"></a><span class="lineno"><a class="line" href="classfranka_1_1Model.html#a61c3a8968e927c8629f1d549d20aaf85">  202</a></span>&#160;  std::array&lt;<span class="keywordtype">double</span>, 49&gt; <a class="code" href="classfranka_1_1Model.html#ad5f6156064bc18e42fc0b6d2f36b2006">mass</a>(</div>
+<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      const std::array&lt;<span class="keywordtype">double</span>, 7&gt;&amp; q,</div>
+<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;      const std::array&lt;<span class="keywordtype">double</span>, 9&gt;&amp; I_total,  <span class="comment">// NOLINT(readability-identifier-naming)</span></div>
+<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;      <span class="keywordtype">double</span> m_total,</div>
+<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;      const std::array&lt;<span class="keywordtype">double</span>, 3&gt;&amp; F_x_Ctotal)  <span class="comment">// NOLINT(readability-identifier-naming)</span></div>
+<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;      const noexcept;</div>
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+<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160; </div>
+<div class="line"><a name="l00234"></a><span class="lineno"><a class="line" href="classfranka_1_1Model.html#a3445ad932ddda2e3540768af9b7b4852">  234</a></span>&#160;  std::array&lt;<span class="keywordtype">double</span>, 7&gt; <a class="code" href="classfranka_1_1Model.html#a91424f181a93bb47bda6af2d3567c65c">coriolis</a>(</div>
+<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;      const std::array&lt;<span class="keywordtype">double</span>, 7&gt;&amp; q,</div>
+<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;      const std::array&lt;<span class="keywordtype">double</span>, 7&gt;&amp; dq,</div>
+<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;      const std::array&lt;<span class="keywordtype">double</span>, 9&gt;&amp; I_total,  <span class="comment">// NOLINT(readability-identifier-naming)</span></div>
+<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;      <span class="keywordtype">double</span> m_total,</div>
+<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;      const std::array&lt;<span class="keywordtype">double</span>, 3&gt;&amp; F_x_Ctotal)  <span class="comment">// NOLINT(readability-identifier-naming)</span></div>
+<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;      const noexcept;</div>
+<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160; </div>
+<div class="line"><a name="l00255"></a><span class="lineno"><a class="line" href="classfranka_1_1Model.html#a9b28a648cf413297d80f383e62363ab9">  255</a></span>&#160;  std::array&lt;<span class="keywordtype">double</span>, 7&gt; <a class="code" href="classfranka_1_1Model.html#a9b28a648cf413297d80f383e62363ab9">gravity</a>(</div>
+<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;      const std::array&lt;<span class="keywordtype">double</span>, 7&gt;&amp; q,</div>
+<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;      <span class="keywordtype">double</span> m_total,</div>
+<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;      const std::array&lt;<span class="keywordtype">double</span>, 3&gt;&amp; F_x_Ctotal,  <span class="comment">// NOLINT(readability-identifier-naming)</span></div>
+<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;      const std::array&lt;<span class="keywordtype">double</span>, 3&gt;&amp; gravity_earth = {{0., 0., -9.81}}) <span class="keyword">const</span> noexcept;</div>
+<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160; </div>
+<div class="line"><a name="l00269"></a><span class="lineno"><a class="line" href="classfranka_1_1Model.html#a76a94e1ddb45cf1cdded25be4cf2dcae">  269</a></span>&#160;  std::array&lt;double, 7&gt; <a class="code" href="classfranka_1_1Model.html#a76a94e1ddb45cf1cdded25be4cf2dcae">gravity</a>(<span class="keyword">const</span> <a class="code" href="structfranka_1_1RobotState.html">franka::RobotState</a>&amp; robot_state,</div>
+<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;                                <span class="keyword">const</span> std::array&lt;double, 3&gt;&amp; gravity_earth) <span class="keyword">const</span> noexcept;</div>
+<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160; </div>
+<div class="line"><a name="l00279"></a><span class="lineno"><a class="line" href="classfranka_1_1Model.html#a983611785e894e1cd1f07a2df97ddbdd">  279</a></span>&#160;  std::array&lt;double, 7&gt; <a class="code" href="classfranka_1_1Model.html#a983611785e894e1cd1f07a2df97ddbdd">gravity</a>(<span class="keyword">const</span> <a class="code" href="structfranka_1_1RobotState.html">franka::RobotState</a>&amp; robot_state) <span class="keyword">const</span> noexcept;</div>
+<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160; </div>
+<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;  <a class="code" href="classfranka_1_1Model.html#a751d939935eb51f06dcfd18c6c756ceb">Model</a>(<span class="keyword">const</span> <a class="code" href="classfranka_1_1Model.html">Model</a>&amp;) = <span class="keyword">delete</span>;</div>
+<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;  <a class="code" href="classfranka_1_1Model.html">Model</a>&amp; <a class="code" href="classfranka_1_1Model.html#a625529a4c9aed7783c9c6e150dbba793">operator=</a>(<span class="keyword">const</span> <a class="code" href="classfranka_1_1Model.html">Model</a>&amp;) = <span class="keyword">delete</span>;</div>
+<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160; </div>
+<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160; <span class="keyword">private</span>:</div>
+<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;  std::unique_ptr&lt;ModelLibrary&gt; library_;</div>
+<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;};</div>
+<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160; </div>
+<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;}  <span class="comment">// namespace franka</span></div>
+<div class="ttc" id="aclassfranka_1_1Model_html"><div class="ttname"><a href="classfranka_1_1Model.html">franka::Model</a></div><div class="ttdoc">Calculates poses of joints and dynamic properties of the robot.</div><div class="ttdef"><b>Definition:</b> model.h:51</div></div>
+<div class="ttc" id="aclassfranka_1_1Model_html_a1d6ffa26afc6cfdff7e329d15b8bd65e"><div class="ttname"><a href="classfranka_1_1Model.html#a1d6ffa26afc6cfdff7e329d15b8bd65e">franka::Model::~Model</a></div><div class="ttdeci">~Model() noexcept</div><div class="ttdoc">Unloads the model library.</div></div>
+<div class="ttc" id="aclassfranka_1_1Model_html_a593c39dae76a6801cdd2402c2a783157"><div class="ttname"><a href="classfranka_1_1Model.html#a593c39dae76a6801cdd2402c2a783157">franka::Model::pose</a></div><div class="ttdeci">std::array&lt; double, 16 &gt; pose(Frame frame, const franka::RobotState &amp;robot_state) const</div><div class="ttdoc">Gets the 4x4 pose matrix for the given frame in base frame.</div></div>
+<div class="ttc" id="aclassfranka_1_1Model_html_a625529a4c9aed7783c9c6e150dbba793"><div class="ttname"><a href="classfranka_1_1Model.html#a625529a4c9aed7783c9c6e150dbba793">franka::Model::operator=</a></div><div class="ttdeci">Model &amp; operator=(Model &amp;&amp;model) noexcept</div><div class="ttdoc">Move-assigns this Model from another Model instance.</div></div>
+<div class="ttc" id="aclassfranka_1_1Model_html_a6fb6347b571a6759bad10b3a9e28a28f"><div class="ttname"><a href="classfranka_1_1Model.html#a6fb6347b571a6759bad10b3a9e28a28f">franka::Model::zeroJacobian</a></div><div class="ttdeci">std::array&lt; double, 42 &gt; zeroJacobian(Frame frame, const franka::RobotState &amp;robot_state) const</div><div class="ttdoc">Gets the 6x7 Jacobian for the given joint relative to the base frame.</div></div>
+<div class="ttc" id="aclassfranka_1_1Model_html_a751d939935eb51f06dcfd18c6c756ceb"><div class="ttname"><a href="classfranka_1_1Model.html#a751d939935eb51f06dcfd18c6c756ceb">franka::Model::Model</a></div><div class="ttdeci">Model(franka::Network &amp;network)</div><div class="ttdoc">Creates a new Model instance.</div></div>
+<div class="ttc" id="aclassfranka_1_1Model_html_a76a94e1ddb45cf1cdded25be4cf2dcae"><div class="ttname"><a href="classfranka_1_1Model.html#a76a94e1ddb45cf1cdded25be4cf2dcae">franka::Model::gravity</a></div><div class="ttdeci">std::array&lt; double, 7 &gt; gravity(const franka::RobotState &amp;robot_state, const std::array&lt; double, 3 &gt; &amp;gravity_earth) const noexcept</div><div class="ttdoc">Calculates the gravity vector.</div></div>
+<div class="ttc" id="aclassfranka_1_1Model_html_a8b58ff37f62512aecdcd0e6aabfd9548"><div class="ttname"><a href="classfranka_1_1Model.html#a8b58ff37f62512aecdcd0e6aabfd9548">franka::Model::Model</a></div><div class="ttdeci">Model(Model &amp;&amp;model) noexcept</div><div class="ttdoc">Move-constructs a new Model instance.</div></div>
+<div class="ttc" id="aclassfranka_1_1Model_html_a91424f181a93bb47bda6af2d3567c65c"><div class="ttname"><a href="classfranka_1_1Model.html#a91424f181a93bb47bda6af2d3567c65c">franka::Model::coriolis</a></div><div class="ttdeci">std::array&lt; double, 7 &gt; coriolis(const franka::RobotState &amp;robot_state) const noexcept</div><div class="ttdoc">Calculates the Coriolis force vector (state-space equation): , in .</div></div>
+<div class="ttc" id="aclassfranka_1_1Model_html_a914a197a900a275799cf8d7461bb9d8a"><div class="ttname"><a href="classfranka_1_1Model.html#a914a197a900a275799cf8d7461bb9d8a">franka::Model::bodyJacobian</a></div><div class="ttdeci">std::array&lt; double, 42 &gt; bodyJacobian(Frame frame, const franka::RobotState &amp;robot_state) const</div><div class="ttdoc">Gets the 6x7 Jacobian for the given frame, relative to that frame.</div></div>
+<div class="ttc" id="aclassfranka_1_1Model_html_a983611785e894e1cd1f07a2df97ddbdd"><div class="ttname"><a href="classfranka_1_1Model.html#a983611785e894e1cd1f07a2df97ddbdd">franka::Model::gravity</a></div><div class="ttdeci">std::array&lt; double, 7 &gt; gravity(const franka::RobotState &amp;robot_state) const noexcept</div><div class="ttdoc">Calculates the gravity vector using the robot state.</div></div>
+<div class="ttc" id="aclassfranka_1_1Model_html_a9b28a648cf413297d80f383e62363ab9"><div class="ttname"><a href="classfranka_1_1Model.html#a9b28a648cf413297d80f383e62363ab9">franka::Model::gravity</a></div><div class="ttdeci">std::array&lt; double, 7 &gt; gravity(const std::array&lt; double, 7 &gt; &amp;q, double m_total, const std::array&lt; double, 3 &gt; &amp;F_x_Ctotal, const std::array&lt; double, 3 &gt; &amp;gravity_earth={{0., 0., -9.81}}) const noexcept</div><div class="ttdoc">Calculates the gravity vector.</div></div>
+<div class="ttc" id="aclassfranka_1_1Model_html_ad5f6156064bc18e42fc0b6d2f36b2006"><div class="ttname"><a href="classfranka_1_1Model.html#ad5f6156064bc18e42fc0b6d2f36b2006">franka::Model::mass</a></div><div class="ttdeci">std::array&lt; double, 49 &gt; mass(const franka::RobotState &amp;robot_state) const noexcept</div><div class="ttdoc">Calculates the 7x7 mass matrix.</div></div>
+<div class="ttc" id="amodel_8h_html_a00b729ddce916481d3f0d10febec4f5b"><div class="ttname"><a href="model_8h.html#a00b729ddce916481d3f0d10febec4f5b">franka::Frame</a></div><div class="ttdeci">Frame</div><div class="ttdoc">Enumerates the seven joints, the flange, and the end effector of a robot.</div><div class="ttdef"><b>Definition:</b> model.h:21</div></div>
+<div class="ttc" id="amodel_8h_html_ae39c3a098fdb1bc9a097a262312454d0"><div class="ttname"><a href="model_8h.html#ae39c3a098fdb1bc9a097a262312454d0">franka::operator++</a></div><div class="ttdeci">Frame operator++(Frame &amp;frame, int) noexcept</div><div class="ttdoc">Post-increments the given Frame by one.</div></div>
+<div class="ttc" id="arobot_8h_html"><div class="ttname"><a href="robot_8h.html">robot.h</a></div><div class="ttdoc">Contains the franka::Robot type.</div></div>
+<div class="ttc" id="arobot__state_8h_html"><div class="ttname"><a href="robot__state_8h.html">robot_state.h</a></div><div class="ttdoc">Contains the franka::RobotState types.</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html"><div class="ttname"><a href="structfranka_1_1RobotState.html">franka::RobotState</a></div><div class="ttdoc">Describes the robot state.</div><div class="ttdef"><b>Definition:</b> robot_state.h:34</div></div>
+</div><!-- fragment --></div><!-- contents -->
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+<title>libfranka: motion_with_control.cpp</title>
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+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
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+<div class="header">
+  <div class="headertitle">
+<div class="title">motion_with_control.cpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<p>An example showing how to use a joint velocity motion generator and torque control.Additionally, this example shows how to capture and write logs in case an exception is thrown during a motion.</p>
+<dl class="section warning"><dt>Warning</dt><dd>Before executing this example, make sure there is enough space in front of the robot.</dd></dl>
+<div class="fragment"><div class="line"><span class="comment">// Copyright (c) 2023 Franka Robotics GmbH</span></div>
+<div class="line"><span class="comment">// Use of this source code is governed by the Apache-2.0 license, see LICENSE</span></div>
+<div class="line"><span class="preprocessor">#include &lt;cmath&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;fstream&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;iomanip&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;iostream&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;vector&gt;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="preprocessor">#include &lt;Poco/DateTimeFormatter.h&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;Poco/File.h&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;Poco/Path.h&gt;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="exception_8h.html">franka/exception.h</a>&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="robot_8h.html">franka/robot.h</a>&gt;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="preprocessor">#include &quot;<a class="code" href="examples__common_8h.html">examples_common.h</a>&quot;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="keyword">namespace </span>{</div>
+<div class="line"> </div>
+<div class="line"><span class="keyword">class </span>Controller {</div>
+<div class="line"> <span class="keyword">public</span>:</div>
+<div class="line">  Controller(<span class="keywordtype">size_t</span> dq_filter_size,</div>
+<div class="line">             <span class="keyword">const</span> std::array&lt;double, 7&gt;&amp; K_P,  <span class="comment">// NOLINT(readability-identifier-naming)</span></div>
+<div class="line">             <span class="keyword">const</span> std::array&lt;double, 7&gt;&amp; K_D)  <span class="comment">// NOLINT(readability-identifier-naming)</span></div>
+<div class="line">      : dq_current_filter_position_(0), dq_filter_size_(dq_filter_size), K_P_(K_P), K_D_(K_D) {</div>
+<div class="line">    std::fill(dq_d_.begin(), dq_d_.end(), 0);</div>
+<div class="line">    dq_buffer_ = std::make_unique&lt;double[]&gt;(dq_filter_size_ * 7);</div>
+<div class="line">    std::fill(&amp;dq_buffer_.get()[0], &amp;dq_buffer_.get()[dq_filter_size_ * 7], 0);</div>
+<div class="line">  }</div>
+<div class="line"> </div>
+<div class="line">  <span class="keyword">inline</span> <a name="_a0"></a><a class="code" href="classfranka_1_1Torques.html">franka::Torques</a> step(<span class="keyword">const</span> <a name="_a1"></a><a class="code" href="structfranka_1_1RobotState.html">franka::RobotState</a>&amp; state) {</div>
+<div class="line">    updateDQFilter(state);</div>
+<div class="line"> </div>
+<div class="line">    std::array&lt;double, 7&gt; tau_J_d;  <span class="comment">// NOLINT(readability-identifier-naming)</span></div>
+<div class="line">    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; 7; i++) {</div>
+<div class="line">      tau_J_d[i] = K_P_[i] * (state.<a name="a2"></a><a class="code" href="structfranka_1_1RobotState.html#a706045af1b176049e9e56df755325bd2">q_d</a>[i] - state.<a name="a3"></a><a class="code" href="structfranka_1_1RobotState.html#ade3335d1ac2f6c44741a916d565f7091">q</a>[i]) + K_D_[i] * (dq_d_[i] - getDQFiltered(i));</div>
+<div class="line">    }</div>
+<div class="line">    <span class="keywordflow">return</span> tau_J_d;</div>
+<div class="line">  }</div>
+<div class="line"> </div>
+<div class="line">  <span class="keywordtype">void</span> updateDQFilter(<span class="keyword">const</span> <a class="code" href="structfranka_1_1RobotState.html">franka::RobotState</a>&amp; state) {</div>
+<div class="line">    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; 7; i++) {</div>
+<div class="line">      dq_buffer_.get()[dq_current_filter_position_ * 7 + i] = state.<a name="a4"></a><a class="code" href="structfranka_1_1RobotState.html#af372a0081d72bc7b4fe873f99c7b2d8c">dq</a>[i];</div>
+<div class="line">    }</div>
+<div class="line">    dq_current_filter_position_ = (dq_current_filter_position_ + 1) % dq_filter_size_;</div>
+<div class="line">  }</div>
+<div class="line"> </div>
+<div class="line">  <span class="keywordtype">double</span> getDQFiltered(<span class="keywordtype">size_t</span> index)<span class="keyword"> const </span>{</div>
+<div class="line">    <span class="keywordtype">double</span> value = 0;</div>
+<div class="line">    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = index; i &lt; 7 * dq_filter_size_; i += 7) {</div>
+<div class="line">      value += dq_buffer_.get()[i];</div>
+<div class="line">    }</div>
+<div class="line">    <span class="keywordflow">return</span> value / dq_filter_size_;</div>
+<div class="line">  }</div>
+<div class="line"> </div>
+<div class="line"> <span class="keyword">private</span>:</div>
+<div class="line">  <span class="keywordtype">size_t</span> dq_current_filter_position_;</div>
+<div class="line">  <span class="keywordtype">size_t</span> dq_filter_size_;</div>
+<div class="line"> </div>
+<div class="line">  <span class="keyword">const</span> std::array&lt;double, 7&gt; K_P_;  <span class="comment">// NOLINT(readability-identifier-naming)</span></div>
+<div class="line">  <span class="keyword">const</span> std::array&lt;double, 7&gt; K_D_;  <span class="comment">// NOLINT(readability-identifier-naming)</span></div>
+<div class="line"> </div>
+<div class="line">  std::array&lt;double, 7&gt; dq_d_;</div>
+<div class="line">  std::unique_ptr&lt;double[]&gt; dq_buffer_;</div>
+<div class="line">};</div>
+<div class="line"> </div>
+<div class="line">std::vector&lt;double&gt; generateTrajectory(<span class="keywordtype">double</span> a_max) {</div>
+<div class="line">  <span class="comment">// Generating a motion with smooth velocity and acceleration.</span></div>
+<div class="line">  <span class="comment">// Squared sine is used for the acceleration/deceleration phase.</span></div>
+<div class="line">  std::vector&lt;double&gt; trajectory;</div>
+<div class="line">  constexpr <span class="keywordtype">double</span> kTimeStep = 0.001;          <span class="comment">// [s]</span></div>
+<div class="line">  constexpr <span class="keywordtype">double</span> kAccelerationTime = 1;      <span class="comment">// time spend accelerating and decelerating [s]</span></div>
+<div class="line">  constexpr <span class="keywordtype">double</span> kConstantVelocityTime = 1;  <span class="comment">// time spend with constant speed [s]</span></div>
+<div class="line">  <span class="comment">// obtained during the speed up</span></div>
+<div class="line">  <span class="comment">// and slow down [rad/s^2]</span></div>
+<div class="line">  <span class="keywordtype">double</span> a = 0;  <span class="comment">// [rad/s^2]</span></div>
+<div class="line">  <span class="keywordtype">double</span> v = 0;  <span class="comment">// [rad/s]</span></div>
+<div class="line">  <span class="keywordtype">double</span> t = 0;  <span class="comment">// [s]</span></div>
+<div class="line">  <span class="keywordflow">while</span> (t &lt; (2 * kAccelerationTime + kConstantVelocityTime)) {</div>
+<div class="line">    <span class="keywordflow">if</span> (t &lt;= kAccelerationTime) {</div>
+<div class="line">      a = pow(sin(t * M_PI / kAccelerationTime), 2) * a_max;</div>
+<div class="line">    } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (t &lt;= (kAccelerationTime + kConstantVelocityTime)) {</div>
+<div class="line">      a = 0;</div>
+<div class="line">    } <span class="keywordflow">else</span> {</div>
+<div class="line">      <span class="keyword">const</span> <span class="keywordtype">double</span> deceleration_time =</div>
+<div class="line">          (kAccelerationTime + kConstantVelocityTime) - t;  <span class="comment">// time spent in the deceleration phase</span></div>
+<div class="line">      a = -pow(sin(deceleration_time * M_PI / kAccelerationTime), 2) * a_max;</div>
+<div class="line">    }</div>
+<div class="line">    v += a * kTimeStep;</div>
+<div class="line">    t += kTimeStep;</div>
+<div class="line">    trajectory.push_back(v);</div>
+<div class="line">  }</div>
+<div class="line">  <span class="keywordflow">return</span> trajectory;</div>
+<div class="line">}</div>
+<div class="line"> </div>
+<div class="line">}  <span class="comment">// anonymous namespace</span></div>
+<div class="line"> </div>
+<div class="line"><span class="keywordtype">void</span> writeLogToFile(<span class="keyword">const</span> std::vector&lt;franka::Record&gt;&amp; log);</div>
+<div class="line"> </div>
+<div class="line"><span class="keywordtype">int</span> main(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span>** argv) {</div>
+<div class="line">  <span class="keywordflow">if</span> (argc != 2) {</div>
+<div class="line">    std::cerr &lt;&lt; <span class="stringliteral">&quot;Usage: &quot;</span> &lt;&lt; argv[0] &lt;&lt; <span class="stringliteral">&quot; &lt;robot-hostname&gt;&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">    <span class="keywordflow">return</span> -1;</div>
+<div class="line">  }</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">// Parameters</span></div>
+<div class="line">  <span class="keyword">const</span> <span class="keywordtype">size_t</span> joint_number{3};</div>
+<div class="line">  <span class="keyword">const</span> <span class="keywordtype">size_t</span> filter_size{5};</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">// NOLINTNEXTLINE(readability-identifier-naming)</span></div>
+<div class="line">  <span class="keyword">const</span> std::array&lt;double, 7&gt; K_P{{200.0, 200.0, 200.0, 200.0, 200.0, 200.0, 200.0}};</div>
+<div class="line">  <span class="comment">// NOLINTNEXTLINE(readability-identifier-naming)</span></div>
+<div class="line">  <span class="keyword">const</span> std::array&lt;double, 7&gt; K_D{{10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0}};</div>
+<div class="line">  <span class="keyword">const</span> <span class="keywordtype">double</span> max_acceleration{1.0};</div>
+<div class="line"> </div>
+<div class="line">  Controller controller(filter_size, K_P, K_D);</div>
+<div class="line"> </div>
+<div class="line">  <span class="keywordflow">try</span> {</div>
+<div class="line">    <a name="_a5"></a><a class="code" href="classfranka_1_1Robot.html">franka::Robot</a> robot(argv[1]);</div>
+<div class="line">    <a name="a6"></a><a class="code" href="examples__common_8h.html#ad0c6e1cb044845ee8a01b5aa1e801a45">setDefaultBehavior</a>(robot);</div>
+<div class="line"> </div>
+<div class="line">    <span class="comment">// First move the robot to a suitable joint configuration</span></div>
+<div class="line">    std::array&lt;double, 7&gt; q_goal = {{0, -M_PI_4, 0, -3 * M_PI_4, 0, M_PI_2, M_PI_4}};</div>
+<div class="line">    <a name="_a7"></a><a class="code" href="classMotionGenerator.html">MotionGenerator</a> motion_generator(0.5, q_goal);</div>
+<div class="line">    std::cout &lt;&lt; <span class="stringliteral">&quot;WARNING: This example will move the robot! &quot;</span></div>
+<div class="line">              &lt;&lt; <span class="stringliteral">&quot;Please make sure to have the user stop button at hand!&quot;</span> &lt;&lt; std::endl</div>
+<div class="line">              &lt;&lt; <span class="stringliteral">&quot;Press Enter to continue...&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">    std::cin.ignore();</div>
+<div class="line">    robot.control(motion_generator);</div>
+<div class="line">    std::cout &lt;&lt; <span class="stringliteral">&quot;Finished moving to initial joint configuration.&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"> </div>
+<div class="line">    <span class="comment">// Set additional parameters always before the control loop, NEVER in the control loop!</span></div>
+<div class="line">    <span class="comment">// Set collision behavior.</span></div>
+<div class="line">    robot.setCollisionBehavior(</div>
+<div class="line">        {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}}, {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}},</div>
+<div class="line">        {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}}, {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}},</div>
+<div class="line">        {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}}, {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}},</div>
+<div class="line">        {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}}, {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}});</div>
+<div class="line"> </div>
+<div class="line">    <span class="keywordtype">size_t</span> index = 0;</div>
+<div class="line">    std::vector&lt;double&gt; trajectory = generateTrajectory(max_acceleration);</div>
+<div class="line"> </div>
+<div class="line">    robot.control(</div>
+<div class="line">        [&amp;](<span class="keyword">const</span> <a class="code" href="structfranka_1_1RobotState.html">franka::RobotState</a>&amp; robot_state, <a name="_a8"></a><a class="code" href="classfranka_1_1Duration.html">franka::Duration</a>) -&gt; <a class="code" href="classfranka_1_1Torques.html">franka::Torques</a> {</div>
+<div class="line">          <span class="keywordflow">return</span> controller.step(robot_state);</div>
+<div class="line">        },</div>
+<div class="line">        [&amp;](<span class="keyword">const</span> <a class="code" href="structfranka_1_1RobotState.html">franka::RobotState</a>&amp;, <a class="code" href="classfranka_1_1Duration.html">franka::Duration</a> period) -&gt; <a name="_a9"></a><a class="code" href="classfranka_1_1JointVelocities.html">franka::JointVelocities</a> {</div>
+<div class="line">          index += period.toMSec();</div>
+<div class="line"> </div>
+<div class="line">          <span class="keywordflow">if</span> (index &gt;= trajectory.size()) {</div>
+<div class="line">            index = trajectory.size() - 1;</div>
+<div class="line">          }</div>
+<div class="line"> </div>
+<div class="line">          <a class="code" href="classfranka_1_1JointVelocities.html">franka::JointVelocities</a> velocities{{0, 0, 0, 0, 0, 0, 0}};</div>
+<div class="line">          velocities.<a name="a10"></a><a class="code" href="classfranka_1_1JointVelocities.html#a14fddb6fe7a7c4034dc82c283de8c2d3">dq</a>[joint_number] = trajectory[index];</div>
+<div class="line"> </div>
+<div class="line">          <span class="keywordflow">if</span> (index &gt;= trajectory.size() - 1) {</div>
+<div class="line">            <span class="keywordflow">return</span> <a name="a11"></a><a class="code" href="control__types_8h.html#a20791f7142d78bbbe3c957cc66a23ade">franka::MotionFinished</a>(velocities);</div>
+<div class="line">          }</div>
+<div class="line">          <span class="keywordflow">return</span> velocities;</div>
+<div class="line">        });</div>
+<div class="line">  } <span class="keywordflow">catch</span> (<span class="keyword">const</span> <a name="_a12"></a><a class="code" href="structfranka_1_1ControlException.html">franka::ControlException</a>&amp; e) {</div>
+<div class="line">    std::cout &lt;&lt; e.what() &lt;&lt; std::endl;</div>
+<div class="line">    writeLogToFile(e.<a name="a13"></a><a class="code" href="structfranka_1_1ControlException.html#ae57f0ac0a9aa195057af1f1cc712b41e">log</a>);</div>
+<div class="line">    <span class="keywordflow">return</span> -1;</div>
+<div class="line">  } <span class="keywordflow">catch</span> (<span class="keyword">const</span> <a name="_a14"></a><a class="code" href="structfranka_1_1Exception.html">franka::Exception</a>&amp; e) {</div>
+<div class="line">    std::cout &lt;&lt; e.what() &lt;&lt; std::endl;</div>
+<div class="line">    <span class="keywordflow">return</span> -1;</div>
+<div class="line">  }</div>
+<div class="line"> </div>
+<div class="line">  <span class="keywordflow">return</span> 0;</div>
+<div class="line">}</div>
+<div class="line"> </div>
+<div class="line"><span class="keywordtype">void</span> writeLogToFile(<span class="keyword">const</span> std::vector&lt;franka::Record&gt;&amp; log) {</div>
+<div class="line">  <span class="keywordflow">if</span> (log.empty()) {</div>
+<div class="line">    <span class="keywordflow">return</span>;</div>
+<div class="line">  }</div>
+<div class="line">  <span class="keywordflow">try</span> {</div>
+<div class="line">    Poco::Path temp_dir_path(Poco::Path::temp());</div>
+<div class="line">    temp_dir_path.pushDirectory(<span class="stringliteral">&quot;libfranka-logs&quot;</span>);</div>
+<div class="line"> </div>
+<div class="line">    Poco::File temp_dir(temp_dir_path);</div>
+<div class="line">    temp_dir.createDirectories();</div>
+<div class="line"> </div>
+<div class="line">    std::string now_string =</div>
+<div class="line">        Poco::DateTimeFormatter::format(Poco::Timestamp{}, <span class="stringliteral">&quot;%Y-%m-%d-%h-%m-%S-%i&quot;</span>);</div>
+<div class="line">    std::string filename = std::string{<span class="stringliteral">&quot;log-&quot;</span> + now_string + <span class="stringliteral">&quot;.csv&quot;</span>};</div>
+<div class="line">    Poco::File log_file(Poco::Path(temp_dir_path, filename));</div>
+<div class="line">    <span class="keywordflow">if</span> (!log_file.createFile()) {</div>
+<div class="line">      std::cout &lt;&lt; <span class="stringliteral">&quot;Failed to write log file.&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">      <span class="keywordflow">return</span>;</div>
+<div class="line">    }</div>
+<div class="line">    std::ofstream log_stream(log_file.path().c_str());</div>
+<div class="line">    log_stream &lt;&lt; <a name="a15"></a><a class="code" href="log_8h.html#a01fbdb37b0e6beb04ba108d5f5024fd9">franka::logToCSV</a>(log);</div>
+<div class="line"> </div>
+<div class="line">    std::cout &lt;&lt; <span class="stringliteral">&quot;Log file written to: &quot;</span> &lt;&lt; log_file.path() &lt;&lt; std::endl;</div>
+<div class="line">  } <span class="keywordflow">catch</span> (...) {</div>
+<div class="line">    std::cout &lt;&lt; <span class="stringliteral">&quot;Failed to write log file.&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">  }</div>
+<div class="line">}</div>
+<div class="ttc" id="aclassMotionGenerator_html"><div class="ttname"><a href="classMotionGenerator.html">MotionGenerator</a></div><div class="ttdoc">An example showing how to generate a joint pose motion to a goal position.</div><div class="ttdef"><b>Definition:</b> examples_common.h:31</div></div>
+<div class="ttc" id="aclassfranka_1_1Duration_html"><div class="ttname"><a href="classfranka_1_1Duration.html">franka::Duration</a></div><div class="ttdoc">Represents a duration with millisecond resolution.</div><div class="ttdef"><b>Definition:</b> duration.h:19</div></div>
+<div class="ttc" id="aclassfranka_1_1JointVelocities_html"><div class="ttname"><a href="classfranka_1_1JointVelocities.html">franka::JointVelocities</a></div><div class="ttdoc">Stores values for joint velocity motion generation.</div><div class="ttdef"><b>Definition:</b> control_types.h:99</div></div>
+<div class="ttc" id="aclassfranka_1_1JointVelocities_html_a14fddb6fe7a7c4034dc82c283de8c2d3"><div class="ttname"><a href="classfranka_1_1JointVelocities.html#a14fddb6fe7a7c4034dc82c283de8c2d3">franka::JointVelocities::dq</a></div><div class="ttdeci">std::array&lt; double, 7 &gt; dq</div><div class="ttdoc">Desired joint velocities in .</div><div class="ttdef"><b>Definition:</b> control_types.h:121</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html"><div class="ttname"><a href="classfranka_1_1Robot.html">franka::Robot</a></div><div class="ttdoc">Maintains a network connection to the robot, provides the current robot state, gives access to the mo...</div><div class="ttdef"><b>Definition:</b> robot.h:67</div></div>
+<div class="ttc" id="aclassfranka_1_1Torques_html"><div class="ttname"><a href="classfranka_1_1Torques.html">franka::Torques</a></div><div class="ttdoc">Stores joint-level torque commands without gravity and friction.</div><div class="ttdef"><b>Definition:</b> control_types.h:45</div></div>
+<div class="ttc" id="acontrol__types_8h_html_a20791f7142d78bbbe3c957cc66a23ade"><div class="ttname"><a href="control__types_8h.html#a20791f7142d78bbbe3c957cc66a23ade">franka::MotionFinished</a></div><div class="ttdeci">Torques MotionFinished(Torques command) noexcept</div><div class="ttdoc">Helper method to indicate that a motion should stop after processing the given command.</div><div class="ttdef"><b>Definition:</b> control_types.h:294</div></div>
+<div class="ttc" id="aexamples__common_8h_html"><div class="ttname"><a href="examples__common_8h.html">examples_common.h</a></div><div class="ttdoc">Contains common types and functions for the examples.</div></div>
+<div class="ttc" id="aexamples__common_8h_html_ad0c6e1cb044845ee8a01b5aa1e801a45"><div class="ttname"><a href="examples__common_8h.html#ad0c6e1cb044845ee8a01b5aa1e801a45">setDefaultBehavior</a></div><div class="ttdeci">void setDefaultBehavior(franka::Robot &amp;robot)</div><div class="ttdoc">Sets a default collision behavior, joint impedance and Cartesian impedance.</div><div class="ttdef"><b>Definition:</b> examples_common.cpp:12</div></div>
+<div class="ttc" id="aexception_8h_html"><div class="ttname"><a href="exception_8h.html">exception.h</a></div><div class="ttdoc">Contains exception definitions.</div></div>
+<div class="ttc" id="alog_8h_html_a01fbdb37b0e6beb04ba108d5f5024fd9"><div class="ttname"><a href="log_8h.html#a01fbdb37b0e6beb04ba108d5f5024fd9">franka::logToCSV</a></div><div class="ttdeci">std::string logToCSV(const std::vector&lt; Record &gt; &amp;log)</div><div class="ttdoc">Writes the log to a string in CSV format.</div></div>
+<div class="ttc" id="arobot_8h_html"><div class="ttname"><a href="robot_8h.html">robot.h</a></div><div class="ttdoc">Contains the franka::Robot type.</div></div>
+<div class="ttc" id="astructfranka_1_1ControlException_html"><div class="ttname"><a href="structfranka_1_1ControlException.html">franka::ControlException</a></div><div class="ttdoc">ControlException is thrown if an error occurs during motion generation or torque control.</div><div class="ttdef"><b>Definition:</b> exception.h:73</div></div>
+<div class="ttc" id="astructfranka_1_1ControlException_html_ae57f0ac0a9aa195057af1f1cc712b41e"><div class="ttname"><a href="structfranka_1_1ControlException.html#ae57f0ac0a9aa195057af1f1cc712b41e">franka::ControlException::log</a></div><div class="ttdeci">const std::vector&lt; franka::Record &gt; log</div><div class="ttdoc">Vector of states and commands logged just before the exception occurred.</div><div class="ttdef"><b>Definition:</b> exception.h:85</div></div>
+<div class="ttc" id="astructfranka_1_1Exception_html"><div class="ttname"><a href="structfranka_1_1Exception.html">franka::Exception</a></div><div class="ttdoc">Base class for all exceptions used by libfranka.</div><div class="ttdef"><b>Definition:</b> exception.h:20</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html"><div class="ttname"><a href="structfranka_1_1RobotState.html">franka::RobotState</a></div><div class="ttdoc">Describes the robot state.</div><div class="ttdef"><b>Definition:</b> robot_state.h:34</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_a706045af1b176049e9e56df755325bd2"><div class="ttname"><a href="structfranka_1_1RobotState.html#a706045af1b176049e9e56df755325bd2">franka::RobotState::q_d</a></div><div class="ttdeci">std::array&lt; double, 7 &gt; q_d</div><div class="ttdoc">Desired joint position.</div><div class="ttdef"><b>Definition:</b> robot_state.h:239</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_ade3335d1ac2f6c44741a916d565f7091"><div class="ttname"><a href="structfranka_1_1RobotState.html#ade3335d1ac2f6c44741a916d565f7091">franka::RobotState::q</a></div><div class="ttdeci">std::array&lt; double, 7 &gt; q</div><div class="ttdoc">Measured joint position.</div><div class="ttdef"><b>Definition:</b> robot_state.h:233</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_af372a0081d72bc7b4fe873f99c7b2d8c"><div class="ttname"><a href="structfranka_1_1RobotState.html#af372a0081d72bc7b4fe873f99c7b2d8c">franka::RobotState::dq</a></div><div class="ttdeci">std::array&lt; double, 7 &gt; dq</div><div class="ttdoc">Measured joint velocity.</div><div class="ttdef"><b>Definition:</b> robot_state.h:245</div></div>
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diff --git a/0.13.6/motion_with_control_external_control_loop_8cpp-example.html b/0.13.6/motion_with_control_external_control_loop_8cpp-example.html
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+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
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+<div class="title">motion_with_control_external_control_loop.cpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<p>An example showing how to use a joint velocity motion generator and torque control with an external control loop.Additionally, this example shows how to capture and write logs in case an exception is thrown during a motion.</p>
+<dl class="section warning"><dt>Warning</dt><dd>Before executing this example, make sure there is enough space in front of the robot.</dd></dl>
+<div class="fragment"><div class="line"><span class="comment">// Copyright (c) 2023 Franka Robotics GmbH</span></div>
+<div class="line"><span class="comment">// Use of this source code is governed by the Apache-2.0 license, see LICENSE</span></div>
+<div class="line"><span class="preprocessor">#include &lt;cmath&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;fstream&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;iomanip&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;iostream&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;vector&gt;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="preprocessor">#include &lt;Poco/DateTimeFormatter.h&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;Poco/File.h&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;Poco/Path.h&gt;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="active__control_8h.html">franka/active_control.h</a>&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="active__motion__generator_8h.html">franka/active_motion_generator.h</a>&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="exception_8h.html">franka/exception.h</a>&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="robot_8h.html">franka/robot.h</a>&gt;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="preprocessor">#include &quot;<a class="code" href="examples__common_8h.html">examples_common.h</a>&quot;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="keyword">namespace </span>{</div>
+<div class="line"> </div>
+<div class="line"><span class="keyword">class </span>Controller {</div>
+<div class="line"> <span class="keyword">public</span>:</div>
+<div class="line">  Controller(<span class="keywordtype">size_t</span> dq_filter_size,</div>
+<div class="line">             <span class="keyword">const</span> std::array&lt;double, 7&gt;&amp; K_P,  <span class="comment">// NOLINT(readability-identifier-naming)</span></div>
+<div class="line">             <span class="keyword">const</span> std::array&lt;double, 7&gt;&amp; K_D)  <span class="comment">// NOLINT(readability-identifier-naming)</span></div>
+<div class="line">      : dq_current_filter_position_(0), dq_filter_size_(dq_filter_size), K_P_(K_P), K_D_(K_D) {</div>
+<div class="line">    std::fill(dq_d_.begin(), dq_d_.end(), 0);</div>
+<div class="line">    dq_buffer_ = std::make_unique&lt;double[]&gt;(dq_filter_size_ * 7);</div>
+<div class="line">    std::fill(&amp;dq_buffer_.get()[0], &amp;dq_buffer_.get()[dq_filter_size_ * 7], 0);</div>
+<div class="line">  }</div>
+<div class="line"> </div>
+<div class="line">  <span class="keyword">inline</span> <a name="_a0"></a><a class="code" href="classfranka_1_1Torques.html">franka::Torques</a> step(<span class="keyword">const</span> <a name="_a1"></a><a class="code" href="structfranka_1_1RobotState.html">franka::RobotState</a>&amp; state) {</div>
+<div class="line">    updateDQFilter(state);</div>
+<div class="line"> </div>
+<div class="line">    std::array&lt;double, 7&gt; tau_J_d;  <span class="comment">// NOLINT(readability-identifier-naming)</span></div>
+<div class="line">    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; 7; i++) {</div>
+<div class="line">      tau_J_d[i] = K_P_[i] * (state.<a name="a2"></a><a class="code" href="structfranka_1_1RobotState.html#a706045af1b176049e9e56df755325bd2">q_d</a>[i] - state.<a name="a3"></a><a class="code" href="structfranka_1_1RobotState.html#ade3335d1ac2f6c44741a916d565f7091">q</a>[i]) + K_D_[i] * (dq_d_[i] - getDQFiltered(i));</div>
+<div class="line">    }</div>
+<div class="line">    <span class="keywordflow">return</span> tau_J_d;</div>
+<div class="line">  }</div>
+<div class="line"> </div>
+<div class="line">  <span class="keywordtype">void</span> updateDQFilter(<span class="keyword">const</span> <a class="code" href="structfranka_1_1RobotState.html">franka::RobotState</a>&amp; state) {</div>
+<div class="line">    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; 7; i++) {</div>
+<div class="line">      dq_buffer_.get()[dq_current_filter_position_ * 7 + i] = state.<a name="a4"></a><a class="code" href="structfranka_1_1RobotState.html#af372a0081d72bc7b4fe873f99c7b2d8c">dq</a>[i];</div>
+<div class="line">    }</div>
+<div class="line">    dq_current_filter_position_ = (dq_current_filter_position_ + 1) % dq_filter_size_;</div>
+<div class="line">  }</div>
+<div class="line"> </div>
+<div class="line">  <span class="keywordtype">double</span> getDQFiltered(<span class="keywordtype">size_t</span> index)<span class="keyword"> const </span>{</div>
+<div class="line">    <span class="keywordtype">double</span> value = 0;</div>
+<div class="line">    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = index; i &lt; 7 * dq_filter_size_; i += 7) {</div>
+<div class="line">      value += dq_buffer_.get()[i];</div>
+<div class="line">    }</div>
+<div class="line">    <span class="keywordflow">return</span> value / dq_filter_size_;</div>
+<div class="line">  }</div>
+<div class="line"> </div>
+<div class="line"> <span class="keyword">private</span>:</div>
+<div class="line">  <span class="keywordtype">size_t</span> dq_current_filter_position_;</div>
+<div class="line">  <span class="keywordtype">size_t</span> dq_filter_size_;</div>
+<div class="line"> </div>
+<div class="line">  <span class="keyword">const</span> std::array&lt;double, 7&gt; K_P_;  <span class="comment">// NOLINT(readability-identifier-naming)</span></div>
+<div class="line">  <span class="keyword">const</span> std::array&lt;double, 7&gt; K_D_;  <span class="comment">// NOLINT(readability-identifier-naming)</span></div>
+<div class="line"> </div>
+<div class="line">  std::array&lt;double, 7&gt; dq_d_;</div>
+<div class="line">  std::unique_ptr&lt;double[]&gt; dq_buffer_;</div>
+<div class="line">};</div>
+<div class="line"> </div>
+<div class="line">std::vector&lt;double&gt; generateTrajectory(<span class="keywordtype">double</span> a_max) {</div>
+<div class="line">  <span class="comment">// Generating a motion with smooth velocity and acceleration.</span></div>
+<div class="line">  <span class="comment">// Squared sine is used for the acceleration/deceleration phase.</span></div>
+<div class="line">  std::vector&lt;double&gt; trajectory;</div>
+<div class="line">  constexpr <span class="keywordtype">double</span> kTimeStep = 0.001;          <span class="comment">// [s]</span></div>
+<div class="line">  constexpr <span class="keywordtype">double</span> kAccelerationTime = 1;      <span class="comment">// time spend accelerating and decelerating [s]</span></div>
+<div class="line">  constexpr <span class="keywordtype">double</span> kConstantVelocityTime = 1;  <span class="comment">// time spend with constant speed [s]</span></div>
+<div class="line">  <span class="comment">// obtained during the speed up</span></div>
+<div class="line">  <span class="comment">// and slow down [rad/s^2]</span></div>
+<div class="line">  <span class="keywordtype">double</span> a = 0;  <span class="comment">// [rad/s^2]</span></div>
+<div class="line">  <span class="keywordtype">double</span> v = 0;  <span class="comment">// [rad/s]</span></div>
+<div class="line">  <span class="keywordtype">double</span> t = 0;  <span class="comment">// [s]</span></div>
+<div class="line">  <span class="keywordflow">while</span> (t &lt; (2 * kAccelerationTime + kConstantVelocityTime)) {</div>
+<div class="line">    <span class="keywordflow">if</span> (t &lt;= kAccelerationTime) {</div>
+<div class="line">      a = pow(sin(t * M_PI / kAccelerationTime), 2) * a_max;</div>
+<div class="line">    } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (t &lt;= (kAccelerationTime + kConstantVelocityTime)) {</div>
+<div class="line">      a = 0;</div>
+<div class="line">    } <span class="keywordflow">else</span> {</div>
+<div class="line">      <span class="keyword">const</span> <span class="keywordtype">double</span> deceleration_time =</div>
+<div class="line">          (kAccelerationTime + kConstantVelocityTime) - t;  <span class="comment">// time spent in the deceleration phase</span></div>
+<div class="line">      a = -pow(sin(deceleration_time * M_PI / kAccelerationTime), 2) * a_max;</div>
+<div class="line">    }</div>
+<div class="line">    v += a * kTimeStep;</div>
+<div class="line">    t += kTimeStep;</div>
+<div class="line">    trajectory.push_back(v);</div>
+<div class="line">  }</div>
+<div class="line">  <span class="keywordflow">return</span> trajectory;</div>
+<div class="line">}</div>
+<div class="line"> </div>
+<div class="line">}  <span class="comment">// anonymous namespace</span></div>
+<div class="line"> </div>
+<div class="line"><span class="keywordtype">void</span> writeLogToFile(<span class="keyword">const</span> std::vector&lt;franka::Record&gt;&amp; log);</div>
+<div class="line"> </div>
+<div class="line"><span class="keywordtype">int</span> main(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span>** argv) {</div>
+<div class="line">  <span class="comment">// Check whether the required arguments were passed</span></div>
+<div class="line">  <span class="keywordflow">if</span> (argc != 2) {</div>
+<div class="line">    std::cerr &lt;&lt; <span class="stringliteral">&quot;Usage: &quot;</span> &lt;&lt; argv[0] &lt;&lt; <span class="stringliteral">&quot; &lt;robot-hostname&gt;&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">    <span class="keywordflow">return</span> -1;</div>
+<div class="line">  }</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">// Parameters</span></div>
+<div class="line">  <span class="keyword">const</span> <span class="keywordtype">size_t</span> joint_number{3};</div>
+<div class="line">  <span class="keyword">const</span> <span class="keywordtype">size_t</span> filter_size{5};</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">// NOLINTNEXTLINE(readability-identifier-naming)</span></div>
+<div class="line">  <span class="keyword">const</span> std::array&lt;double, 7&gt; K_P{{200.0, 200.0, 200.0, 200.0, 200.0, 200.0, 200.0}};</div>
+<div class="line">  <span class="comment">// NOLINTNEXTLINE(readability-identifier-naming)</span></div>
+<div class="line">  <span class="keyword">const</span> std::array&lt;double, 7&gt; K_D{{10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0}};</div>
+<div class="line">  <span class="keyword">const</span> <span class="keywordtype">double</span> max_acceleration{1.0};</div>
+<div class="line"> </div>
+<div class="line">  Controller controller(filter_size, K_P, K_D);</div>
+<div class="line"> </div>
+<div class="line">  <span class="keywordflow">try</span> {</div>
+<div class="line">    <a name="_a5"></a><a class="code" href="classfranka_1_1Robot.html">franka::Robot</a> robot(argv[1]);</div>
+<div class="line">    <a name="a6"></a><a class="code" href="examples__common_8h.html#ad0c6e1cb044845ee8a01b5aa1e801a45">setDefaultBehavior</a>(robot);</div>
+<div class="line"> </div>
+<div class="line">    <span class="comment">// First move the robot to a suitable joint configuration</span></div>
+<div class="line">    std::array&lt;double, 7&gt; q_goal = {{0, -M_PI_4, 0, -3 * M_PI_4, 0, M_PI_2, M_PI_4}};</div>
+<div class="line">    <a name="_a7"></a><a class="code" href="classMotionGenerator.html">MotionGenerator</a> motion_generator(0.5, q_goal);</div>
+<div class="line">    std::cout &lt;&lt; <span class="stringliteral">&quot;WARNING: This example will move the robot! &quot;</span></div>
+<div class="line">              &lt;&lt; <span class="stringliteral">&quot;Please make sure to have the user stop button at hand!&quot;</span> &lt;&lt; std::endl</div>
+<div class="line">              &lt;&lt; <span class="stringliteral">&quot;Press Enter to continue...&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">    std::cin.ignore();</div>
+<div class="line">    robot.control(motion_generator);</div>
+<div class="line">    std::cout &lt;&lt; <span class="stringliteral">&quot;Finished moving to initial joint configuration.&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"> </div>
+<div class="line">    <span class="comment">// Set additional parameters always before the control loop, NEVER in the control loop!</span></div>
+<div class="line">    <span class="comment">// Set collision behavior.</span></div>
+<div class="line">    robot.setCollisionBehavior(</div>
+<div class="line">        {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}}, {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}},</div>
+<div class="line">        {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}}, {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}},</div>
+<div class="line">        {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}}, {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}},</div>
+<div class="line">        {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}}, {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}});</div>
+<div class="line"> </div>
+<div class="line">    <span class="keywordtype">size_t</span> index = 0;</div>
+<div class="line">    std::vector&lt;double&gt; trajectory = generateTrajectory(max_acceleration);</div>
+<div class="line"> </div>
+<div class="line">    <span class="keyword">auto</span> callback_control = [&amp;](<span class="keyword">const</span> <a class="code" href="structfranka_1_1RobotState.html">franka::RobotState</a>&amp; robot_state,</div>
+<div class="line">                                <a name="_a8"></a><a class="code" href="classfranka_1_1Duration.html">franka::Duration</a>) -&gt; <a class="code" href="classfranka_1_1Torques.html">franka::Torques</a> {</div>
+<div class="line">      <span class="keywordflow">return</span> controller.step(robot_state);</div>
+<div class="line">    };</div>
+<div class="line"> </div>
+<div class="line">    <span class="keyword">auto</span> callback_motion_generator = [&amp;](<span class="keyword">const</span> <a class="code" href="structfranka_1_1RobotState.html">franka::RobotState</a>&amp;,</div>
+<div class="line">                                         <a class="code" href="classfranka_1_1Duration.html">franka::Duration</a> period) -&gt; <a name="_a9"></a><a class="code" href="classfranka_1_1JointVelocities.html">franka::JointVelocities</a> {</div>
+<div class="line">      index += period.toMSec();</div>
+<div class="line"> </div>
+<div class="line">      <span class="keywordflow">if</span> (index &gt;= trajectory.size()) {</div>
+<div class="line">        index = trajectory.size() - 1;</div>
+<div class="line">      }</div>
+<div class="line"> </div>
+<div class="line">      <a class="code" href="classfranka_1_1JointVelocities.html">franka::JointVelocities</a> velocities{{0, 0, 0, 0, 0, 0, 0}};</div>
+<div class="line">      velocities.<a name="a10"></a><a class="code" href="classfranka_1_1JointVelocities.html#a14fddb6fe7a7c4034dc82c283de8c2d3">dq</a>[joint_number] = trajectory[index];</div>
+<div class="line"> </div>
+<div class="line">      <span class="keywordflow">if</span> (index &gt;= trajectory.size() - 1) {</div>
+<div class="line">        <span class="keywordflow">return</span> <a name="a11"></a><a class="code" href="control__types_8h.html#a20791f7142d78bbbe3c957cc66a23ade">franka::MotionFinished</a>(velocities);</div>
+<div class="line">      }</div>
+<div class="line">      <span class="keywordflow">return</span> velocities;</div>
+<div class="line">    };</div>
+<div class="line"> </div>
+<div class="line">    <span class="keywordtype">bool</span> motion_finished = <span class="keyword">false</span>;</div>
+<div class="line">    <span class="keyword">auto</span> active_control = robot.startJointVelocityControl(</div>
+<div class="line">        research_interface::robot::Move::ControllerMode::kExternalController);</div>
+<div class="line">    <span class="keywordflow">while</span> (!motion_finished) {</div>
+<div class="line">      <span class="keyword">auto</span> read_once_return = active_control-&gt;readOnce();</div>
+<div class="line">      <span class="keyword">auto</span> robot_state = read_once_return.first;</div>
+<div class="line">      <span class="keyword">auto</span> duration = read_once_return.second;</div>
+<div class="line">      <span class="keyword">auto</span> cartesian_velocities = callback_motion_generator(robot_state, duration);</div>
+<div class="line">      <span class="keyword">auto</span> torques = callback_control(robot_state, duration);</div>
+<div class="line">      motion_finished = cartesian_velocities.motion_finished;</div>
+<div class="line">      active_control-&gt;writeOnce(cartesian_velocities, torques);</div>
+<div class="line">    }</div>
+<div class="line"> </div>
+<div class="line">  } <span class="keywordflow">catch</span> (<span class="keyword">const</span> <a name="_a12"></a><a class="code" href="structfranka_1_1ControlException.html">franka::ControlException</a>&amp; e) {</div>
+<div class="line">    std::cout &lt;&lt; e.what() &lt;&lt; std::endl;</div>
+<div class="line">    writeLogToFile(e.<a name="a13"></a><a class="code" href="structfranka_1_1ControlException.html#ae57f0ac0a9aa195057af1f1cc712b41e">log</a>);</div>
+<div class="line">    <span class="keywordflow">return</span> -1;</div>
+<div class="line">  } <span class="keywordflow">catch</span> (<span class="keyword">const</span> <a name="_a14"></a><a class="code" href="structfranka_1_1Exception.html">franka::Exception</a>&amp; e) {</div>
+<div class="line">    std::cout &lt;&lt; e.what() &lt;&lt; std::endl;</div>
+<div class="line">    <span class="keywordflow">return</span> -1;</div>
+<div class="line">  }</div>
+<div class="line"> </div>
+<div class="line">  <span class="keywordflow">return</span> 0;</div>
+<div class="line">}</div>
+<div class="line"> </div>
+<div class="line"><span class="keywordtype">void</span> writeLogToFile(<span class="keyword">const</span> std::vector&lt;franka::Record&gt;&amp; log) {</div>
+<div class="line">  <span class="keywordflow">if</span> (log.empty()) {</div>
+<div class="line">    <span class="keywordflow">return</span>;</div>
+<div class="line">  }</div>
+<div class="line">  <span class="keywordflow">try</span> {</div>
+<div class="line">    Poco::Path temp_dir_path(Poco::Path::temp());</div>
+<div class="line">    temp_dir_path.pushDirectory(<span class="stringliteral">&quot;libfranka-logs&quot;</span>);</div>
+<div class="line"> </div>
+<div class="line">    Poco::File temp_dir(temp_dir_path);</div>
+<div class="line">    temp_dir.createDirectories();</div>
+<div class="line"> </div>
+<div class="line">    std::string now_string =</div>
+<div class="line">        Poco::DateTimeFormatter::format(Poco::Timestamp{}, <span class="stringliteral">&quot;%Y-%m-%d-%h-%m-%S-%i&quot;</span>);</div>
+<div class="line">    std::string filename = std::string{<span class="stringliteral">&quot;log-&quot;</span> + now_string + <span class="stringliteral">&quot;.csv&quot;</span>};</div>
+<div class="line">    Poco::File log_file(Poco::Path(temp_dir_path, filename));</div>
+<div class="line">    <span class="keywordflow">if</span> (!log_file.createFile()) {</div>
+<div class="line">      std::cout &lt;&lt; <span class="stringliteral">&quot;Failed to write log file.&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">      <span class="keywordflow">return</span>;</div>
+<div class="line">    }</div>
+<div class="line">    std::ofstream log_stream(log_file.path().c_str());</div>
+<div class="line">    log_stream &lt;&lt; <a name="a15"></a><a class="code" href="log_8h.html#a01fbdb37b0e6beb04ba108d5f5024fd9">franka::logToCSV</a>(log);</div>
+<div class="line"> </div>
+<div class="line">    std::cout &lt;&lt; <span class="stringliteral">&quot;Log file written to: &quot;</span> &lt;&lt; log_file.path() &lt;&lt; std::endl;</div>
+<div class="line">  } <span class="keywordflow">catch</span> (...) {</div>
+<div class="line">    std::cout &lt;&lt; <span class="stringliteral">&quot;Failed to write log file.&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">  }</div>
+<div class="line">}</div>
+<div class="ttc" id="aactive__control_8h_html"><div class="ttname"><a href="active__control_8h.html">active_control.h</a></div><div class="ttdoc">Implements the ActiveControlBase abstract class.</div></div>
+<div class="ttc" id="aactive__motion__generator_8h_html"><div class="ttname"><a href="active__motion__generator_8h.html">active_motion_generator.h</a></div><div class="ttdoc">Contains the franka::ActiveMotionGenerator type.</div></div>
+<div class="ttc" id="aclassMotionGenerator_html"><div class="ttname"><a href="classMotionGenerator.html">MotionGenerator</a></div><div class="ttdoc">An example showing how to generate a joint pose motion to a goal position.</div><div class="ttdef"><b>Definition:</b> examples_common.h:31</div></div>
+<div class="ttc" id="aclassfranka_1_1Duration_html"><div class="ttname"><a href="classfranka_1_1Duration.html">franka::Duration</a></div><div class="ttdoc">Represents a duration with millisecond resolution.</div><div class="ttdef"><b>Definition:</b> duration.h:19</div></div>
+<div class="ttc" id="aclassfranka_1_1JointVelocities_html"><div class="ttname"><a href="classfranka_1_1JointVelocities.html">franka::JointVelocities</a></div><div class="ttdoc">Stores values for joint velocity motion generation.</div><div class="ttdef"><b>Definition:</b> control_types.h:99</div></div>
+<div class="ttc" id="aclassfranka_1_1JointVelocities_html_a14fddb6fe7a7c4034dc82c283de8c2d3"><div class="ttname"><a href="classfranka_1_1JointVelocities.html#a14fddb6fe7a7c4034dc82c283de8c2d3">franka::JointVelocities::dq</a></div><div class="ttdeci">std::array&lt; double, 7 &gt; dq</div><div class="ttdoc">Desired joint velocities in .</div><div class="ttdef"><b>Definition:</b> control_types.h:121</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html"><div class="ttname"><a href="classfranka_1_1Robot.html">franka::Robot</a></div><div class="ttdoc">Maintains a network connection to the robot, provides the current robot state, gives access to the mo...</div><div class="ttdef"><b>Definition:</b> robot.h:67</div></div>
+<div class="ttc" id="aclassfranka_1_1Torques_html"><div class="ttname"><a href="classfranka_1_1Torques.html">franka::Torques</a></div><div class="ttdoc">Stores joint-level torque commands without gravity and friction.</div><div class="ttdef"><b>Definition:</b> control_types.h:45</div></div>
+<div class="ttc" id="acontrol__types_8h_html_a20791f7142d78bbbe3c957cc66a23ade"><div class="ttname"><a href="control__types_8h.html#a20791f7142d78bbbe3c957cc66a23ade">franka::MotionFinished</a></div><div class="ttdeci">Torques MotionFinished(Torques command) noexcept</div><div class="ttdoc">Helper method to indicate that a motion should stop after processing the given command.</div><div class="ttdef"><b>Definition:</b> control_types.h:294</div></div>
+<div class="ttc" id="aexamples__common_8h_html"><div class="ttname"><a href="examples__common_8h.html">examples_common.h</a></div><div class="ttdoc">Contains common types and functions for the examples.</div></div>
+<div class="ttc" id="aexamples__common_8h_html_ad0c6e1cb044845ee8a01b5aa1e801a45"><div class="ttname"><a href="examples__common_8h.html#ad0c6e1cb044845ee8a01b5aa1e801a45">setDefaultBehavior</a></div><div class="ttdeci">void setDefaultBehavior(franka::Robot &amp;robot)</div><div class="ttdoc">Sets a default collision behavior, joint impedance and Cartesian impedance.</div><div class="ttdef"><b>Definition:</b> examples_common.cpp:12</div></div>
+<div class="ttc" id="aexception_8h_html"><div class="ttname"><a href="exception_8h.html">exception.h</a></div><div class="ttdoc">Contains exception definitions.</div></div>
+<div class="ttc" id="alog_8h_html_a01fbdb37b0e6beb04ba108d5f5024fd9"><div class="ttname"><a href="log_8h.html#a01fbdb37b0e6beb04ba108d5f5024fd9">franka::logToCSV</a></div><div class="ttdeci">std::string logToCSV(const std::vector&lt; Record &gt; &amp;log)</div><div class="ttdoc">Writes the log to a string in CSV format.</div></div>
+<div class="ttc" id="arobot_8h_html"><div class="ttname"><a href="robot_8h.html">robot.h</a></div><div class="ttdoc">Contains the franka::Robot type.</div></div>
+<div class="ttc" id="astructfranka_1_1ControlException_html"><div class="ttname"><a href="structfranka_1_1ControlException.html">franka::ControlException</a></div><div class="ttdoc">ControlException is thrown if an error occurs during motion generation or torque control.</div><div class="ttdef"><b>Definition:</b> exception.h:73</div></div>
+<div class="ttc" id="astructfranka_1_1ControlException_html_ae57f0ac0a9aa195057af1f1cc712b41e"><div class="ttname"><a href="structfranka_1_1ControlException.html#ae57f0ac0a9aa195057af1f1cc712b41e">franka::ControlException::log</a></div><div class="ttdeci">const std::vector&lt; franka::Record &gt; log</div><div class="ttdoc">Vector of states and commands logged just before the exception occurred.</div><div class="ttdef"><b>Definition:</b> exception.h:85</div></div>
+<div class="ttc" id="astructfranka_1_1Exception_html"><div class="ttname"><a href="structfranka_1_1Exception.html">franka::Exception</a></div><div class="ttdoc">Base class for all exceptions used by libfranka.</div><div class="ttdef"><b>Definition:</b> exception.h:20</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html"><div class="ttname"><a href="structfranka_1_1RobotState.html">franka::RobotState</a></div><div class="ttdoc">Describes the robot state.</div><div class="ttdef"><b>Definition:</b> robot_state.h:34</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_a706045af1b176049e9e56df755325bd2"><div class="ttname"><a href="structfranka_1_1RobotState.html#a706045af1b176049e9e56df755325bd2">franka::RobotState::q_d</a></div><div class="ttdeci">std::array&lt; double, 7 &gt; q_d</div><div class="ttdoc">Desired joint position.</div><div class="ttdef"><b>Definition:</b> robot_state.h:239</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_ade3335d1ac2f6c44741a916d565f7091"><div class="ttname"><a href="structfranka_1_1RobotState.html#ade3335d1ac2f6c44741a916d565f7091">franka::RobotState::q</a></div><div class="ttdeci">std::array&lt; double, 7 &gt; q</div><div class="ttdoc">Measured joint position.</div><div class="ttdef"><b>Definition:</b> robot_state.h:233</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_af372a0081d72bc7b4fe873f99c7b2d8c"><div class="ttname"><a href="structfranka_1_1RobotState.html#af372a0081d72bc7b4fe873f99c7b2d8c">franka::RobotState::dq</a></div><div class="ttdeci">std::array&lt; double, 7 &gt; dq</div><div class="ttdoc">Measured joint velocity.</div><div class="ttdef"><b>Definition:</b> robot_state.h:245</div></div>
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+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
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+  <div class="headertitle">
+<div class="title">print_joint_poses.cpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<p>An example showing how to use the model library that prints the transformation matrix of each joint with respect to the base frame.</p>
+<div class="fragment"><div class="line"><span class="comment">// Copyright (c) 2023 Franka Robotics GmbH</span></div>
+<div class="line"><span class="comment">// Use of this source code is governed by the Apache-2.0 license, see LICENSE</span></div>
+<div class="line"><span class="preprocessor">#include &lt;iostream&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;iterator&gt;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="exception_8h.html">franka/exception.h</a>&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="model_8h.html">franka/model.h</a>&gt;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="keyword">template</span> &lt;<span class="keyword">class</span> T, <span class="keywordtype">size_t</span> N&gt;</div>
+<div class="line">std::ostream&amp; <a name="a0"></a><a class="code" href="errors_8h.html#ad1027058086c3c154f4bbc9cade1f197">operator&lt;&lt;</a>(std::ostream&amp; ostream, <span class="keyword">const</span> std::array&lt;T, N&gt;&amp; array) {</div>
+<div class="line">  ostream &lt;&lt; <span class="stringliteral">&quot;[&quot;</span>;</div>
+<div class="line">  std::copy(array.cbegin(), array.cend() - 1, std::ostream_iterator&lt;T&gt;(ostream, <span class="stringliteral">&quot;,&quot;</span>));</div>
+<div class="line">  std::copy(array.cend() - 1, array.cend(), std::ostream_iterator&lt;T&gt;(ostream));</div>
+<div class="line">  ostream &lt;&lt; <span class="stringliteral">&quot;]&quot;</span>;</div>
+<div class="line">  <span class="keywordflow">return</span> ostream;</div>
+<div class="line">}</div>
+<div class="line"> </div>
+<div class="line"><span class="keywordtype">int</span> main(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span>** argv) {</div>
+<div class="line">  <span class="keywordflow">if</span> (argc != 2) {</div>
+<div class="line">    std::cerr &lt;&lt; <span class="stringliteral">&quot;Usage: &quot;</span> &lt;&lt; argv[0] &lt;&lt; <span class="stringliteral">&quot; &lt;robot-hostname&gt;&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">    <span class="keywordflow">return</span> -1;</div>
+<div class="line">  }</div>
+<div class="line"> </div>
+<div class="line">  <span class="keywordflow">try</span> {</div>
+<div class="line">    <a name="_a1"></a><a class="code" href="classfranka_1_1Robot.html">franka::Robot</a> robot(argv[1]);</div>
+<div class="line"> </div>
+<div class="line">    <a name="_a2"></a><a class="code" href="structfranka_1_1RobotState.html">franka::RobotState</a> state = robot.readOnce();</div>
+<div class="line"> </div>
+<div class="line">    <a name="_a3"></a><a class="code" href="classfranka_1_1Model.html">franka::Model</a> model(robot.loadModel());</div>
+<div class="line">    <span class="keywordflow">for</span> (<a class="code" href="model_8h.html#a00b729ddce916481d3f0d10febec4f5b">franka::Frame</a> frame = franka::Frame::kJoint1; frame &lt;= franka::Frame::kEndEffector;</div>
+<div class="line">         frame++) {</div>
+<div class="line">      std::cout &lt;&lt; model.pose(frame, state) &lt;&lt; std::endl;</div>
+<div class="line">    }</div>
+<div class="line">  } <span class="keywordflow">catch</span> (<a name="_a4"></a><a class="code" href="structfranka_1_1Exception.html">franka::Exception</a> <span class="keyword">const</span>&amp; e) {</div>
+<div class="line">    std::cout &lt;&lt; e.what() &lt;&lt; std::endl;</div>
+<div class="line">    <span class="keywordflow">return</span> -1;</div>
+<div class="line">  }</div>
+<div class="line"> </div>
+<div class="line">  <span class="keywordflow">return</span> 0;</div>
+<div class="line">}</div>
+<div class="ttc" id="aclassfranka_1_1Model_html"><div class="ttname"><a href="classfranka_1_1Model.html">franka::Model</a></div><div class="ttdoc">Calculates poses of joints and dynamic properties of the robot.</div><div class="ttdef"><b>Definition:</b> model.h:51</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html"><div class="ttname"><a href="classfranka_1_1Robot.html">franka::Robot</a></div><div class="ttdoc">Maintains a network connection to the robot, provides the current robot state, gives access to the mo...</div><div class="ttdef"><b>Definition:</b> robot.h:67</div></div>
+<div class="ttc" id="aerrors_8h_html_ad1027058086c3c154f4bbc9cade1f197"><div class="ttname"><a href="errors_8h.html#ad1027058086c3c154f4bbc9cade1f197">franka::operator&lt;&lt;</a></div><div class="ttdeci">std::ostream &amp; operator&lt;&lt;(std::ostream &amp;ostream, const Errors &amp;errors)</div><div class="ttdoc">Streams the errors as JSON array.</div></div>
+<div class="ttc" id="aexception_8h_html"><div class="ttname"><a href="exception_8h.html">exception.h</a></div><div class="ttdoc">Contains exception definitions.</div></div>
+<div class="ttc" id="amodel_8h_html"><div class="ttname"><a href="model_8h.html">model.h</a></div><div class="ttdoc">Contains model library types.</div></div>
+<div class="ttc" id="amodel_8h_html_a00b729ddce916481d3f0d10febec4f5b"><div class="ttname"><a href="model_8h.html#a00b729ddce916481d3f0d10febec4f5b">franka::Frame</a></div><div class="ttdeci">Frame</div><div class="ttdoc">Enumerates the seven joints, the flange, and the end effector of a robot.</div><div class="ttdef"><b>Definition:</b> model.h:21</div></div>
+<div class="ttc" id="astructfranka_1_1Exception_html"><div class="ttname"><a href="structfranka_1_1Exception.html">franka::Exception</a></div><div class="ttdoc">Base class for all exceptions used by libfranka.</div><div class="ttdef"><b>Definition:</b> exception.h:20</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html"><div class="ttname"><a href="structfranka_1_1RobotState.html">franka::RobotState</a></div><div class="ttdoc">Describes the robot state.</div><div class="ttdef"><b>Definition:</b> robot_state.h:34</div></div>
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+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
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+   <div id="projectbrief">FCI C++ API</div>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#func-members">Functions</a> &#124;
+<a href="#var-members">Variables</a>  </div>
+  <div class="headertitle">
+<div class="title">rate_limiting.h File Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Contains functions for limiting the rate of torques, Cartesian pose, Cartesian velocity, joint position and joint velocity.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &lt;algorithm&gt;</code><br />
+<code>#include &lt;array&gt;</code><br />
+<code>#include &lt;cmath&gt;</code><br />
+<code>#include &lt;limits&gt;</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for rate_limiting.h:</div>
+<div class="dyncontent">
+<div class="center"><img src="rate__limiting_8h__incl.png" border="0" usemap="#ainclude_2franka_2rate__limiting_8h" alt=""/></div>
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+<p><a href="rate__limiting_8h_source.html">Go to the source code of this file.</a></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
+Functions</h2></td></tr>
+<tr class="memitem:a3a025c3c8f71f59627fe4f7e801021ac"><td class="memItemLeft" align="right" valign="top">std::array&lt; double, 7 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="rate__limiting_8h.html#a3a025c3c8f71f59627fe4f7e801021ac">franka::computeUpperLimitsJointVelocity</a> (const std::array&lt; double, 7 &gt; &amp;q)</td></tr>
+<tr class="memdesc:a3a025c3c8f71f59627fe4f7e801021ac"><td class="mdescLeft">&#160;</td><td class="mdescRight">Computes the maximum joint velocity based on joint position.  <a href="rate__limiting_8h.html#a3a025c3c8f71f59627fe4f7e801021ac">More...</a><br /></td></tr>
+<tr class="separator:a3a025c3c8f71f59627fe4f7e801021ac"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a75fe6c28325d7631f7bdb6c2b388b268"><td class="memItemLeft" align="right" valign="top">std::array&lt; double, 7 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="rate__limiting_8h.html#a75fe6c28325d7631f7bdb6c2b388b268">franka::computeLowerLimitsJointVelocity</a> (const std::array&lt; double, 7 &gt; &amp;q)</td></tr>
+<tr class="memdesc:a75fe6c28325d7631f7bdb6c2b388b268"><td class="mdescLeft">&#160;</td><td class="mdescRight">Computes the minimum joint velocity based on joint position.  <a href="rate__limiting_8h.html#a75fe6c28325d7631f7bdb6c2b388b268">More...</a><br /></td></tr>
+<tr class="separator:a75fe6c28325d7631f7bdb6c2b388b268"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aea6895d6bf209a86319c6cd5180e4b60"><td class="memItemLeft" align="right" valign="top">std::array&lt; double, 7 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="rate__limiting_8h.html#aea6895d6bf209a86319c6cd5180e4b60">franka::limitRate</a> (const std::array&lt; double, 7 &gt; &amp;max_derivatives, const std::array&lt; double, 7 &gt; &amp;commanded_values, const std::array&lt; double, 7 &gt; &amp;last_commanded_values)</td></tr>
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+<tr class="separator:aea6895d6bf209a86319c6cd5180e4b60"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae425f551c62b289a93ad471f94f87b7c"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="rate__limiting_8h.html#ae425f551c62b289a93ad471f94f87b7c">franka::limitRate</a> (double upper_limits_velocity, double lower_limits_velocity, double max_acceleration, double max_jerk, double commanded_velocity, double last_commanded_velocity, double last_commanded_acceleration)</td></tr>
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+<tr class="separator:ae425f551c62b289a93ad471f94f87b7c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afacb3c087c76dded71874eaa7862b05d"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="rate__limiting_8h.html#afacb3c087c76dded71874eaa7862b05d">franka::limitRate</a> (double upper_limits_velocity, double lower_limits_velocity, double max_acceleration, double max_jerk, double commanded_position, double last_commanded_position, double last_commanded_velocity, double last_commanded_acceleration)</td></tr>
+<tr class="memdesc:afacb3c087c76dded71874eaa7862b05d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Limits the rate of a desired joint position considering the limits provided.  <a href="rate__limiting_8h.html#afacb3c087c76dded71874eaa7862b05d">More...</a><br /></td></tr>
+<tr class="separator:afacb3c087c76dded71874eaa7862b05d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a62ebac6ebbef784d44135855a899abef"><td class="memItemLeft" align="right" valign="top">std::array&lt; double, 7 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="rate__limiting_8h.html#a62ebac6ebbef784d44135855a899abef">franka::limitRate</a> (const std::array&lt; double, 7 &gt; &amp;upper_limits_velocity, const std::array&lt; double, 7 &gt; &amp;lower_limits_velocity, const std::array&lt; double, 7 &gt; &amp;max_acceleration, const std::array&lt; double, 7 &gt; &amp;max_jerk, const std::array&lt; double, 7 &gt; &amp;commanded_velocities, const std::array&lt; double, 7 &gt; &amp;last_commanded_velocities, const std::array&lt; double, 7 &gt; &amp;last_commanded_accelerations)</td></tr>
+<tr class="memdesc:a62ebac6ebbef784d44135855a899abef"><td class="mdescLeft">&#160;</td><td class="mdescRight">Limits the rate of a desired joint velocity considering the limits provided.  <a href="rate__limiting_8h.html#a62ebac6ebbef784d44135855a899abef">More...</a><br /></td></tr>
+<tr class="separator:a62ebac6ebbef784d44135855a899abef"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aaaa22e0873d0630465e506ddc877083f"><td class="memItemLeft" align="right" valign="top">std::array&lt; double, 7 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="rate__limiting_8h.html#aaaa22e0873d0630465e506ddc877083f">franka::limitRate</a> (const std::array&lt; double, 7 &gt; &amp;upper_limits_velocity, const std::array&lt; double, 7 &gt; &amp;lower_limits_velocity, const std::array&lt; double, 7 &gt; &amp;max_acceleration, const std::array&lt; double, 7 &gt; &amp;max_jerk, const std::array&lt; double, 7 &gt; &amp;commanded_positions, const std::array&lt; double, 7 &gt; &amp;last_commanded_positions, const std::array&lt; double, 7 &gt; &amp;last_commanded_velocities, const std::array&lt; double, 7 &gt; &amp;last_commanded_accelerations)</td></tr>
+<tr class="memdesc:aaaa22e0873d0630465e506ddc877083f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Limits the rate of a desired joint position considering the limits provided.  <a href="rate__limiting_8h.html#aaaa22e0873d0630465e506ddc877083f">More...</a><br /></td></tr>
+<tr class="separator:aaaa22e0873d0630465e506ddc877083f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad3e0243f9be5335ae3d04f87852dfccb"><td class="memItemLeft" align="right" valign="top">std::array&lt; double, 6 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="rate__limiting_8h.html#ad3e0243f9be5335ae3d04f87852dfccb">franka::limitRate</a> (double max_translational_velocity, double max_translational_acceleration, double max_translational_jerk, double max_rotational_velocity, double max_rotational_acceleration, double max_rotational_jerk, const std::array&lt; double, 6 &gt; &amp;O_dP_EE_c, const std::array&lt; double, 6 &gt; &amp;last_O_dP_EE_c, const std::array&lt; double, 6 &gt; &amp;last_O_ddP_EE_c)</td></tr>
+<tr class="memdesc:ad3e0243f9be5335ae3d04f87852dfccb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Limits the rate of a desired Cartesian velocity considering the limits provided.  <a href="rate__limiting_8h.html#ad3e0243f9be5335ae3d04f87852dfccb">More...</a><br /></td></tr>
+<tr class="separator:ad3e0243f9be5335ae3d04f87852dfccb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9288f438fcfc1aedf7e0b52aa95b23ba"><td class="memItemLeft" align="right" valign="top">std::array&lt; double, 16 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="rate__limiting_8h.html#a9288f438fcfc1aedf7e0b52aa95b23ba">franka::limitRate</a> (double max_translational_velocity, double max_translational_acceleration, double max_translational_jerk, double max_rotational_velocity, double max_rotational_acceleration, double max_rotational_jerk, const std::array&lt; double, 16 &gt; &amp;O_T_EE_c, const std::array&lt; double, 16 &gt; &amp;last_O_T_EE_c, const std::array&lt; double, 6 &gt; &amp;last_O_dP_EE_c, const std::array&lt; double, 6 &gt; &amp;last_O_ddP_EE_c)</td></tr>
+<tr class="memdesc:a9288f438fcfc1aedf7e0b52aa95b23ba"><td class="mdescLeft">&#160;</td><td class="mdescRight">Limits the rate of a desired Cartesian pose considering the limits provided.  <a href="rate__limiting_8h.html#a9288f438fcfc1aedf7e0b52aa95b23ba">More...</a><br /></td></tr>
+<tr class="separator:a9288f438fcfc1aedf7e0b52aa95b23ba"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="var-members"></a>
+Variables</h2></td></tr>
+<tr class="memitem:a1e207a0d5a6e90c1e1a78e6e1057120a"><td class="memItemLeft" align="right" valign="top"><a id="a1e207a0d5a6e90c1e1a78e6e1057120a"></a>
+constexpr double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="rate__limiting_8h.html#a1e207a0d5a6e90c1e1a78e6e1057120a">franka::kDeltaT</a> = 1e-3</td></tr>
+<tr class="memdesc:a1e207a0d5a6e90c1e1a78e6e1057120a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sample time constant. <br /></td></tr>
+<tr class="separator:a1e207a0d5a6e90c1e1a78e6e1057120a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aad1f9b575274830b8da9e638559d424b"><td class="memItemLeft" align="right" valign="top"><a id="aad1f9b575274830b8da9e638559d424b"></a>
+constexpr double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">franka::kLimitEps</a> = 1e-3</td></tr>
+<tr class="memdesc:aad1f9b575274830b8da9e638559d424b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Epsilon value for checking limits. <br /></td></tr>
+<tr class="separator:aad1f9b575274830b8da9e638559d424b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a420d72830a872ef375d9d6cbb1c439b5"><td class="memItemLeft" align="right" valign="top"><a id="a420d72830a872ef375d9d6cbb1c439b5"></a>
+constexpr double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="rate__limiting_8h.html#a420d72830a872ef375d9d6cbb1c439b5">franka::kNormEps</a> = std::numeric_limits&lt;double&gt;::epsilon()</td></tr>
+<tr class="memdesc:a420d72830a872ef375d9d6cbb1c439b5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Epsilon value for limiting Cartesian accelerations/jerks or not. <br /></td></tr>
+<tr class="separator:a420d72830a872ef375d9d6cbb1c439b5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a664b546834ceecd4e3220ffa92f1172c"><td class="memItemLeft" align="right" valign="top">constexpr double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="rate__limiting_8h.html#a664b546834ceecd4e3220ffa92f1172c">franka::kTolNumberPacketsLost</a> = 0.0</td></tr>
+<tr class="memdesc:a664b546834ceecd4e3220ffa92f1172c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Number of packets lost considered for the definition of velocity limits.  <a href="rate__limiting_8h.html#a664b546834ceecd4e3220ffa92f1172c">More...</a><br /></td></tr>
+<tr class="separator:a664b546834ceecd4e3220ffa92f1172c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a19166d1a64c5a84f80b4ed3aa0bfb3a0"><td class="memItemLeft" align="right" valign="top"><a id="a19166d1a64c5a84f80b4ed3aa0bfb3a0"></a>
+constexpr double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="rate__limiting_8h.html#a19166d1a64c5a84f80b4ed3aa0bfb3a0">franka::kFactorCartesianRotationPoseInterface</a> = 0.99</td></tr>
+<tr class="memdesc:a19166d1a64c5a84f80b4ed3aa0bfb3a0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Factor for the definition of rotational limits using the Cartesian Pose interface. <br /></td></tr>
+<tr class="separator:a19166d1a64c5a84f80b4ed3aa0bfb3a0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6c1a0e9a5e1f375d2aad61edac907d4e"><td class="memItemLeft" align="right" valign="top">constexpr std::array&lt; double, 7 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="rate__limiting_8h.html#a6c1a0e9a5e1f375d2aad61edac907d4e">franka::kMaxTorqueRate</a></td></tr>
+<tr class="memdesc:a6c1a0e9a5e1f375d2aad61edac907d4e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Maximum torque rate.  <a href="rate__limiting_8h.html#a6c1a0e9a5e1f375d2aad61edac907d4e">More...</a><br /></td></tr>
+<tr class="separator:a6c1a0e9a5e1f375d2aad61edac907d4e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a600a21a6151ff2eee38294293dd8aeec"><td class="memItemLeft" align="right" valign="top">constexpr std::array&lt; double, 7 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="rate__limiting_8h.html#a600a21a6151ff2eee38294293dd8aeec">franka::kMaxJointJerk</a></td></tr>
+<tr class="memdesc:a600a21a6151ff2eee38294293dd8aeec"><td class="mdescLeft">&#160;</td><td class="mdescRight">Maximum joint jerk.  <a href="rate__limiting_8h.html#a600a21a6151ff2eee38294293dd8aeec">More...</a><br /></td></tr>
+<tr class="separator:a600a21a6151ff2eee38294293dd8aeec"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a826ecf0b7d214df69c1ee416d3e66b93"><td class="memItemLeft" align="right" valign="top">constexpr std::array&lt; double, 7 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="rate__limiting_8h.html#a826ecf0b7d214df69c1ee416d3e66b93">franka::kMaxJointAcceleration</a></td></tr>
+<tr class="memdesc:a826ecf0b7d214df69c1ee416d3e66b93"><td class="mdescLeft">&#160;</td><td class="mdescRight">Maximum joint acceleration.  <a href="rate__limiting_8h.html#a826ecf0b7d214df69c1ee416d3e66b93">More...</a><br /></td></tr>
+<tr class="separator:a826ecf0b7d214df69c1ee416d3e66b93"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a39b6d9504e2844d289f834471994d889"><td class="memItemLeft" align="right" valign="top">constexpr std::array&lt; double, 7 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="rate__limiting_8h.html#a39b6d9504e2844d289f834471994d889">franka::kJointVelocityLimitsTolerance</a></td></tr>
+<tr class="memdesc:a39b6d9504e2844d289f834471994d889"><td class="mdescLeft">&#160;</td><td class="mdescRight">Tolerance value for joint velocity limits to deal with numerical errors and data losses.  <a href="rate__limiting_8h.html#a39b6d9504e2844d289f834471994d889">More...</a><br /></td></tr>
+<tr class="separator:a39b6d9504e2844d289f834471994d889"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a46b8f11959ed3f731a0914f524af8e69"><td class="memItemLeft" align="right" valign="top"><a id="a46b8f11959ed3f731a0914f524af8e69"></a>
+constexpr double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="rate__limiting_8h.html#a46b8f11959ed3f731a0914f524af8e69">franka::kMaxTranslationalJerk</a> = 4500.0 - kLimitEps</td></tr>
+<tr class="memdesc:a46b8f11959ed3f731a0914f524af8e69"><td class="mdescLeft">&#160;</td><td class="mdescRight">Maximum translational jerk. <br /></td></tr>
+<tr class="separator:a46b8f11959ed3f731a0914f524af8e69"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3803b1a54ba526ccaa4fa0d15446f3db"><td class="memItemLeft" align="right" valign="top"><a id="a3803b1a54ba526ccaa4fa0d15446f3db"></a>
+constexpr double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="rate__limiting_8h.html#a3803b1a54ba526ccaa4fa0d15446f3db">franka::kMaxTranslationalAcceleration</a> = 9.0000 - kLimitEps</td></tr>
+<tr class="memdesc:a3803b1a54ba526ccaa4fa0d15446f3db"><td class="mdescLeft">&#160;</td><td class="mdescRight">Maximum translational acceleration. <br /></td></tr>
+<tr class="separator:a3803b1a54ba526ccaa4fa0d15446f3db"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a857e1e5e18d688ec7095264a629bf474"><td class="memItemLeft" align="right" valign="top">constexpr double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="rate__limiting_8h.html#a857e1e5e18d688ec7095264a629bf474">franka::kMaxTranslationalVelocity</a></td></tr>
+<tr class="memdesc:a857e1e5e18d688ec7095264a629bf474"><td class="mdescLeft">&#160;</td><td class="mdescRight">Maximum translational velocity.  <a href="rate__limiting_8h.html#a857e1e5e18d688ec7095264a629bf474">More...</a><br /></td></tr>
+<tr class="separator:a857e1e5e18d688ec7095264a629bf474"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a259520ce1b6b5b85a88d05262286820d"><td class="memItemLeft" align="right" valign="top"><a id="a259520ce1b6b5b85a88d05262286820d"></a>
+constexpr double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="rate__limiting_8h.html#a259520ce1b6b5b85a88d05262286820d">franka::kMaxRotationalJerk</a> = 8500.0 - kLimitEps</td></tr>
+<tr class="memdesc:a259520ce1b6b5b85a88d05262286820d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Maximum rotational jerk. <br /></td></tr>
+<tr class="separator:a259520ce1b6b5b85a88d05262286820d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5e3d5c95ba72f9660f17f8ebf1e0aa2e"><td class="memItemLeft" align="right" valign="top"><a id="a5e3d5c95ba72f9660f17f8ebf1e0aa2e"></a>
+constexpr double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="rate__limiting_8h.html#a5e3d5c95ba72f9660f17f8ebf1e0aa2e">franka::kMaxRotationalAcceleration</a> = 17.0000 - kLimitEps</td></tr>
+<tr class="memdesc:a5e3d5c95ba72f9660f17f8ebf1e0aa2e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Maximum rotational acceleration. <br /></td></tr>
+<tr class="separator:a5e3d5c95ba72f9660f17f8ebf1e0aa2e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aafb1f5ef8f8a7abd546edea498c18b45"><td class="memItemLeft" align="right" valign="top">constexpr double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="rate__limiting_8h.html#aafb1f5ef8f8a7abd546edea498c18b45">franka::kMaxRotationalVelocity</a></td></tr>
+<tr class="memdesc:aafb1f5ef8f8a7abd546edea498c18b45"><td class="mdescLeft">&#160;</td><td class="mdescRight">Maximum rotational velocity.  <a href="rate__limiting_8h.html#aafb1f5ef8f8a7abd546edea498c18b45">More...</a><br /></td></tr>
+<tr class="separator:aafb1f5ef8f8a7abd546edea498c18b45"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:adc70178204d4da073c78de777a2dff74"><td class="memItemLeft" align="right" valign="top"><a id="adc70178204d4da073c78de777a2dff74"></a>
+constexpr double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="rate__limiting_8h.html#adc70178204d4da073c78de777a2dff74">franka::kMaxElbowJerk</a> = 5000 - kLimitEps</td></tr>
+<tr class="memdesc:adc70178204d4da073c78de777a2dff74"><td class="mdescLeft">&#160;</td><td class="mdescRight">Maximum elbow jerk. <br /></td></tr>
+<tr class="separator:adc70178204d4da073c78de777a2dff74"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af365e574ad7b1580ce15e30dd909b3ba"><td class="memItemLeft" align="right" valign="top"><a id="af365e574ad7b1580ce15e30dd909b3ba"></a>
+constexpr double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="rate__limiting_8h.html#af365e574ad7b1580ce15e30dd909b3ba">franka::kMaxElbowAcceleration</a> = 10.0000 - kLimitEps</td></tr>
+<tr class="memdesc:af365e574ad7b1580ce15e30dd909b3ba"><td class="mdescLeft">&#160;</td><td class="mdescRight">Maximum elbow acceleration. <br /></td></tr>
+<tr class="separator:af365e574ad7b1580ce15e30dd909b3ba"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2896b2e0c8bd96f9ee242c1203ac3483"><td class="memItemLeft" align="right" valign="top">constexpr double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="rate__limiting_8h.html#a2896b2e0c8bd96f9ee242c1203ac3483">franka::kMaxElbowVelocity</a></td></tr>
+<tr class="memdesc:a2896b2e0c8bd96f9ee242c1203ac3483"><td class="mdescLeft">&#160;</td><td class="mdescRight">Maximum elbow velocity.  <a href="rate__limiting_8h.html#a2896b2e0c8bd96f9ee242c1203ac3483">More...</a><br /></td></tr>
+<tr class="separator:a2896b2e0c8bd96f9ee242c1203ac3483"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Contains functions for limiting the rate of torques, Cartesian pose, Cartesian velocity, joint position and joint velocity. </p>
+</div><h2 class="groupheader">Function Documentation</h2>
+<a id="a75fe6c28325d7631f7bdb6c2b388b268"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a75fe6c28325d7631f7bdb6c2b388b268">&#9670;&nbsp;</a></span>computeLowerLimitsJointVelocity()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::array&lt;double, 7&gt; franka::computeLowerLimitsJointVelocity </td>
+          <td>(</td>
+          <td class="paramtype">const std::array&lt; double, 7 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>q</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Computes the minimum joint velocity based on joint position. </p>
+<dl class="section note"><dt>Note</dt><dd>The implementation is based on <a href="https://frankaemika.github.io/docs/control_parameters.html#limits-for-franka-research-3">https://frankaemika.github.io/docs/control_parameters.html#limits-for-franka-research-3</a>.</dd></dl>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">q</td><td>joint position.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Lower limits of joint velocity at the given joint position. </dd></dl>
+
+</div>
+</div>
+<a id="a3a025c3c8f71f59627fe4f7e801021ac"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3a025c3c8f71f59627fe4f7e801021ac">&#9670;&nbsp;</a></span>computeUpperLimitsJointVelocity()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::array&lt;double, 7&gt; franka::computeUpperLimitsJointVelocity </td>
+          <td>(</td>
+          <td class="paramtype">const std::array&lt; double, 7 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>q</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Computes the maximum joint velocity based on joint position. </p>
+<dl class="section note"><dt>Note</dt><dd>The implementation is based on <a href="https://frankaemika.github.io/docs/control_parameters.html#limits-for-franka-research-3">https://frankaemika.github.io/docs/control_parameters.html#limits-for-franka-research-3</a>.</dd></dl>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">q</td><td>joint position.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Upper limits of joint velocity at the given joint position. </dd></dl>
+
+</div>
+</div>
+<a id="aea6895d6bf209a86319c6cd5180e4b60"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aea6895d6bf209a86319c6cd5180e4b60">&#9670;&nbsp;</a></span>limitRate() <span class="overload">[1/7]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::array&lt;double, 7&gt; franka::limitRate </td>
+          <td>(</td>
+          <td class="paramtype">const std::array&lt; double, 7 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>max_derivatives</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::array&lt; double, 7 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>commanded_values</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::array&lt; double, 7 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>last_commanded_values</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Limits the rate of an input vector of per-joint commands considering the maximum allowed time derivatives. </p>
+<dl class="section note"><dt>Note</dt><dd>FCI filters must be deactivated to work properly.</dd></dl>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">max_derivatives</td><td>Per-joint maximum allowed time derivative. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">commanded_values</td><td>Commanded values of the current time step. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">last_commanded_values</td><td>Commanded values of the previous time step.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname">std::invalid_argument</td><td>if commanded_values are infinite or NaN.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Rate-limited vector of desired values. </dd></dl>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="joint_impedance_control_8cpp-example.html#a11">joint_impedance_control.cpp</a>.</dd>
+</dl>
+
+</div>
+</div>
+<a id="aaaa22e0873d0630465e506ddc877083f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aaaa22e0873d0630465e506ddc877083f">&#9670;&nbsp;</a></span>limitRate() <span class="overload">[2/7]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::array&lt;double, 7&gt; franka::limitRate </td>
+          <td>(</td>
+          <td class="paramtype">const std::array&lt; double, 7 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>upper_limits_velocity</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::array&lt; double, 7 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>lower_limits_velocity</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::array&lt; double, 7 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>max_acceleration</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::array&lt; double, 7 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>max_jerk</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::array&lt; double, 7 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>commanded_positions</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::array&lt; double, 7 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>last_commanded_positions</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::array&lt; double, 7 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>last_commanded_velocities</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::array&lt; double, 7 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>last_commanded_accelerations</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Limits the rate of a desired joint position considering the limits provided. </p>
+<dl class="section note"><dt>Note</dt><dd>FCI filters must be deactivated to work properly.</dd></dl>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">upper_limits_velocity</td><td>Per-joint upper limits of allowed velocity. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">lower_limits_velocity</td><td>Per-joint lower limits of allowed velocity. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">max_acceleration</td><td>Per-joint maximum allowed acceleration. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">max_jerk</td><td>Per-joint maximum allowed jerk. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">commanded_positions</td><td>Commanded joint positions of the current time step. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">last_commanded_positions</td><td>Commanded joint positions of the previous time step. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">last_commanded_velocities</td><td>Commanded joint velocities of the previous time step. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">last_commanded_accelerations</td><td>Commanded joint accelerations of the previous time step.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname">std::invalid_argument</td><td>if commanded_positions are infinite or NaN.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Rate-limited vector of desired joint positions. </dd></dl>
+
+</div>
+</div>
+<a id="a62ebac6ebbef784d44135855a899abef"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a62ebac6ebbef784d44135855a899abef">&#9670;&nbsp;</a></span>limitRate() <span class="overload">[3/7]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::array&lt;double, 7&gt; franka::limitRate </td>
+          <td>(</td>
+          <td class="paramtype">const std::array&lt; double, 7 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>upper_limits_velocity</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::array&lt; double, 7 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>lower_limits_velocity</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::array&lt; double, 7 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>max_acceleration</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::array&lt; double, 7 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>max_jerk</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::array&lt; double, 7 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>commanded_velocities</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::array&lt; double, 7 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>last_commanded_velocities</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::array&lt; double, 7 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>last_commanded_accelerations</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Limits the rate of a desired joint velocity considering the limits provided. </p>
+<dl class="section note"><dt>Note</dt><dd>FCI filters must be deactivated to work properly.</dd></dl>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">upper_limits_velocity</td><td>Per-joint upper limits of allowed velocity. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">lower_limits_velocity</td><td>Per-joint lower limits of allowed velocity. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">max_acceleration</td><td>Per-joint maximum allowed acceleration. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">max_jerk</td><td>Per-joint maximum allowed jerk. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">commanded_velocities</td><td>Commanded joint velocity of the current time step. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">last_commanded_velocities</td><td>Commanded joint velocities of the previous time step. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">last_commanded_accelerations</td><td>Commanded joint accelerations of the previous time step.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname">std::invalid_argument</td><td>if commanded_velocities are infinite or NaN.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Rate-limited vector of desired joint velocities. </dd></dl>
+
+</div>
+</div>
+<a id="a9288f438fcfc1aedf7e0b52aa95b23ba"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9288f438fcfc1aedf7e0b52aa95b23ba">&#9670;&nbsp;</a></span>limitRate() <span class="overload">[4/7]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::array&lt;double, 16&gt; franka::limitRate </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>max_translational_velocity</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>max_translational_acceleration</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>max_translational_jerk</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>max_rotational_velocity</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>max_rotational_acceleration</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>max_rotational_jerk</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::array&lt; double, 16 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>O_T_EE_c</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::array&lt; double, 16 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>last_O_T_EE_c</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::array&lt; double, 6 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>last_O_dP_EE_c</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::array&lt; double, 6 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>last_O_ddP_EE_c</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Limits the rate of a desired Cartesian pose considering the limits provided. </p>
+<dl class="section note"><dt>Note</dt><dd>FCI filters must be deactivated to work properly.</dd></dl>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">max_translational_velocity</td><td>Maximum translational velocity. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">max_translational_acceleration</td><td>Maximum translational acceleration. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">max_translational_jerk</td><td>Maximum translational jerk. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">max_rotational_velocity</td><td>Maximum rotational velocity. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">max_rotational_acceleration</td><td>Maximum rotational acceleration. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">max_rotational_jerk</td><td>Maximum rotational jerk. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">O_T_EE_c</td><td>Commanded pose of the current time step. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">last_O_T_EE_c</td><td>Commanded pose of the previous time step. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">last_O_dP_EE_c</td><td>Commanded end effector twist of the previous time step. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">last_O_ddP_EE_c</td><td>Commanded end effector acceleration of the previous time step.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname">std::invalid_argument</td><td>if an element of O_T_EE_c is infinite or NaN.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Rate-limited desired pose. </dd></dl>
+
+</div>
+</div>
+<a id="ad3e0243f9be5335ae3d04f87852dfccb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad3e0243f9be5335ae3d04f87852dfccb">&#9670;&nbsp;</a></span>limitRate() <span class="overload">[5/7]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::array&lt;double, 6&gt; franka::limitRate </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>max_translational_velocity</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>max_translational_acceleration</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>max_translational_jerk</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>max_rotational_velocity</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>max_rotational_acceleration</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>max_rotational_jerk</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::array&lt; double, 6 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>O_dP_EE_c</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::array&lt; double, 6 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>last_O_dP_EE_c</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::array&lt; double, 6 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>last_O_ddP_EE_c</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Limits the rate of a desired Cartesian velocity considering the limits provided. </p>
+<dl class="section note"><dt>Note</dt><dd>FCI filters must be deactivated to work properly.</dd></dl>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">max_translational_velocity</td><td>Maximum translational velocity. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">max_translational_acceleration</td><td>Maximum translational acceleration. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">max_translational_jerk</td><td>Maximum translational jerk. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">max_rotational_velocity</td><td>Maximum rotational velocity. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">max_rotational_acceleration</td><td>Maximum rotational acceleration. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">max_rotational_jerk</td><td>Maximum rotational jerk. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">O_dP_EE_c</td><td>Commanded end effector twist of the current time step. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">last_O_dP_EE_c</td><td>Commanded end effector twist of the previous time step. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">last_O_ddP_EE_c</td><td>Commanded end effector acceleration of the previous time step.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname">std::invalid_argument</td><td>if an element of O_dP_EE_c is infinite or NaN.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Rate-limited desired end effector twist. </dd></dl>
+
+</div>
+</div>
+<a id="afacb3c087c76dded71874eaa7862b05d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afacb3c087c76dded71874eaa7862b05d">&#9670;&nbsp;</a></span>limitRate() <span class="overload">[6/7]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double franka::limitRate </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>upper_limits_velocity</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>lower_limits_velocity</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>max_acceleration</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>max_jerk</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>commanded_position</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>last_commanded_position</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>last_commanded_velocity</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>last_commanded_acceleration</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Limits the rate of a desired joint position considering the limits provided. </p>
+<dl class="section note"><dt>Note</dt><dd>FCI filters must be deactivated to work properly.</dd></dl>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">upper_limits_velocity</td><td>Upper limits of allowed velocity. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">lower_limits_velocity</td><td>Lower limits of allowed velocity. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">max_acceleration</td><td>Maximum allowed acceleration. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">max_jerk</td><td>Maximum allowed jerk. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">commanded_position</td><td>Commanded joint position of the current time step. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">last_commanded_position</td><td>Commanded joint position of the previous time step. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">last_commanded_velocity</td><td>Commanded joint velocity of the previous time step. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">last_commanded_acceleration</td><td>Commanded joint acceleration of the previous time step.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname">std::invalid_argument</td><td>if commanded_position is infinite or NaN.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Rate-limited desired joint position. </dd></dl>
+
+</div>
+</div>
+<a id="ae425f551c62b289a93ad471f94f87b7c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae425f551c62b289a93ad471f94f87b7c">&#9670;&nbsp;</a></span>limitRate() <span class="overload">[7/7]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double franka::limitRate </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>upper_limits_velocity</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>lower_limits_velocity</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>max_acceleration</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>max_jerk</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>commanded_velocity</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>last_commanded_velocity</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>last_commanded_acceleration</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Limits the rate of a desired joint velocity considering the limits provided. </p>
+<dl class="section note"><dt>Note</dt><dd>FCI filters must be deactivated to work properly.</dd></dl>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">upper_limits_velocity</td><td>Upper limits of allowed velocity. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">lower_limits_velocity</td><td>Lower limits of allowed velocity. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">max_acceleration</td><td>Maximum allowed acceleration. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">max_jerk</td><td>Maximum allowed jerk. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">commanded_velocity</td><td>Commanded joint velocity of the current time step. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">last_commanded_velocity</td><td>Commanded joint velocity of the previous time step. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">last_commanded_acceleration</td><td>Commanded joint acceleration of the previous time step.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname">std::invalid_argument</td><td>if commanded_velocity is infinite or NaN.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Rate-limited desired joint velocity. </dd></dl>
+
+</div>
+</div>
+<h2 class="groupheader">Variable Documentation</h2>
+<a id="a39b6d9504e2844d289f834471994d889"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a39b6d9504e2844d289f834471994d889">&#9670;&nbsp;</a></span>kJointVelocityLimitsTolerance</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">constexpr std::array&lt;double, 7&gt; franka::kJointVelocityLimitsTolerance</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<b>Initial value:</b><div class="fragment"><div class="line">{</div>
+<div class="line">    <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a> + <a class="code" href="rate__limiting_8h.html#a664b546834ceecd4e3220ffa92f1172c">kTolNumberPacketsLost</a> * <a class="code" href="rate__limiting_8h.html#a1e207a0d5a6e90c1e1a78e6e1057120a">kDeltaT</a> * <a class="code" href="rate__limiting_8h.html#a826ecf0b7d214df69c1ee416d3e66b93">kMaxJointAcceleration</a>[0],</div>
+<div class="line">    <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a> + <a class="code" href="rate__limiting_8h.html#a664b546834ceecd4e3220ffa92f1172c">kTolNumberPacketsLost</a>* <a class="code" href="rate__limiting_8h.html#a1e207a0d5a6e90c1e1a78e6e1057120a">kDeltaT</a>* <a class="code" href="rate__limiting_8h.html#a826ecf0b7d214df69c1ee416d3e66b93">kMaxJointAcceleration</a>[1],</div>
+<div class="line">    <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a> + <a class="code" href="rate__limiting_8h.html#a664b546834ceecd4e3220ffa92f1172c">kTolNumberPacketsLost</a>* <a class="code" href="rate__limiting_8h.html#a1e207a0d5a6e90c1e1a78e6e1057120a">kDeltaT</a>* <a class="code" href="rate__limiting_8h.html#a826ecf0b7d214df69c1ee416d3e66b93">kMaxJointAcceleration</a>[2],</div>
+<div class="line">    <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a> + <a class="code" href="rate__limiting_8h.html#a664b546834ceecd4e3220ffa92f1172c">kTolNumberPacketsLost</a>* <a class="code" href="rate__limiting_8h.html#a1e207a0d5a6e90c1e1a78e6e1057120a">kDeltaT</a>* <a class="code" href="rate__limiting_8h.html#a826ecf0b7d214df69c1ee416d3e66b93">kMaxJointAcceleration</a>[3],</div>
+<div class="line">    <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a> + <a class="code" href="rate__limiting_8h.html#a664b546834ceecd4e3220ffa92f1172c">kTolNumberPacketsLost</a>* <a class="code" href="rate__limiting_8h.html#a1e207a0d5a6e90c1e1a78e6e1057120a">kDeltaT</a>* <a class="code" href="rate__limiting_8h.html#a826ecf0b7d214df69c1ee416d3e66b93">kMaxJointAcceleration</a>[4],</div>
+<div class="line">    <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a> + <a class="code" href="rate__limiting_8h.html#a664b546834ceecd4e3220ffa92f1172c">kTolNumberPacketsLost</a>* <a class="code" href="rate__limiting_8h.html#a1e207a0d5a6e90c1e1a78e6e1057120a">kDeltaT</a>* <a class="code" href="rate__limiting_8h.html#a826ecf0b7d214df69c1ee416d3e66b93">kMaxJointAcceleration</a>[5],</div>
+<div class="line">    <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a> + <a class="code" href="rate__limiting_8h.html#a664b546834ceecd4e3220ffa92f1172c">kTolNumberPacketsLost</a>* <a class="code" href="rate__limiting_8h.html#a1e207a0d5a6e90c1e1a78e6e1057120a">kDeltaT</a>* <a class="code" href="rate__limiting_8h.html#a826ecf0b7d214df69c1ee416d3e66b93">kMaxJointAcceleration</a>[6],</div>
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+<div class="ttc" id="arate__limiting_8h_html_a1e207a0d5a6e90c1e1a78e6e1057120a"><div class="ttname"><a href="rate__limiting_8h.html#a1e207a0d5a6e90c1e1a78e6e1057120a">franka::kDeltaT</a></div><div class="ttdeci">constexpr double kDeltaT</div><div class="ttdoc">Sample time constant.</div><div class="ttdef"><b>Definition:</b> rate_limiting.h:20</div></div>
+<div class="ttc" id="arate__limiting_8h_html_a664b546834ceecd4e3220ffa92f1172c"><div class="ttname"><a href="rate__limiting_8h.html#a664b546834ceecd4e3220ffa92f1172c">franka::kTolNumberPacketsLost</a></div><div class="ttdeci">constexpr double kTolNumberPacketsLost</div><div class="ttdoc">Number of packets lost considered for the definition of velocity limits.</div><div class="ttdef"><b>Definition:</b> rate_limiting.h:35</div></div>
+<div class="ttc" id="arate__limiting_8h_html_a826ecf0b7d214df69c1ee416d3e66b93"><div class="ttname"><a href="rate__limiting_8h.html#a826ecf0b7d214df69c1ee416d3e66b93">franka::kMaxJointAcceleration</a></div><div class="ttdeci">constexpr std::array&lt; double, 7 &gt; kMaxJointAcceleration</div><div class="ttdoc">Maximum joint acceleration.</div><div class="ttdef"><b>Definition:</b> rate_limiting.h:55</div></div>
+<div class="ttc" id="arate__limiting_8h_html_aad1f9b575274830b8da9e638559d424b"><div class="ttname"><a href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">franka::kLimitEps</a></div><div class="ttdeci">constexpr double kLimitEps</div><div class="ttdoc">Epsilon value for checking limits.</div><div class="ttdef"><b>Definition:</b> rate_limiting.h:24</div></div>
+</div><!-- fragment -->
+<p>Tolerance value for joint velocity limits to deal with numerical errors and data losses. </p>
+
+</div>
+</div>
+<a id="a2896b2e0c8bd96f9ee242c1203ac3483"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2896b2e0c8bd96f9ee242c1203ac3483">&#9670;&nbsp;</a></span>kMaxElbowVelocity</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">constexpr double franka::kMaxElbowVelocity</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<b>Initial value:</b><div class="fragment"><div class="line">=</div>
+<div class="line">    1.5000 - <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a> - <a class="code" href="rate__limiting_8h.html#a664b546834ceecd4e3220ffa92f1172c">kTolNumberPacketsLost</a> * <a class="code" href="rate__limiting_8h.html#a1e207a0d5a6e90c1e1a78e6e1057120a">kDeltaT</a> * <a class="code" href="rate__limiting_8h.html#af365e574ad7b1580ce15e30dd909b3ba">kMaxElbowAcceleration</a></div>
+<div class="ttc" id="arate__limiting_8h_html_af365e574ad7b1580ce15e30dd909b3ba"><div class="ttname"><a href="rate__limiting_8h.html#af365e574ad7b1580ce15e30dd909b3ba">franka::kMaxElbowAcceleration</a></div><div class="ttdeci">constexpr double kMaxElbowAcceleration</div><div class="ttdoc">Maximum elbow acceleration.</div><div class="ttdef"><b>Definition:</b> rate_limiting.h:103</div></div>
+</div><!-- fragment -->
+<p>Maximum elbow velocity. </p>
+
+</div>
+</div>
+<a id="a826ecf0b7d214df69c1ee416d3e66b93"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a826ecf0b7d214df69c1ee416d3e66b93">&#9670;&nbsp;</a></span>kMaxJointAcceleration</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">constexpr std::array&lt;double, 7&gt; franka::kMaxJointAcceleration</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<b>Initial value:</b><div class="fragment"><div class="line">{</div>
+<div class="line">    {10.0000 - <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a>, 10.0000 - <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a>, 10.0000 - <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a>, 10.0000 - <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a>,</div>
+<div class="line">     10.0000 - <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a>, 10.0000 - <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a>, 10.0000 - <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a>}}</div>
+</div><!-- fragment -->
+<p>Maximum joint acceleration. </p>
+
+</div>
+</div>
+<a id="a600a21a6151ff2eee38294293dd8aeec"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a600a21a6151ff2eee38294293dd8aeec">&#9670;&nbsp;</a></span>kMaxJointJerk</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">constexpr std::array&lt;double, 7&gt; franka::kMaxJointJerk</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<b>Initial value:</b><div class="fragment"><div class="line">{</div>
+<div class="line">    {5000.0 - <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a>, 5000.0 - <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a>, 5000.0 - <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a>, 5000.0 - <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a>,</div>
+<div class="line">     5000.0 - <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a>, 5000.0 - <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a>, 5000.0 - <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a>}}</div>
+</div><!-- fragment -->
+<p>Maximum joint jerk. </p>
+
+</div>
+</div>
+<a id="aafb1f5ef8f8a7abd546edea498c18b45"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aafb1f5ef8f8a7abd546edea498c18b45">&#9670;&nbsp;</a></span>kMaxRotationalVelocity</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">constexpr double franka::kMaxRotationalVelocity</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<b>Initial value:</b><div class="fragment"><div class="line">=</div>
+<div class="line">    2.5000 - <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a> - <a class="code" href="rate__limiting_8h.html#a664b546834ceecd4e3220ffa92f1172c">kTolNumberPacketsLost</a> * <a class="code" href="rate__limiting_8h.html#a1e207a0d5a6e90c1e1a78e6e1057120a">kDeltaT</a> * <a class="code" href="rate__limiting_8h.html#a5e3d5c95ba72f9660f17f8ebf1e0aa2e">kMaxRotationalAcceleration</a></div>
+<div class="ttc" id="arate__limiting_8h_html_a5e3d5c95ba72f9660f17f8ebf1e0aa2e"><div class="ttname"><a href="rate__limiting_8h.html#a5e3d5c95ba72f9660f17f8ebf1e0aa2e">franka::kMaxRotationalAcceleration</a></div><div class="ttdeci">constexpr double kMaxRotationalAcceleration</div><div class="ttdoc">Maximum rotational acceleration.</div><div class="ttdef"><b>Definition:</b> rate_limiting.h:90</div></div>
+</div><!-- fragment -->
+<p>Maximum rotational velocity. </p>
+
+</div>
+</div>
+<a id="a6c1a0e9a5e1f375d2aad61edac907d4e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6c1a0e9a5e1f375d2aad61edac907d4e">&#9670;&nbsp;</a></span>kMaxTorqueRate</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">constexpr std::array&lt;double, 7&gt; franka::kMaxTorqueRate</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<b>Initial value:</b><div class="fragment"><div class="line">{</div>
+<div class="line">    {1000 - <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a>, 1000 - <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a>, 1000 - <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a>, 1000 - <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a>, 1000 - <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a>,</div>
+<div class="line">     1000 - <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a>, 1000 - <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a>}}</div>
+</div><!-- fragment -->
+<p>Maximum torque rate. </p>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="joint_impedance_control_8cpp-example.html#a12">joint_impedance_control.cpp</a>.</dd>
+</dl>
+
+</div>
+</div>
+<a id="a857e1e5e18d688ec7095264a629bf474"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a857e1e5e18d688ec7095264a629bf474">&#9670;&nbsp;</a></span>kMaxTranslationalVelocity</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">constexpr double franka::kMaxTranslationalVelocity</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<b>Initial value:</b><div class="fragment"><div class="line">=</div>
+<div class="line">    3.0000 - <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a> - <a class="code" href="rate__limiting_8h.html#a664b546834ceecd4e3220ffa92f1172c">kTolNumberPacketsLost</a> * <a class="code" href="rate__limiting_8h.html#a1e207a0d5a6e90c1e1a78e6e1057120a">kDeltaT</a> * <a class="code" href="rate__limiting_8h.html#a3803b1a54ba526ccaa4fa0d15446f3db">kMaxTranslationalAcceleration</a></div>
+<div class="ttc" id="arate__limiting_8h_html_a3803b1a54ba526ccaa4fa0d15446f3db"><div class="ttname"><a href="rate__limiting_8h.html#a3803b1a54ba526ccaa4fa0d15446f3db">franka::kMaxTranslationalAcceleration</a></div><div class="ttdeci">constexpr double kMaxTranslationalAcceleration</div><div class="ttdoc">Maximum translational acceleration.</div><div class="ttdef"><b>Definition:</b> rate_limiting.h:77</div></div>
+</div><!-- fragment -->
+<p>Maximum translational velocity. </p>
+
+</div>
+</div>
+<a id="a664b546834ceecd4e3220ffa92f1172c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a664b546834ceecd4e3220ffa92f1172c">&#9670;&nbsp;</a></span>kTolNumberPacketsLost</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">constexpr double franka::kTolNumberPacketsLost = 0.0</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Number of packets lost considered for the definition of velocity limits. </p>
+<p>When a packet is lost, FCI assumes a constant acceleration model. For FR3 there are no expected package loses. Therefore this number is set to 0. If you encounter package loses with your setup you can increase this number </p>
+
+</div>
+</div>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
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+   &#160;<span id="projectnumber">0.13.6</span>
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+<div class="title">rate_limiting.h</div>  </div>
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+<a href="rate__limiting_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// Copyright (c) 2023 Franka Robotics GmbH</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Use of this source code is governed by the Apache-2.0 license, see LICENSE</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160; </div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;algorithm&gt;</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;array&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;cmath&gt;</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;limits&gt;</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="keyword">namespace </span>franka {</div>
+<div class="line"><a name="l00020"></a><span class="lineno"><a class="line" href="rate__limiting_8h.html#a1e207a0d5a6e90c1e1a78e6e1057120a">   20</a></span>&#160;constexpr <span class="keywordtype">double</span> <a class="code" href="rate__limiting_8h.html#a1e207a0d5a6e90c1e1a78e6e1057120a">kDeltaT</a> = 1e-3;</div>
+<div class="line"><a name="l00024"></a><span class="lineno"><a class="line" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">   24</a></span>&#160;constexpr <span class="keywordtype">double</span> <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a> = 1e-3;</div>
+<div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="rate__limiting_8h.html#a420d72830a872ef375d9d6cbb1c439b5">   28</a></span>&#160;constexpr <span class="keywordtype">double</span> <a class="code" href="rate__limiting_8h.html#a420d72830a872ef375d9d6cbb1c439b5">kNormEps</a> = std::numeric_limits&lt;double&gt;::epsilon();</div>
+<div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="rate__limiting_8h.html#a664b546834ceecd4e3220ffa92f1172c">   35</a></span>&#160;constexpr <span class="keywordtype">double</span> <a class="code" href="rate__limiting_8h.html#a664b546834ceecd4e3220ffa92f1172c">kTolNumberPacketsLost</a> = 0.0;</div>
+<div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="rate__limiting_8h.html#a19166d1a64c5a84f80b4ed3aa0bfb3a0">   39</a></span>&#160;constexpr <span class="keywordtype">double</span> <a class="code" href="rate__limiting_8h.html#a19166d1a64c5a84f80b4ed3aa0bfb3a0">kFactorCartesianRotationPoseInterface</a> = 0.99;</div>
+<div class="line"><a name="l00043"></a><span class="lineno"><a class="line" href="rate__limiting_8h.html#a6c1a0e9a5e1f375d2aad61edac907d4e">   43</a></span>&#160;constexpr std::array&lt;double, 7&gt; <a class="code" href="rate__limiting_8h.html#a6c1a0e9a5e1f375d2aad61edac907d4e">kMaxTorqueRate</a>{</div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    {1000 - <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a>, 1000 - <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a>, 1000 - <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a>, 1000 - <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a>, 1000 - <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a>,</div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;     1000 - <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a>, 1000 - <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a>}};</div>
+<div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="rate__limiting_8h.html#a600a21a6151ff2eee38294293dd8aeec">   49</a></span>&#160;constexpr std::array&lt;double, 7&gt; <a class="code" href="rate__limiting_8h.html#a600a21a6151ff2eee38294293dd8aeec">kMaxJointJerk</a>{</div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    {5000.0 - <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a>, 5000.0 - <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a>, 5000.0 - <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a>, 5000.0 - <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a>,</div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;     5000.0 - <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a>, 5000.0 - <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a>, 5000.0 - <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a>}};</div>
+<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="rate__limiting_8h.html#a826ecf0b7d214df69c1ee416d3e66b93">   55</a></span>&#160;constexpr std::array&lt;double, 7&gt; <a class="code" href="rate__limiting_8h.html#a826ecf0b7d214df69c1ee416d3e66b93">kMaxJointAcceleration</a>{</div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    {10.0000 - <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a>, 10.0000 - <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a>, 10.0000 - <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a>, 10.0000 - <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a>,</div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;     10.0000 - <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a>, 10.0000 - <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a>, 10.0000 - <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a>}};</div>
+<div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="rate__limiting_8h.html#a39b6d9504e2844d289f834471994d889">   61</a></span>&#160;constexpr std::array&lt;double, 7&gt; <a class="code" href="rate__limiting_8h.html#a39b6d9504e2844d289f834471994d889">kJointVelocityLimitsTolerance</a>{</div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a> + <a class="code" href="rate__limiting_8h.html#a664b546834ceecd4e3220ffa92f1172c">kTolNumberPacketsLost</a> * <a class="code" href="rate__limiting_8h.html#a1e207a0d5a6e90c1e1a78e6e1057120a">kDeltaT</a> * <a class="code" href="rate__limiting_8h.html#a826ecf0b7d214df69c1ee416d3e66b93">kMaxJointAcceleration</a>[0],</div>
+<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a> + <a class="code" href="rate__limiting_8h.html#a664b546834ceecd4e3220ffa92f1172c">kTolNumberPacketsLost</a>* <a class="code" href="rate__limiting_8h.html#a1e207a0d5a6e90c1e1a78e6e1057120a">kDeltaT</a>* <a class="code" href="rate__limiting_8h.html#a826ecf0b7d214df69c1ee416d3e66b93">kMaxJointAcceleration</a>[1],</div>
+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a> + <a class="code" href="rate__limiting_8h.html#a664b546834ceecd4e3220ffa92f1172c">kTolNumberPacketsLost</a>* <a class="code" href="rate__limiting_8h.html#a1e207a0d5a6e90c1e1a78e6e1057120a">kDeltaT</a>* <a class="code" href="rate__limiting_8h.html#a826ecf0b7d214df69c1ee416d3e66b93">kMaxJointAcceleration</a>[2],</div>
+<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a> + <a class="code" href="rate__limiting_8h.html#a664b546834ceecd4e3220ffa92f1172c">kTolNumberPacketsLost</a>* <a class="code" href="rate__limiting_8h.html#a1e207a0d5a6e90c1e1a78e6e1057120a">kDeltaT</a>* <a class="code" href="rate__limiting_8h.html#a826ecf0b7d214df69c1ee416d3e66b93">kMaxJointAcceleration</a>[3],</div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a> + <a class="code" href="rate__limiting_8h.html#a664b546834ceecd4e3220ffa92f1172c">kTolNumberPacketsLost</a>* <a class="code" href="rate__limiting_8h.html#a1e207a0d5a6e90c1e1a78e6e1057120a">kDeltaT</a>* <a class="code" href="rate__limiting_8h.html#a826ecf0b7d214df69c1ee416d3e66b93">kMaxJointAcceleration</a>[4],</div>
+<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a> + <a class="code" href="rate__limiting_8h.html#a664b546834ceecd4e3220ffa92f1172c">kTolNumberPacketsLost</a>* <a class="code" href="rate__limiting_8h.html#a1e207a0d5a6e90c1e1a78e6e1057120a">kDeltaT</a>* <a class="code" href="rate__limiting_8h.html#a826ecf0b7d214df69c1ee416d3e66b93">kMaxJointAcceleration</a>[5],</div>
+<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a> + <a class="code" href="rate__limiting_8h.html#a664b546834ceecd4e3220ffa92f1172c">kTolNumberPacketsLost</a>* <a class="code" href="rate__limiting_8h.html#a1e207a0d5a6e90c1e1a78e6e1057120a">kDeltaT</a>* <a class="code" href="rate__limiting_8h.html#a826ecf0b7d214df69c1ee416d3e66b93">kMaxJointAcceleration</a>[6],</div>
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+<div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="rate__limiting_8h.html#a46b8f11959ed3f731a0914f524af8e69">   73</a></span>&#160;constexpr <span class="keywordtype">double</span> <a class="code" href="rate__limiting_8h.html#a46b8f11959ed3f731a0914f524af8e69">kMaxTranslationalJerk</a> = 4500.0 - <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a>;</div>
+<div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="rate__limiting_8h.html#a3803b1a54ba526ccaa4fa0d15446f3db">   77</a></span>&#160;constexpr <span class="keywordtype">double</span> <a class="code" href="rate__limiting_8h.html#a3803b1a54ba526ccaa4fa0d15446f3db">kMaxTranslationalAcceleration</a> = 9.0000 - <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a>;</div>
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+<div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="rate__limiting_8h.html#a259520ce1b6b5b85a88d05262286820d">   86</a></span>&#160;constexpr <span class="keywordtype">double</span> <a class="code" href="rate__limiting_8h.html#a259520ce1b6b5b85a88d05262286820d">kMaxRotationalJerk</a> = 8500.0 - <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a>;</div>
+<div class="line"><a name="l00090"></a><span class="lineno"><a class="line" href="rate__limiting_8h.html#a5e3d5c95ba72f9660f17f8ebf1e0aa2e">   90</a></span>&#160;constexpr <span class="keywordtype">double</span> <a class="code" href="rate__limiting_8h.html#a5e3d5c95ba72f9660f17f8ebf1e0aa2e">kMaxRotationalAcceleration</a> = 17.0000 - <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a>;</div>
+<div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="rate__limiting_8h.html#aafb1f5ef8f8a7abd546edea498c18b45">   94</a></span>&#160;constexpr <span class="keywordtype">double</span> <a class="code" href="rate__limiting_8h.html#aafb1f5ef8f8a7abd546edea498c18b45">kMaxRotationalVelocity</a> =</div>
+<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    2.5000 - <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a> - <a class="code" href="rate__limiting_8h.html#a664b546834ceecd4e3220ffa92f1172c">kTolNumberPacketsLost</a> * <a class="code" href="rate__limiting_8h.html#a1e207a0d5a6e90c1e1a78e6e1057120a">kDeltaT</a> * <a class="code" href="rate__limiting_8h.html#a5e3d5c95ba72f9660f17f8ebf1e0aa2e">kMaxRotationalAcceleration</a>;</div>
+<div class="line"><a name="l00099"></a><span class="lineno"><a class="line" href="rate__limiting_8h.html#adc70178204d4da073c78de777a2dff74">   99</a></span>&#160;constexpr <span class="keywordtype">double</span> <a class="code" href="rate__limiting_8h.html#adc70178204d4da073c78de777a2dff74">kMaxElbowJerk</a> = 5000 - <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a>;</div>
+<div class="line"><a name="l00103"></a><span class="lineno"><a class="line" href="rate__limiting_8h.html#af365e574ad7b1580ce15e30dd909b3ba">  103</a></span>&#160;constexpr <span class="keywordtype">double</span> <a class="code" href="rate__limiting_8h.html#af365e574ad7b1580ce15e30dd909b3ba">kMaxElbowAcceleration</a> = 10.0000 - <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a>;</div>
+<div class="line"><a name="l00107"></a><span class="lineno"><a class="line" href="rate__limiting_8h.html#a2896b2e0c8bd96f9ee242c1203ac3483">  107</a></span>&#160;constexpr <span class="keywordtype">double</span> <a class="code" href="rate__limiting_8h.html#a2896b2e0c8bd96f9ee242c1203ac3483">kMaxElbowVelocity</a> =</div>
+<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    1.5000 - <a class="code" href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">kLimitEps</a> - <a class="code" href="rate__limiting_8h.html#a664b546834ceecd4e3220ffa92f1172c">kTolNumberPacketsLost</a> * <a class="code" href="rate__limiting_8h.html#a1e207a0d5a6e90c1e1a78e6e1057120a">kDeltaT</a> * <a class="code" href="rate__limiting_8h.html#af365e574ad7b1580ce15e30dd909b3ba">kMaxElbowAcceleration</a>;</div>
+<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
+<div class="line"><a name="l00120"></a><span class="lineno"><a class="line" href="rate__limiting_8h.html#a3a025c3c8f71f59627fe4f7e801021ac">  120</a></span>&#160;<span class="keyword">inline</span> std::array&lt;double, 7&gt; <a class="code" href="rate__limiting_8h.html#a3a025c3c8f71f59627fe4f7e801021ac">computeUpperLimitsJointVelocity</a>(<span class="keyword">const</span> std::array&lt;double, 7&gt;&amp; q) {</div>
+<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  <span class="keywordflow">return</span> std::array&lt;double, 7&gt;{</div>
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+<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;          <a class="code" href="rate__limiting_8h.html#a39b6d9504e2844d289f834471994d889">kJointVelocityLimitsTolerance</a>[0],</div>
+<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;      std::min(2.62, std::max(0.0, -0.20 + std::sqrt(std::max(0.0, 5.17 * (1.79180 - q[1]))))) -</div>
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+<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;          <a class="code" href="rate__limiting_8h.html#a39b6d9504e2844d289f834471994d889">kJointVelocityLimitsTolerance</a>[2],</div>
+<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      std::min(2.62, std::max(0.0, -0.30 + std::sqrt(std::max(0.0, 8.00 * (-0.1458 - q[3]))))) -</div>
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+<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      std::min(5.26, std::max(0.0, -0.35 + std::sqrt(std::max(0.0, 34.0 * (2.81010 - q[4]))))) -</div>
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+<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  <span class="keywordflow">return</span> std::array&lt;double, 7&gt;{</div>
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+<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160; </div>
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+<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160; </div>
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+<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;                 <span class="keywordtype">double</span> lower_limits_velocity,</div>
+<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;                 <span class="keywordtype">double</span> max_acceleration,</div>
+<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;                 <span class="keywordtype">double</span> max_jerk,</div>
+<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;                 <span class="keywordtype">double</span> commanded_velocity,</div>
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+<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;                 <span class="keywordtype">double</span> last_commanded_acceleration);</div>
+<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160; </div>
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+<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;                 <span class="keywordtype">double</span> lower_limits_velocity,</div>
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+<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;                 <span class="keywordtype">double</span> max_jerk,</div>
+<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;                 <span class="keywordtype">double</span> commanded_position,</div>
+<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;                 <span class="keywordtype">double</span> last_commanded_position,</div>
+<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;                 <span class="keywordtype">double</span> last_commanded_velocity,</div>
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+<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160; </div>
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+<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;                                <span class="keyword">const</span> std::array&lt;double, 7&gt;&amp; lower_limits_velocity,</div>
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+<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;                                <span class="keyword">const</span> std::array&lt;double, 7&gt;&amp; max_jerk,</div>
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+<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;    <span class="keywordtype">double</span> max_translational_jerk,</div>
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+<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;    <span class="keywordtype">double</span> max_rotational_acceleration,</div>
+<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;    <span class="keywordtype">double</span> max_rotational_jerk,</div>
+<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;    <span class="keyword">const</span> std::array&lt;double, 6&gt;&amp; O_dP_EE_c,         <span class="comment">// NOLINT(readability-identifier-naming)</span></div>
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+<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160; </div>
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+<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;    <span class="keywordtype">double</span> max_translational_jerk,</div>
+<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;    <span class="keywordtype">double</span> max_rotational_velocity,</div>
+<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;    <span class="keywordtype">double</span> max_rotational_acceleration,</div>
+<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;    <span class="keywordtype">double</span> max_rotational_jerk,</div>
+<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;    <span class="keyword">const</span> std::array&lt;double, 16&gt;&amp; O_T_EE_c,         <span class="comment">// NOLINT(readability-identifier-naming)</span></div>
+<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;    <span class="keyword">const</span> std::array&lt;double, 16&gt;&amp; last_O_T_EE_c,    <span class="comment">// NOLINT(readability-identifier-naming)</span></div>
+<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;    <span class="keyword">const</span> std::array&lt;double, 6&gt;&amp; last_O_dP_EE_c,    <span class="comment">// NOLINT(readability-identifier-naming)</span></div>
+<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;    <span class="keyword">const</span> std::array&lt;double, 6&gt;&amp; last_O_ddP_EE_c);  <span class="comment">// NOLINT(readability-identifier-naming)</span></div>
+<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160; </div>
+<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;}  <span class="comment">// namespace franka</span></div>
+<div class="ttc" id="arate__limiting_8h_html_a19166d1a64c5a84f80b4ed3aa0bfb3a0"><div class="ttname"><a href="rate__limiting_8h.html#a19166d1a64c5a84f80b4ed3aa0bfb3a0">franka::kFactorCartesianRotationPoseInterface</a></div><div class="ttdeci">constexpr double kFactorCartesianRotationPoseInterface</div><div class="ttdoc">Factor for the definition of rotational limits using the Cartesian Pose interface.</div><div class="ttdef"><b>Definition:</b> rate_limiting.h:39</div></div>
+<div class="ttc" id="arate__limiting_8h_html_a1e207a0d5a6e90c1e1a78e6e1057120a"><div class="ttname"><a href="rate__limiting_8h.html#a1e207a0d5a6e90c1e1a78e6e1057120a">franka::kDeltaT</a></div><div class="ttdeci">constexpr double kDeltaT</div><div class="ttdoc">Sample time constant.</div><div class="ttdef"><b>Definition:</b> rate_limiting.h:20</div></div>
+<div class="ttc" id="arate__limiting_8h_html_a259520ce1b6b5b85a88d05262286820d"><div class="ttname"><a href="rate__limiting_8h.html#a259520ce1b6b5b85a88d05262286820d">franka::kMaxRotationalJerk</a></div><div class="ttdeci">constexpr double kMaxRotationalJerk</div><div class="ttdoc">Maximum rotational jerk.</div><div class="ttdef"><b>Definition:</b> rate_limiting.h:86</div></div>
+<div class="ttc" id="arate__limiting_8h_html_a2896b2e0c8bd96f9ee242c1203ac3483"><div class="ttname"><a href="rate__limiting_8h.html#a2896b2e0c8bd96f9ee242c1203ac3483">franka::kMaxElbowVelocity</a></div><div class="ttdeci">constexpr double kMaxElbowVelocity</div><div class="ttdoc">Maximum elbow velocity.</div><div class="ttdef"><b>Definition:</b> rate_limiting.h:107</div></div>
+<div class="ttc" id="arate__limiting_8h_html_a3803b1a54ba526ccaa4fa0d15446f3db"><div class="ttname"><a href="rate__limiting_8h.html#a3803b1a54ba526ccaa4fa0d15446f3db">franka::kMaxTranslationalAcceleration</a></div><div class="ttdeci">constexpr double kMaxTranslationalAcceleration</div><div class="ttdoc">Maximum translational acceleration.</div><div class="ttdef"><b>Definition:</b> rate_limiting.h:77</div></div>
+<div class="ttc" id="arate__limiting_8h_html_a39b6d9504e2844d289f834471994d889"><div class="ttname"><a href="rate__limiting_8h.html#a39b6d9504e2844d289f834471994d889">franka::kJointVelocityLimitsTolerance</a></div><div class="ttdeci">constexpr std::array&lt; double, 7 &gt; kJointVelocityLimitsTolerance</div><div class="ttdoc">Tolerance value for joint velocity limits to deal with numerical errors and data losses.</div><div class="ttdef"><b>Definition:</b> rate_limiting.h:61</div></div>
+<div class="ttc" id="arate__limiting_8h_html_a3a025c3c8f71f59627fe4f7e801021ac"><div class="ttname"><a href="rate__limiting_8h.html#a3a025c3c8f71f59627fe4f7e801021ac">franka::computeUpperLimitsJointVelocity</a></div><div class="ttdeci">std::array&lt; double, 7 &gt; computeUpperLimitsJointVelocity(const std::array&lt; double, 7 &gt; &amp;q)</div><div class="ttdoc">Computes the maximum joint velocity based on joint position.</div><div class="ttdef"><b>Definition:</b> rate_limiting.h:120</div></div>
+<div class="ttc" id="arate__limiting_8h_html_a420d72830a872ef375d9d6cbb1c439b5"><div class="ttname"><a href="rate__limiting_8h.html#a420d72830a872ef375d9d6cbb1c439b5">franka::kNormEps</a></div><div class="ttdeci">constexpr double kNormEps</div><div class="ttdoc">Epsilon value for limiting Cartesian accelerations/jerks or not.</div><div class="ttdef"><b>Definition:</b> rate_limiting.h:28</div></div>
+<div class="ttc" id="arate__limiting_8h_html_a46b8f11959ed3f731a0914f524af8e69"><div class="ttname"><a href="rate__limiting_8h.html#a46b8f11959ed3f731a0914f524af8e69">franka::kMaxTranslationalJerk</a></div><div class="ttdeci">constexpr double kMaxTranslationalJerk</div><div class="ttdoc">Maximum translational jerk.</div><div class="ttdef"><b>Definition:</b> rate_limiting.h:73</div></div>
+<div class="ttc" id="arate__limiting_8h_html_a5e3d5c95ba72f9660f17f8ebf1e0aa2e"><div class="ttname"><a href="rate__limiting_8h.html#a5e3d5c95ba72f9660f17f8ebf1e0aa2e">franka::kMaxRotationalAcceleration</a></div><div class="ttdeci">constexpr double kMaxRotationalAcceleration</div><div class="ttdoc">Maximum rotational acceleration.</div><div class="ttdef"><b>Definition:</b> rate_limiting.h:90</div></div>
+<div class="ttc" id="arate__limiting_8h_html_a600a21a6151ff2eee38294293dd8aeec"><div class="ttname"><a href="rate__limiting_8h.html#a600a21a6151ff2eee38294293dd8aeec">franka::kMaxJointJerk</a></div><div class="ttdeci">constexpr std::array&lt; double, 7 &gt; kMaxJointJerk</div><div class="ttdoc">Maximum joint jerk.</div><div class="ttdef"><b>Definition:</b> rate_limiting.h:49</div></div>
+<div class="ttc" id="arate__limiting_8h_html_a664b546834ceecd4e3220ffa92f1172c"><div class="ttname"><a href="rate__limiting_8h.html#a664b546834ceecd4e3220ffa92f1172c">franka::kTolNumberPacketsLost</a></div><div class="ttdeci">constexpr double kTolNumberPacketsLost</div><div class="ttdoc">Number of packets lost considered for the definition of velocity limits.</div><div class="ttdef"><b>Definition:</b> rate_limiting.h:35</div></div>
+<div class="ttc" id="arate__limiting_8h_html_a6c1a0e9a5e1f375d2aad61edac907d4e"><div class="ttname"><a href="rate__limiting_8h.html#a6c1a0e9a5e1f375d2aad61edac907d4e">franka::kMaxTorqueRate</a></div><div class="ttdeci">constexpr std::array&lt; double, 7 &gt; kMaxTorqueRate</div><div class="ttdoc">Maximum torque rate.</div><div class="ttdef"><b>Definition:</b> rate_limiting.h:43</div></div>
+<div class="ttc" id="arate__limiting_8h_html_a75fe6c28325d7631f7bdb6c2b388b268"><div class="ttname"><a href="rate__limiting_8h.html#a75fe6c28325d7631f7bdb6c2b388b268">franka::computeLowerLimitsJointVelocity</a></div><div class="ttdeci">std::array&lt; double, 7 &gt; computeLowerLimitsJointVelocity(const std::array&lt; double, 7 &gt; &amp;q)</div><div class="ttdoc">Computes the minimum joint velocity based on joint position.</div><div class="ttdef"><b>Definition:</b> rate_limiting.h:149</div></div>
+<div class="ttc" id="arate__limiting_8h_html_a826ecf0b7d214df69c1ee416d3e66b93"><div class="ttname"><a href="rate__limiting_8h.html#a826ecf0b7d214df69c1ee416d3e66b93">franka::kMaxJointAcceleration</a></div><div class="ttdeci">constexpr std::array&lt; double, 7 &gt; kMaxJointAcceleration</div><div class="ttdoc">Maximum joint acceleration.</div><div class="ttdef"><b>Definition:</b> rate_limiting.h:55</div></div>
+<div class="ttc" id="arate__limiting_8h_html_a857e1e5e18d688ec7095264a629bf474"><div class="ttname"><a href="rate__limiting_8h.html#a857e1e5e18d688ec7095264a629bf474">franka::kMaxTranslationalVelocity</a></div><div class="ttdeci">constexpr double kMaxTranslationalVelocity</div><div class="ttdoc">Maximum translational velocity.</div><div class="ttdef"><b>Definition:</b> rate_limiting.h:81</div></div>
+<div class="ttc" id="arate__limiting_8h_html_aad1f9b575274830b8da9e638559d424b"><div class="ttname"><a href="rate__limiting_8h.html#aad1f9b575274830b8da9e638559d424b">franka::kLimitEps</a></div><div class="ttdeci">constexpr double kLimitEps</div><div class="ttdoc">Epsilon value for checking limits.</div><div class="ttdef"><b>Definition:</b> rate_limiting.h:24</div></div>
+<div class="ttc" id="arate__limiting_8h_html_aafb1f5ef8f8a7abd546edea498c18b45"><div class="ttname"><a href="rate__limiting_8h.html#aafb1f5ef8f8a7abd546edea498c18b45">franka::kMaxRotationalVelocity</a></div><div class="ttdeci">constexpr double kMaxRotationalVelocity</div><div class="ttdoc">Maximum rotational velocity.</div><div class="ttdef"><b>Definition:</b> rate_limiting.h:94</div></div>
+<div class="ttc" id="arate__limiting_8h_html_adc70178204d4da073c78de777a2dff74"><div class="ttname"><a href="rate__limiting_8h.html#adc70178204d4da073c78de777a2dff74">franka::kMaxElbowJerk</a></div><div class="ttdeci">constexpr double kMaxElbowJerk</div><div class="ttdoc">Maximum elbow jerk.</div><div class="ttdef"><b>Definition:</b> rate_limiting.h:99</div></div>
+<div class="ttc" id="arate__limiting_8h_html_aea6895d6bf209a86319c6cd5180e4b60"><div class="ttname"><a href="rate__limiting_8h.html#aea6895d6bf209a86319c6cd5180e4b60">franka::limitRate</a></div><div class="ttdeci">std::array&lt; double, 7 &gt; limitRate(const std::array&lt; double, 7 &gt; &amp;max_derivatives, const std::array&lt; double, 7 &gt; &amp;commanded_values, const std::array&lt; double, 7 &gt; &amp;last_commanded_values)</div><div class="ttdoc">Limits the rate of an input vector of per-joint commands considering the maximum allowed time derivat...</div></div>
+<div class="ttc" id="arate__limiting_8h_html_af365e574ad7b1580ce15e30dd909b3ba"><div class="ttname"><a href="rate__limiting_8h.html#af365e574ad7b1580ce15e30dd909b3ba">franka::kMaxElbowAcceleration</a></div><div class="ttdeci">constexpr double kMaxElbowAcceleration</div><div class="ttdoc">Maximum elbow acceleration.</div><div class="ttdef"><b>Definition:</b> rate_limiting.h:103</div></div>
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_5f30c89189ebb3336d6b33aa932838ba.html">franka</a></li>  </ul>
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+<a href="#nested-classes">Classes</a>  </div>
+  <div class="headertitle">
+<div class="title">robot.h File Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Contains the <a class="el" href="classfranka_1_1Robot.html" title="Maintains a network connection to the robot, provides the current robot state, gives access to the mo...">franka::Robot</a> type.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &lt;functional&gt;</code><br />
+<code>#include &lt;memory&gt;</code><br />
+<code>#include &lt;mutex&gt;</code><br />
+<code>#include &lt;string&gt;</code><br />
+<code>#include &lt;<a class="el" href="control__types_8h_source.html">franka/control_types.h</a>&gt;</code><br />
+<code>#include &lt;<a class="el" href="duration_8h_source.html">franka/duration.h</a>&gt;</code><br />
+<code>#include &lt;<a class="el" href="lowpass__filter_8h_source.html">franka/lowpass_filter.h</a>&gt;</code><br />
+<code>#include &lt;<a class="el" href="robot__state_8h_source.html">franka/robot_state.h</a>&gt;</code><br />
+<code>#include &lt;research_interface/robot/service_types.h&gt;</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for robot.h:</div>
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+This graph shows which files directly or indirectly include this file:</div>
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+<p><a href="robot_8h_source.html">Go to the source code of this file.</a></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1Robot.html">franka::Robot</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Maintains a network connection to the robot, provides the current robot state, gives access to the model library and allows to control the robot.  <a href="classfranka_1_1Robot.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Contains the <a class="el" href="classfranka_1_1Robot.html" title="Maintains a network connection to the robot, provides the current robot state, gives access to the mo...">franka::Robot</a> type. </p>
+</div></div><!-- contents -->
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_5f30c89189ebb3336d6b33aa932838ba.html">franka</a></li>  </ul>
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+<div class="title">robot.h</div>  </div>
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+<a href="robot_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// Copyright (c) 2023 Franka Robotics GmbH</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Use of this source code is governed by the Apache-2.0 license, see LICENSE</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160; </div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;functional&gt;</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;memory&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;mutex&gt;</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;string&gt;</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="control__types_8h.html">franka/control_types.h</a>&gt;</span></div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="duration_8h.html">franka/duration.h</a>&gt;</span></div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="lowpass__filter_8h.html">franka/lowpass_filter.h</a>&gt;</span></div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="robot__state_8h.html">franka/robot_state.h</a>&gt;</span></div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;research_interface/robot/service_types.h&gt;</span></div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160; </div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="keyword">namespace </span>franka {</div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160; </div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="keyword">class </span>Model;</div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160; </div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="keyword">class </span>ActiveControlBase;</div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160; </div>
+<div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="classfranka_1_1Robot.html">   67</a></span>&#160;<span class="keyword">class </span><a class="code" href="classfranka_1_1Robot.html">Robot</a> {</div>
+<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="classfranka_1_1Robot.html#ad1dd3dccff6f33691d2c66eaa5ac5a10">   72</a></span>&#160;  <span class="keyword">using</span> <a class="code" href="classfranka_1_1Robot.html#ad1dd3dccff6f33691d2c66eaa5ac5a10">ServerVersion</a> = uint16_t;</div>
+<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
+<div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="classfranka_1_1Robot.html#ae63bc19390df3d54f3a270814df35eb6">   86</a></span>&#160;  <span class="keyword">explicit</span> <a class="code" href="classfranka_1_1Robot.html#ae63bc19390df3d54f3a270814df35eb6">Robot</a>(<span class="keyword">const</span> std::string&amp; franka_address,</div>
+<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;                 <a class="code" href="control__types_8h.html#aeede4f4629390fea21ca5e5a35a8a943">RealtimeConfig</a> realtime_config = RealtimeConfig::kEnforce,</div>
+<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;                 <span class="keywordtype">size_t</span> log_size = 50);</div>
+<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
+<div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="classfranka_1_1Robot.html#a378d415475336082e81a35b9811dc6c2">   95</a></span>&#160;  <a class="code" href="classfranka_1_1Robot.html#a378d415475336082e81a35b9811dc6c2">Robot</a>(<a class="code" href="classfranka_1_1Robot.html">Robot</a>&amp;&amp; other) noexcept;</div>
+<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
+<div class="line"><a name="l00104"></a><span class="lineno"><a class="line" href="classfranka_1_1Robot.html#a35465b8497a7adbd277e70e98b7d97a7">  104</a></span>&#160;  <a class="code" href="classfranka_1_1Robot.html">Robot</a>&amp; <a class="code" href="classfranka_1_1Robot.html#a35465b8497a7adbd277e70e98b7d97a7">operator=</a>(<a class="code" href="classfranka_1_1Robot.html">Robot</a>&amp;&amp; other) noexcept;</div>
+<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
+<div class="line"><a name="l00109"></a><span class="lineno"><a class="line" href="classfranka_1_1Robot.html#ac19400de0fd39852d5825b1f1ccc85e2">  109</a></span>&#160;  <span class="keyword">virtual</span> <a class="code" href="classfranka_1_1Robot.html#ac19400de0fd39852d5825b1f1ccc85e2">~Robot</a>() noexcept;</div>
+<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160; </div>
+<div class="line"><a name="l00174"></a><span class="lineno"><a class="line" href="classfranka_1_1Robot.html#a0d5effba5daff2fee123802bbd5f95d1">  174</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classfranka_1_1Robot.html#a0d5effba5daff2fee123802bbd5f95d1">control</a>(std::function&lt;<a class="code" href="classfranka_1_1Torques.html">Torques</a>(const <a class="code" href="structfranka_1_1RobotState.html">RobotState</a>&amp;, franka::<a class="code" href="classfranka_1_1Duration.html">Duration</a>)&gt; control_callback,</div>
+<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;               <span class="keywordtype">bool</span> limit_rate = false,</div>
+<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;               <span class="keywordtype">double</span> cutoff_frequency = kDefaultCutoffFrequency);</div>
+<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160; </div>
+<div class="line"><a name="l00202"></a><span class="lineno"><a class="line" href="classfranka_1_1Robot.html#a4b625b781d388f3379e0961c724239d5">  202</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classfranka_1_1Robot.html#a0d5effba5daff2fee123802bbd5f95d1">control</a>(</div>
+<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      std::function&lt;<a class="code" href="classfranka_1_1Torques.html">Torques</a>(const <a class="code" href="structfranka_1_1RobotState.html">RobotState</a>&amp;, franka::<a class="code" href="classfranka_1_1Duration.html">Duration</a>)&gt; control_callback,</div>
+<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;      std::function&lt;<a class="code" href="classfranka_1_1JointPositions.html">JointPositions</a>(const <a class="code" href="structfranka_1_1RobotState.html">RobotState</a>&amp;, franka::<a class="code" href="classfranka_1_1Duration.html">Duration</a>)&gt; motion_generator_callback,</div>
+<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;      <span class="keywordtype">bool</span> limit_rate = false,</div>
+<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;      <span class="keywordtype">double</span> cutoff_frequency = kDefaultCutoffFrequency);</div>
+<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160; </div>
+<div class="line"><a name="l00232"></a><span class="lineno"><a class="line" href="classfranka_1_1Robot.html#a76e8b7a9c7e2b874c3e300ba7cdeb8ca">  232</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classfranka_1_1Robot.html#a0d5effba5daff2fee123802bbd5f95d1">control</a>(</div>
+<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;      std::function&lt;<a class="code" href="classfranka_1_1Torques.html">Torques</a>(const <a class="code" href="structfranka_1_1RobotState.html">RobotState</a>&amp;, franka::<a class="code" href="classfranka_1_1Duration.html">Duration</a>)&gt; control_callback,</div>
+<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;      std::function&lt;<a class="code" href="classfranka_1_1JointVelocities.html">JointVelocities</a>(const <a class="code" href="structfranka_1_1RobotState.html">RobotState</a>&amp;, franka::<a class="code" href="classfranka_1_1Duration.html">Duration</a>)&gt; motion_generator_callback,</div>
+<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;      <span class="keywordtype">bool</span> limit_rate = false,</div>
+<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;      <span class="keywordtype">double</span> cutoff_frequency = kDefaultCutoffFrequency);</div>
+<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160; </div>
+<div class="line"><a name="l00262"></a><span class="lineno"><a class="line" href="classfranka_1_1Robot.html#a4ce9fd531f97c8cc943dd2479298a55f">  262</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classfranka_1_1Robot.html#a0d5effba5daff2fee123802bbd5f95d1">control</a>(</div>
+<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;      std::function&lt;<a class="code" href="classfranka_1_1Torques.html">Torques</a>(const <a class="code" href="structfranka_1_1RobotState.html">RobotState</a>&amp;, franka::<a class="code" href="classfranka_1_1Duration.html">Duration</a>)&gt; control_callback,</div>
+<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;      std::function&lt;<a class="code" href="classfranka_1_1CartesianPose.html">CartesianPose</a>(const <a class="code" href="structfranka_1_1RobotState.html">RobotState</a>&amp;, franka::<a class="code" href="classfranka_1_1Duration.html">Duration</a>)&gt; motion_generator_callback,</div>
+<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;      <span class="keywordtype">bool</span> limit_rate = false,</div>
+<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;      <span class="keywordtype">double</span> cutoff_frequency = kDefaultCutoffFrequency);</div>
+<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160; </div>
+<div class="line"><a name="l00292"></a><span class="lineno"><a class="line" href="classfranka_1_1Robot.html#aeb276d0a0e55f032841976de7db86f5a">  292</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classfranka_1_1Robot.html#a0d5effba5daff2fee123802bbd5f95d1">control</a>(std::function&lt;<a class="code" href="classfranka_1_1Torques.html">Torques</a>(const <a class="code" href="structfranka_1_1RobotState.html">RobotState</a>&amp;, franka::<a class="code" href="classfranka_1_1Duration.html">Duration</a>)&gt; control_callback,</div>
+<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;               std::function&lt;<a class="code" href="classfranka_1_1CartesianVelocities.html">CartesianVelocities</a>(const <a class="code" href="structfranka_1_1RobotState.html">RobotState</a>&amp;, franka::<a class="code" href="classfranka_1_1Duration.html">Duration</a>)&gt;</div>
+<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;                   motion_generator_callback,</div>
+<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;               <span class="keywordtype">bool</span> limit_rate = false,</div>
+<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;               <span class="keywordtype">double</span> cutoff_frequency = kDefaultCutoffFrequency);</div>
+<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160; </div>
+<div class="line"><a name="l00320"></a><span class="lineno"><a class="line" href="classfranka_1_1Robot.html#a7fef8f6418cff168f680ac7c61a6b5cd">  320</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classfranka_1_1Robot.html#a0d5effba5daff2fee123802bbd5f95d1">control</a>(</div>
+<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;      std::function&lt;<a class="code" href="classfranka_1_1JointPositions.html">JointPositions</a>(const <a class="code" href="structfranka_1_1RobotState.html">RobotState</a>&amp;, franka::<a class="code" href="classfranka_1_1Duration.html">Duration</a>)&gt; motion_generator_callback,</div>
+<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;      <a class="code" href="control__types_8h.html#a3e20bc77587e2c0c53598753e3f4816b">ControllerMode</a> controller_mode = <a class="code" href="control__types_8h.html#a3e20bc77587e2c0c53598753e3f4816b">ControllerMode</a>::kJointImpedance,</div>
+<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;      <span class="keywordtype">bool</span> limit_rate = false,</div>
+<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;      <span class="keywordtype">double</span> cutoff_frequency = kDefaultCutoffFrequency);</div>
+<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160; </div>
+<div class="line"><a name="l00348"></a><span class="lineno"><a class="line" href="classfranka_1_1Robot.html#a6ba6193e52178899dc8c6a34aa4c537c">  348</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classfranka_1_1Robot.html#a0d5effba5daff2fee123802bbd5f95d1">control</a>(</div>
+<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;      std::function&lt;<a class="code" href="classfranka_1_1JointVelocities.html">JointVelocities</a>(const <a class="code" href="structfranka_1_1RobotState.html">RobotState</a>&amp;, franka::<a class="code" href="classfranka_1_1Duration.html">Duration</a>)&gt; motion_generator_callback,</div>
+<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;      <a class="code" href="control__types_8h.html#a3e20bc77587e2c0c53598753e3f4816b">ControllerMode</a> controller_mode = <a class="code" href="control__types_8h.html#a3e20bc77587e2c0c53598753e3f4816b">ControllerMode</a>::kJointImpedance,</div>
+<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;      <span class="keywordtype">bool</span> limit_rate = false,</div>
+<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;      <span class="keywordtype">double</span> cutoff_frequency = kDefaultCutoffFrequency);</div>
+<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160; </div>
+<div class="line"><a name="l00376"></a><span class="lineno"><a class="line" href="classfranka_1_1Robot.html#adce4add23b47befadccd30e3dbe9f2f4">  376</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classfranka_1_1Robot.html#a0d5effba5daff2fee123802bbd5f95d1">control</a>(</div>
+<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;      std::function&lt;<a class="code" href="classfranka_1_1CartesianPose.html">CartesianPose</a>(const <a class="code" href="structfranka_1_1RobotState.html">RobotState</a>&amp;, franka::<a class="code" href="classfranka_1_1Duration.html">Duration</a>)&gt; motion_generator_callback,</div>
+<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;      <a class="code" href="control__types_8h.html#a3e20bc77587e2c0c53598753e3f4816b">ControllerMode</a> controller_mode = <a class="code" href="control__types_8h.html#a3e20bc77587e2c0c53598753e3f4816b">ControllerMode</a>::kJointImpedance,</div>
+<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;      <span class="keywordtype">bool</span> limit_rate = false,</div>
+<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;      <span class="keywordtype">double</span> cutoff_frequency = kDefaultCutoffFrequency);</div>
+<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160; </div>
+<div class="line"><a name="l00404"></a><span class="lineno"><a class="line" href="classfranka_1_1Robot.html#a2176c99664b83bb394f0b2dfd416a8ee">  404</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classfranka_1_1Robot.html#a0d5effba5daff2fee123802bbd5f95d1">control</a>(std::function&lt;<a class="code" href="classfranka_1_1CartesianVelocities.html">CartesianVelocities</a>(const <a class="code" href="structfranka_1_1RobotState.html">RobotState</a>&amp;, franka::<a class="code" href="classfranka_1_1Duration.html">Duration</a>)&gt;</div>
+<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;                   motion_generator_callback,</div>
+<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;               <a class="code" href="control__types_8h.html#a3e20bc77587e2c0c53598753e3f4816b">ControllerMode</a> controller_mode = <a class="code" href="control__types_8h.html#a3e20bc77587e2c0c53598753e3f4816b">ControllerMode</a>::kJointImpedance,</div>
+<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;               <span class="keywordtype">bool</span> limit_rate = false,</div>
+<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;               <span class="keywordtype">double</span> cutoff_frequency = kDefaultCutoffFrequency);</div>
+<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160; </div>
+<div class="line"><a name="l00434"></a><span class="lineno"><a class="line" href="classfranka_1_1Robot.html#a82f85eed20426901a7e77b66c041664b">  434</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classfranka_1_1Robot.html#a82f85eed20426901a7e77b66c041664b">read</a>(std::function&lt;<span class="keywordtype">bool</span>(const <a class="code" href="structfranka_1_1RobotState.html">RobotState</a>&amp;)&gt; read_callback);</div>
+<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160; </div>
+<div class="line"><a name="l00448"></a><span class="lineno"><a class="line" href="classfranka_1_1Robot.html#ae3c3d7c5c4491a1e96a0a543931e899a">  448</a></span>&#160;  virtual <a class="code" href="structfranka_1_1RobotState.html">RobotState</a> <a class="code" href="classfranka_1_1Robot.html#ae3c3d7c5c4491a1e96a0a543931e899a">readOnce</a>();</div>
+<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160; </div>
+<div class="line"><a name="l00494"></a><span class="lineno"><a class="line" href="classfranka_1_1Robot.html#a168e1214ac36d74ac64f894332b84534">  494</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classfranka_1_1Robot.html#a168e1214ac36d74ac64f894332b84534">setCollisionBehavior</a>(const std::array&lt;<span class="keywordtype">double</span>, 7&gt;&amp; lower_torque_thresholds_acceleration,</div>
+<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;                            const std::array&lt;<span class="keywordtype">double</span>, 7&gt;&amp; upper_torque_thresholds_acceleration,</div>
+<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;                            const std::array&lt;<span class="keywordtype">double</span>, 7&gt;&amp; lower_torque_thresholds_nominal,</div>
+<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;                            const std::array&lt;<span class="keywordtype">double</span>, 7&gt;&amp; upper_torque_thresholds_nominal,</div>
+<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;                            const std::array&lt;<span class="keywordtype">double</span>, 6&gt;&amp; lower_force_thresholds_acceleration,</div>
+<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;                            const std::array&lt;<span class="keywordtype">double</span>, 6&gt;&amp; upper_force_thresholds_acceleration,</div>
+<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;                            const std::array&lt;<span class="keywordtype">double</span>, 6&gt;&amp; lower_force_thresholds_nominal,</div>
+<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;                            const std::array&lt;<span class="keywordtype">double</span>, 6&gt;&amp; upper_force_thresholds_nominal);</div>
+<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160; </div>
+<div class="line"><a name="l00529"></a><span class="lineno"><a class="line" href="classfranka_1_1Robot.html#aa188f58c9025594be4d1700da744a962">  529</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classfranka_1_1Robot.html#a168e1214ac36d74ac64f894332b84534">setCollisionBehavior</a>(const std::array&lt;<span class="keywordtype">double</span>, 7&gt;&amp; lower_torque_thresholds,</div>
+<div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;                            const std::array&lt;<span class="keywordtype">double</span>, 7&gt;&amp; upper_torque_thresholds,</div>
+<div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;                            const std::array&lt;<span class="keywordtype">double</span>, 6&gt;&amp; lower_force_thresholds,</div>
+<div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160;                            const std::array&lt;<span class="keywordtype">double</span>, 6&gt;&amp; upper_force_thresholds);</div>
+<div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160; </div>
+<div class="line"><a name="l00545"></a><span class="lineno"><a class="line" href="classfranka_1_1Robot.html#aa18a28697cf6e3be16c6cff2dd839560">  545</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classfranka_1_1Robot.html#aa18a28697cf6e3be16c6cff2dd839560">setJointImpedance</a>(</div>
+<div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;      const std::array&lt;<span class="keywordtype">double</span>, 7&gt;&amp; K_theta);  <span class="comment">// NOLINT(readability-identifier-naming)</span></div>
+<div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160; </div>
+<div class="line"><a name="l00562"></a><span class="lineno"><a class="line" href="classfranka_1_1Robot.html#ac2678c5c31cc8c0627ecda7485f81f6d">  562</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classfranka_1_1Robot.html#ac2678c5c31cc8c0627ecda7485f81f6d">setCartesianImpedance</a>(</div>
+<div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160;      const std::array&lt;<span class="keywordtype">double</span>, 6&gt;&amp; K_x);  <span class="comment">// NOLINT(readability-identifier-naming)</span></div>
+<div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160; </div>
+<div class="line"><a name="l00579"></a><span class="lineno"><a class="line" href="classfranka_1_1Robot.html#a7992cee203e66f9a61fe2f318ef88a26">  579</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classfranka_1_1Robot.html#a7992cee203e66f9a61fe2f318ef88a26">setGuidingMode</a>(const std::array&lt;<span class="keywordtype">bool</span>, 6&gt;&amp; guiding_mode, <span class="keywordtype">bool</span> elbow);</div>
+<div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160; </div>
+<div class="line"><a name="l00593"></a><span class="lineno"><a class="line" href="classfranka_1_1Robot.html#ad1cf59d1b11306d80cd3c7144a989c56">  593</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classfranka_1_1Robot.html#ad1cf59d1b11306d80cd3c7144a989c56">setK</a>(const std::array&lt;<span class="keywordtype">double</span>, 16&gt;&amp; EE_T_K);  <span class="comment">// NOLINT(readability-identifier-naming)</span></div>
+<div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160; </div>
+<div class="line"><a name="l00610"></a><span class="lineno"><a class="line" href="classfranka_1_1Robot.html#aec4abdefbc0f9a7400a36bfa0a6068af">  610</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classfranka_1_1Robot.html#aec4abdefbc0f9a7400a36bfa0a6068af">setEE</a>(const std::array&lt;<span class="keywordtype">double</span>, 16&gt;&amp; NE_T_EE);  <span class="comment">// NOLINT(readability-identifier-naming)</span></div>
+<div class="line"><a name="l00611"></a><span class="lineno">  611</span>&#160; </div>
+<div class="line"><a name="l00628"></a><span class="lineno"><a class="line" href="classfranka_1_1Robot.html#afcb708df10f24563dbcf7d5b907b4a15">  628</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classfranka_1_1Robot.html#afcb708df10f24563dbcf7d5b907b4a15">setLoad</a>(<span class="keywordtype">double</span> load_mass,</div>
+<div class="line"><a name="l00629"></a><span class="lineno">  629</span>&#160;               const std::array&lt;<span class="keywordtype">double</span>, 3&gt;&amp; F_x_Cload,  <span class="comment">// NOLINT(readability-identifier-naming)</span></div>
+<div class="line"><a name="l00630"></a><span class="lineno">  630</span>&#160;               const std::array&lt;<span class="keywordtype">double</span>, 9&gt;&amp; load_inertia);</div>
+<div class="line"><a name="l00631"></a><span class="lineno">  631</span>&#160; </div>
+<div class="line"><a name="l00640"></a><span class="lineno"><a class="line" href="classfranka_1_1Robot.html#af682aa673415718715bd859116bc2fed">  640</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classfranka_1_1Robot.html#af682aa673415718715bd859116bc2fed">automaticErrorRecovery</a>();</div>
+<div class="line"><a name="l00641"></a><span class="lineno">  641</span>&#160; </div>
+<div class="line"><a name="l00653"></a><span class="lineno"><a class="line" href="classfranka_1_1Robot.html#a8146de9e50217068672b6f726a91de91">  653</a></span>&#160;  virtual std::unique_ptr&lt;<a class="code" href="classfranka_1_1ActiveControlBase.html">ActiveControlBase</a>&gt; <a class="code" href="classfranka_1_1Robot.html#a8146de9e50217068672b6f726a91de91">startTorqueControl</a>();</div>
+<div class="line"><a name="l00654"></a><span class="lineno">  654</span>&#160; </div>
+<div class="line"><a name="l00668"></a><span class="lineno"><a class="line" href="classfranka_1_1Robot.html#aca7ecf76cf9c5af49cc5a878c91e19a9">  668</a></span>&#160;  virtual std::unique_ptr&lt;<a class="code" href="classfranka_1_1ActiveControlBase.html">ActiveControlBase</a>&gt; <a class="code" href="classfranka_1_1Robot.html#aca7ecf76cf9c5af49cc5a878c91e19a9">startJointPositionControl</a>(</div>
+<div class="line"><a name="l00669"></a><span class="lineno">  669</span>&#160;      const research_interface::robot::Move::<a class="code" href="control__types_8h.html#a3e20bc77587e2c0c53598753e3f4816b">ControllerMode</a>&amp; control_type);</div>
+<div class="line"><a name="l00670"></a><span class="lineno">  670</span>&#160; </div>
+<div class="line"><a name="l00683"></a><span class="lineno"><a class="line" href="classfranka_1_1Robot.html#ae9c867d10817b2485e306450f389a009">  683</a></span>&#160;  virtual std::unique_ptr&lt;<a class="code" href="classfranka_1_1ActiveControlBase.html">ActiveControlBase</a>&gt; <a class="code" href="classfranka_1_1Robot.html#ae9c867d10817b2485e306450f389a009">startJointVelocityControl</a>(</div>
+<div class="line"><a name="l00684"></a><span class="lineno">  684</span>&#160;      const research_interface::robot::Move::<a class="code" href="control__types_8h.html#a3e20bc77587e2c0c53598753e3f4816b">ControllerMode</a>&amp; control_type);</div>
+<div class="line"><a name="l00685"></a><span class="lineno">  685</span>&#160; </div>
+<div class="line"><a name="l00698"></a><span class="lineno"><a class="line" href="classfranka_1_1Robot.html#a3822866cf931fab955d3dcfc6cf746e5">  698</a></span>&#160;  virtual std::unique_ptr&lt;<a class="code" href="classfranka_1_1ActiveControlBase.html">ActiveControlBase</a>&gt; <a class="code" href="classfranka_1_1Robot.html#a3822866cf931fab955d3dcfc6cf746e5">startCartesianPoseControl</a>(</div>
+<div class="line"><a name="l00699"></a><span class="lineno">  699</span>&#160;      const research_interface::robot::Move::<a class="code" href="control__types_8h.html#a3e20bc77587e2c0c53598753e3f4816b">ControllerMode</a>&amp; control_type);</div>
+<div class="line"><a name="l00700"></a><span class="lineno">  700</span>&#160; </div>
+<div class="line"><a name="l00714"></a><span class="lineno"><a class="line" href="classfranka_1_1Robot.html#a838e2cfba6b08dd87742bbcfe62f15bf">  714</a></span>&#160;  virtual std::unique_ptr&lt;<a class="code" href="classfranka_1_1ActiveControlBase.html">ActiveControlBase</a>&gt; <a class="code" href="classfranka_1_1Robot.html#a838e2cfba6b08dd87742bbcfe62f15bf">startCartesianVelocityControl</a>(</div>
+<div class="line"><a name="l00715"></a><span class="lineno">  715</span>&#160;      const research_interface::robot::Move::<a class="code" href="control__types_8h.html#a3e20bc77587e2c0c53598753e3f4816b">ControllerMode</a>&amp; control_type);</div>
+<div class="line"><a name="l00716"></a><span class="lineno">  716</span>&#160; </div>
+<div class="line"><a name="l00726"></a><span class="lineno"><a class="line" href="classfranka_1_1Robot.html#a69cb08e075a81ecf3f26e94d26a06296">  726</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classfranka_1_1Robot.html#a69cb08e075a81ecf3f26e94d26a06296">stop</a>();</div>
+<div class="line"><a name="l00727"></a><span class="lineno">  727</span>&#160; </div>
+<div class="line"><a name="l00740"></a><span class="lineno"><a class="line" href="classfranka_1_1Robot.html#a2da598c539469827409ac7e3bb61d5da">  740</a></span>&#160;  <a class="code" href="classfranka_1_1Model.html">Model</a> <a class="code" href="classfranka_1_1Robot.html#a2da598c539469827409ac7e3bb61d5da">loadModel</a>();</div>
+<div class="line"><a name="l00741"></a><span class="lineno">  741</span>&#160; </div>
+<div class="line"><a name="l00747"></a><span class="lineno"><a class="line" href="classfranka_1_1Robot.html#a3b864e16b7accafdf1a755dc21765701">  747</a></span>&#160;  <a class="code" href="classfranka_1_1Robot.html#ad1dd3dccff6f33691d2c66eaa5ac5a10">ServerVersion</a> <a class="code" href="classfranka_1_1Robot.html#a3b864e16b7accafdf1a755dc21765701">serverVersion</a>() const noexcept;</div>
+<div class="line"><a name="l00748"></a><span class="lineno">  748</span>&#160; </div>
+<div class="line"><a name="l00750"></a><span class="lineno">  750</span>&#160;  <a class="code" href="classfranka_1_1Robot.html">Robot</a>(const <a class="code" href="classfranka_1_1Robot.html">Robot</a>&amp;) = delete;</div>
+<div class="line"><a name="l00751"></a><span class="lineno">  751</span>&#160;  <a class="code" href="classfranka_1_1Robot.html">Robot</a>&amp; operator=(const <a class="code" href="classfranka_1_1Robot.html">Robot</a>&amp;) = delete;</div>
+<div class="line"><a name="l00753"></a><span class="lineno">  753</span>&#160; </div>
+<div class="line"><a name="l00754"></a><span class="lineno">  754</span>&#160;  class Impl;</div>
+<div class="line"><a name="l00755"></a><span class="lineno">  755</span>&#160; </div>
+<div class="line"><a name="l00756"></a><span class="lineno">  756</span>&#160; protected:</div>
+<div class="line"><a name="l00762"></a><span class="lineno"><a class="line" href="classfranka_1_1Robot.html#a7cb49336d7e8b261b590a364daff2913">  762</a></span>&#160;  <a class="code" href="classfranka_1_1Robot.html">Robot</a>(std::shared_ptr&lt;Impl&gt; robot_impl);</div>
+<div class="line"><a name="l00763"></a><span class="lineno">  763</span>&#160; </div>
+<div class="line"><a name="l00767"></a><span class="lineno"><a class="line" href="classfranka_1_1Robot.html#abf60ce0434f4dc262f04fcab0beff5ac">  767</a></span>&#160;  <a class="code" href="classfranka_1_1Robot.html">Robot</a>() = default;</div>
+<div class="line"><a name="l00768"></a><span class="lineno">  768</span>&#160; </div>
+<div class="line"><a name="l00769"></a><span class="lineno">  769</span>&#160; private:</div>
+<div class="line"><a name="l00784"></a><span class="lineno">  784</span>&#160;  template &lt;typename T&gt;</div>
+<div class="line"><a name="l00785"></a><span class="lineno">  785</span>&#160;  std::unique_ptr&lt;<a class="code" href="classfranka_1_1ActiveControlBase.html">ActiveControlBase</a>&gt; startControl(</div>
+<div class="line"><a name="l00786"></a><span class="lineno">  786</span>&#160;      const research_interface::robot::Move::<a class="code" href="control__types_8h.html#a3e20bc77587e2c0c53598753e3f4816b">ControllerMode</a>&amp; controller_type);</div>
+<div class="line"><a name="l00787"></a><span class="lineno">  787</span>&#160; </div>
+<div class="line"><a name="l00788"></a><span class="lineno">  788</span>&#160;  std::shared_ptr&lt;Impl&gt; impl_;</div>
+<div class="line"><a name="l00789"></a><span class="lineno">  789</span>&#160;  std::mutex control_mutex_;</div>
+<div class="line"><a name="l00790"></a><span class="lineno">  790</span>&#160;};</div>
+<div class="line"><a name="l00791"></a><span class="lineno">  791</span>&#160; </div>
+<div class="line"><a name="l00792"></a><span class="lineno">  792</span>&#160;}  <span class="comment">// namespace franka</span></div>
+<div class="ttc" id="aclassfranka_1_1ActiveControlBase_html"><div class="ttname"><a href="classfranka_1_1ActiveControlBase.html">franka::ActiveControlBase</a></div><div class="ttdoc">Allows the user to read the state of a Robot and to send new control commands after starting a contro...</div><div class="ttdef"><b>Definition:</b> active_control_base.h:27</div></div>
+<div class="ttc" id="aclassfranka_1_1CartesianPose_html"><div class="ttname"><a href="classfranka_1_1CartesianPose.html">franka::CartesianPose</a></div><div class="ttdoc">Stores values for Cartesian pose motion generation.</div><div class="ttdef"><b>Definition:</b> control_types.h:127</div></div>
+<div class="ttc" id="aclassfranka_1_1CartesianVelocities_html"><div class="ttname"><a href="classfranka_1_1CartesianVelocities.html">franka::CartesianVelocities</a></div><div class="ttdoc">Stores values for Cartesian velocity motion generation.</div><div class="ttdef"><b>Definition:</b> control_types.h:211</div></div>
+<div class="ttc" id="aclassfranka_1_1Duration_html"><div class="ttname"><a href="classfranka_1_1Duration.html">franka::Duration</a></div><div class="ttdoc">Represents a duration with millisecond resolution.</div><div class="ttdef"><b>Definition:</b> duration.h:19</div></div>
+<div class="ttc" id="aclassfranka_1_1JointPositions_html"><div class="ttname"><a href="classfranka_1_1JointPositions.html">franka::JointPositions</a></div><div class="ttdoc">Stores values for joint position motion generation.</div><div class="ttdef"><b>Definition:</b> control_types.h:72</div></div>
+<div class="ttc" id="aclassfranka_1_1JointVelocities_html"><div class="ttname"><a href="classfranka_1_1JointVelocities.html">franka::JointVelocities</a></div><div class="ttdoc">Stores values for joint velocity motion generation.</div><div class="ttdef"><b>Definition:</b> control_types.h:99</div></div>
+<div class="ttc" id="aclassfranka_1_1Model_html"><div class="ttname"><a href="classfranka_1_1Model.html">franka::Model</a></div><div class="ttdoc">Calculates poses of joints and dynamic properties of the robot.</div><div class="ttdef"><b>Definition:</b> model.h:51</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html"><div class="ttname"><a href="classfranka_1_1Robot.html">franka::Robot</a></div><div class="ttdoc">Maintains a network connection to the robot, provides the current robot state, gives access to the mo...</div><div class="ttdef"><b>Definition:</b> robot.h:67</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_a0d5effba5daff2fee123802bbd5f95d1"><div class="ttname"><a href="classfranka_1_1Robot.html#a0d5effba5daff2fee123802bbd5f95d1">franka::Robot::control</a></div><div class="ttdeci">void control(std::function&lt; Torques(const RobotState &amp;, franka::Duration)&gt; control_callback, bool limit_rate=false, double cutoff_frequency=kDefaultCutoffFrequency)</div><div class="ttdoc">Starts a control loop for sending joint-level torque commands.</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_a168e1214ac36d74ac64f894332b84534"><div class="ttname"><a href="classfranka_1_1Robot.html#a168e1214ac36d74ac64f894332b84534">franka::Robot::setCollisionBehavior</a></div><div class="ttdeci">void setCollisionBehavior(const std::array&lt; double, 7 &gt; &amp;lower_torque_thresholds_acceleration, const std::array&lt; double, 7 &gt; &amp;upper_torque_thresholds_acceleration, const std::array&lt; double, 7 &gt; &amp;lower_torque_thresholds_nominal, const std::array&lt; double, 7 &gt; &amp;upper_torque_thresholds_nominal, const std::array&lt; double, 6 &gt; &amp;lower_force_thresholds_acceleration, const std::array&lt; double, 6 &gt; &amp;upper_force_thresholds_acceleration, const std::array&lt; double, 6 &gt; &amp;lower_force_thresholds_nominal, const std::array&lt; double, 6 &gt; &amp;upper_force_thresholds_nominal)</div><div class="ttdoc">Changes the collision behavior.</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_a2da598c539469827409ac7e3bb61d5da"><div class="ttname"><a href="classfranka_1_1Robot.html#a2da598c539469827409ac7e3bb61d5da">franka::Robot::loadModel</a></div><div class="ttdeci">Model loadModel()</div><div class="ttdoc">Loads the model library from the robot.</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_a35465b8497a7adbd277e70e98b7d97a7"><div class="ttname"><a href="classfranka_1_1Robot.html#a35465b8497a7adbd277e70e98b7d97a7">franka::Robot::operator=</a></div><div class="ttdeci">Robot &amp; operator=(Robot &amp;&amp;other) noexcept</div><div class="ttdoc">Move-assigns this Robot from another Robot instance.</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_a378d415475336082e81a35b9811dc6c2"><div class="ttname"><a href="classfranka_1_1Robot.html#a378d415475336082e81a35b9811dc6c2">franka::Robot::Robot</a></div><div class="ttdeci">Robot(Robot &amp;&amp;other) noexcept</div><div class="ttdoc">Move-constructs a new Robot instance.</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_a3822866cf931fab955d3dcfc6cf746e5"><div class="ttname"><a href="classfranka_1_1Robot.html#a3822866cf931fab955d3dcfc6cf746e5">franka::Robot::startCartesianPoseControl</a></div><div class="ttdeci">virtual std::unique_ptr&lt; ActiveControlBase &gt; startCartesianPoseControl(const research_interface::robot::Move::ControllerMode &amp;control_type)</div><div class="ttdoc">Starts a new cartesian position motion generator.</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_a3b864e16b7accafdf1a755dc21765701"><div class="ttname"><a href="classfranka_1_1Robot.html#a3b864e16b7accafdf1a755dc21765701">franka::Robot::serverVersion</a></div><div class="ttdeci">ServerVersion serverVersion() const noexcept</div><div class="ttdoc">Returns the software version reported by the connected server.</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_a69cb08e075a81ecf3f26e94d26a06296"><div class="ttname"><a href="classfranka_1_1Robot.html#a69cb08e075a81ecf3f26e94d26a06296">franka::Robot::stop</a></div><div class="ttdeci">void stop()</div><div class="ttdoc">Stops all currently running motions.</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_a7992cee203e66f9a61fe2f318ef88a26"><div class="ttname"><a href="classfranka_1_1Robot.html#a7992cee203e66f9a61fe2f318ef88a26">franka::Robot::setGuidingMode</a></div><div class="ttdeci">void setGuidingMode(const std::array&lt; bool, 6 &gt; &amp;guiding_mode, bool elbow)</div><div class="ttdoc">Locks or unlocks guiding mode movement in (x, y, z, roll, pitch, yaw).</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_a8146de9e50217068672b6f726a91de91"><div class="ttname"><a href="classfranka_1_1Robot.html#a8146de9e50217068672b6f726a91de91">franka::Robot::startTorqueControl</a></div><div class="ttdeci">virtual std::unique_ptr&lt; ActiveControlBase &gt; startTorqueControl()</div><div class="ttdoc">Starts a new torque controller.</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_a82f85eed20426901a7e77b66c041664b"><div class="ttname"><a href="classfranka_1_1Robot.html#a82f85eed20426901a7e77b66c041664b">franka::Robot::read</a></div><div class="ttdeci">void read(std::function&lt; bool(const RobotState &amp;)&gt; read_callback)</div><div class="ttdoc">Starts a loop for reading the current robot state.</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_a838e2cfba6b08dd87742bbcfe62f15bf"><div class="ttname"><a href="classfranka_1_1Robot.html#a838e2cfba6b08dd87742bbcfe62f15bf">franka::Robot::startCartesianVelocityControl</a></div><div class="ttdeci">virtual std::unique_ptr&lt; ActiveControlBase &gt; startCartesianVelocityControl(const research_interface::robot::Move::ControllerMode &amp;control_type)</div><div class="ttdoc">Starts a new cartesian velocity motion generator.</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_aa18a28697cf6e3be16c6cff2dd839560"><div class="ttname"><a href="classfranka_1_1Robot.html#aa18a28697cf6e3be16c6cff2dd839560">franka::Robot::setJointImpedance</a></div><div class="ttdeci">void setJointImpedance(const std::array&lt; double, 7 &gt; &amp;K_theta)</div><div class="ttdoc">Sets the impedance for each joint in the internal controller.</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_ac19400de0fd39852d5825b1f1ccc85e2"><div class="ttname"><a href="classfranka_1_1Robot.html#ac19400de0fd39852d5825b1f1ccc85e2">franka::Robot::~Robot</a></div><div class="ttdeci">virtual ~Robot() noexcept</div><div class="ttdoc">Closes the connection.</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_ac2678c5c31cc8c0627ecda7485f81f6d"><div class="ttname"><a href="classfranka_1_1Robot.html#ac2678c5c31cc8c0627ecda7485f81f6d">franka::Robot::setCartesianImpedance</a></div><div class="ttdeci">void setCartesianImpedance(const std::array&lt; double, 6 &gt; &amp;K_x)</div><div class="ttdoc">Sets the Cartesian stiffness/compliance (for x, y, z, roll, pitch, yaw) in the internal controller.</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_aca7ecf76cf9c5af49cc5a878c91e19a9"><div class="ttname"><a href="classfranka_1_1Robot.html#aca7ecf76cf9c5af49cc5a878c91e19a9">franka::Robot::startJointPositionControl</a></div><div class="ttdeci">virtual std::unique_ptr&lt; ActiveControlBase &gt; startJointPositionControl(const research_interface::robot::Move::ControllerMode &amp;control_type)</div><div class="ttdoc">Starts a new joint position motion generator.</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_ad1cf59d1b11306d80cd3c7144a989c56"><div class="ttname"><a href="classfranka_1_1Robot.html#ad1cf59d1b11306d80cd3c7144a989c56">franka::Robot::setK</a></div><div class="ttdeci">void setK(const std::array&lt; double, 16 &gt; &amp;EE_T_K)</div><div class="ttdoc">Sets the transformation  from end effector frame to stiffness frame.</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_ad1dd3dccff6f33691d2c66eaa5ac5a10"><div class="ttname"><a href="classfranka_1_1Robot.html#ad1dd3dccff6f33691d2c66eaa5ac5a10">franka::Robot::ServerVersion</a></div><div class="ttdeci">uint16_t ServerVersion</div><div class="ttdoc">Version of the robot server.</div><div class="ttdef"><b>Definition:</b> robot.h:72</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_ae3c3d7c5c4491a1e96a0a543931e899a"><div class="ttname"><a href="classfranka_1_1Robot.html#ae3c3d7c5c4491a1e96a0a543931e899a">franka::Robot::readOnce</a></div><div class="ttdeci">virtual RobotState readOnce()</div><div class="ttdoc">Waits for a robot state update and returns it.</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_ae63bc19390df3d54f3a270814df35eb6"><div class="ttname"><a href="classfranka_1_1Robot.html#ae63bc19390df3d54f3a270814df35eb6">franka::Robot::Robot</a></div><div class="ttdeci">Robot(const std::string &amp;franka_address, RealtimeConfig realtime_config=RealtimeConfig::kEnforce, size_t log_size=50)</div><div class="ttdoc">Establishes a connection with the robot.</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_ae9c867d10817b2485e306450f389a009"><div class="ttname"><a href="classfranka_1_1Robot.html#ae9c867d10817b2485e306450f389a009">franka::Robot::startJointVelocityControl</a></div><div class="ttdeci">virtual std::unique_ptr&lt; ActiveControlBase &gt; startJointVelocityControl(const research_interface::robot::Move::ControllerMode &amp;control_type)</div><div class="ttdoc">Starts a new joint velocity motion generator.</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_aec4abdefbc0f9a7400a36bfa0a6068af"><div class="ttname"><a href="classfranka_1_1Robot.html#aec4abdefbc0f9a7400a36bfa0a6068af">franka::Robot::setEE</a></div><div class="ttdeci">void setEE(const std::array&lt; double, 16 &gt; &amp;NE_T_EE)</div><div class="ttdoc">Sets the transformation  from nominal end effector to end effector frame.</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_af682aa673415718715bd859116bc2fed"><div class="ttname"><a href="classfranka_1_1Robot.html#af682aa673415718715bd859116bc2fed">franka::Robot::automaticErrorRecovery</a></div><div class="ttdeci">void automaticErrorRecovery()</div><div class="ttdoc">Runs automatic error recovery on the robot.</div></div>
+<div class="ttc" id="aclassfranka_1_1Robot_html_afcb708df10f24563dbcf7d5b907b4a15"><div class="ttname"><a href="classfranka_1_1Robot.html#afcb708df10f24563dbcf7d5b907b4a15">franka::Robot::setLoad</a></div><div class="ttdeci">void setLoad(double load_mass, const std::array&lt; double, 3 &gt; &amp;F_x_Cload, const std::array&lt; double, 9 &gt; &amp;load_inertia)</div><div class="ttdoc">Sets dynamic parameters of a payload.</div></div>
+<div class="ttc" id="aclassfranka_1_1Torques_html"><div class="ttname"><a href="classfranka_1_1Torques.html">franka::Torques</a></div><div class="ttdoc">Stores joint-level torque commands without gravity and friction.</div><div class="ttdef"><b>Definition:</b> control_types.h:45</div></div>
+<div class="ttc" id="acontrol__types_8h_html"><div class="ttname"><a href="control__types_8h.html">control_types.h</a></div><div class="ttdoc">Contains helper types for returning motion generation and joint-level torque commands.</div></div>
+<div class="ttc" id="acontrol__types_8h_html_a3e20bc77587e2c0c53598753e3f4816b"><div class="ttname"><a href="control__types_8h.html#a3e20bc77587e2c0c53598753e3f4816b">franka::ControllerMode</a></div><div class="ttdeci">ControllerMode</div><div class="ttdoc">Available controller modes for a franka::Robot.</div><div class="ttdef"><b>Definition:</b> control_types.h:19</div></div>
+<div class="ttc" id="acontrol__types_8h_html_aeede4f4629390fea21ca5e5a35a8a943"><div class="ttname"><a href="control__types_8h.html#aeede4f4629390fea21ca5e5a35a8a943">franka::RealtimeConfig</a></div><div class="ttdeci">RealtimeConfig</div><div class="ttdoc">Used to decide whether to enforce realtime mode for a control loop thread.</div><div class="ttdef"><b>Definition:</b> control_types.h:26</div></div>
+<div class="ttc" id="aduration_8h_html"><div class="ttname"><a href="duration_8h.html">duration.h</a></div><div class="ttdoc">Contains the franka::Duration type.</div></div>
+<div class="ttc" id="alowpass__filter_8h_html"><div class="ttname"><a href="lowpass__filter_8h.html">lowpass_filter.h</a></div><div class="ttdoc">Contains functions for filtering signals with a low-pass filter.</div></div>
+<div class="ttc" id="arobot__state_8h_html"><div class="ttname"><a href="robot__state_8h.html">robot_state.h</a></div><div class="ttdoc">Contains the franka::RobotState types.</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html"><div class="ttname"><a href="structfranka_1_1RobotState.html">franka::RobotState</a></div><div class="ttdoc">Describes the robot state.</div><div class="ttdef"><b>Definition:</b> robot_state.h:34</div></div>
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+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_5f30c89189ebb3336d6b33aa932838ba.html">franka</a></li>  </ul>
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+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#enum-members">Enumerations</a> &#124;
+<a href="#func-members">Functions</a>  </div>
+  <div class="headertitle">
+<div class="title">robot_state.h File Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Contains the <a class="el" href="structfranka_1_1RobotState.html" title="Describes the robot state.">franka::RobotState</a> types.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &lt;array&gt;</code><br />
+<code>#include &lt;ostream&gt;</code><br />
+<code>#include &lt;<a class="el" href="duration_8h_source.html">franka/duration.h</a>&gt;</code><br />
+<code>#include &lt;<a class="el" href="errors_8h_source.html">franka/errors.h</a>&gt;</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for robot_state.h:</div>
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+<p><a href="robot__state_8h_source.html">Go to the source code of this file.</a></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Describes the robot state.  <a href="structfranka_1_1RobotState.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="enum-members"></a>
+Enumerations</h2></td></tr>
+<tr class="memitem:adfe059ae23ebbad59e421edaa879651a"><td class="memItemLeft" align="right" valign="top"><a id="adfe059ae23ebbad59e421edaa879651a"></a>enum class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="robot__state_8h.html#adfe059ae23ebbad59e421edaa879651a">franka::RobotMode</a> { <br />
+&#160;&#160;<b>kOther</b>
+, <b>kIdle</b>
+, <b>kMove</b>
+, <b>kGuiding</b>
+, <br />
+&#160;&#160;<b>kReflex</b>
+, <b>kUserStopped</b>
+, <b>kAutomaticErrorRecovery</b>
+<br />
+ }</td></tr>
+<tr class="memdesc:adfe059ae23ebbad59e421edaa879651a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Describes the robot's current mode. <br /></td></tr>
+<tr class="separator:adfe059ae23ebbad59e421edaa879651a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
+Functions</h2></td></tr>
+<tr class="memitem:aee38e87180cc96476d0f11335da29e20"><td class="memItemLeft" align="right" valign="top">std::ostream &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="robot__state_8h.html#aee38e87180cc96476d0f11335da29e20">franka::operator&lt;&lt;</a> (std::ostream &amp;ostream, const <a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a> &amp;robot_state)</td></tr>
+<tr class="memdesc:aee38e87180cc96476d0f11335da29e20"><td class="mdescLeft">&#160;</td><td class="mdescRight">Streams the robot state as JSON object: {"field_name_1": [0,0,0,0,0,0,0], "field_name_2": [0,0,0,0,0,0], ...}.  <a href="robot__state_8h.html#aee38e87180cc96476d0f11335da29e20">More...</a><br /></td></tr>
+<tr class="separator:aee38e87180cc96476d0f11335da29e20"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7d75ab63150979690a639f432c166755"><td class="memItemLeft" align="right" valign="top">std::ostream &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="robot__state_8h.html#a7d75ab63150979690a639f432c166755">franka::operator&lt;&lt;</a> (std::ostream &amp;ostream, RobotMode robot_mode)</td></tr>
+<tr class="memdesc:a7d75ab63150979690a639f432c166755"><td class="mdescLeft">&#160;</td><td class="mdescRight">Streams RobotMode in human-readable form.  <a href="robot__state_8h.html#a7d75ab63150979690a639f432c166755">More...</a><br /></td></tr>
+<tr class="separator:a7d75ab63150979690a639f432c166755"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Contains the <a class="el" href="structfranka_1_1RobotState.html" title="Describes the robot state.">franka::RobotState</a> types. </p>
+</div><h2 class="groupheader">Function Documentation</h2>
+<a id="aee38e87180cc96476d0f11335da29e20"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aee38e87180cc96476d0f11335da29e20">&#9670;&nbsp;</a></span>operator&lt;&lt;() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::ostream&amp; franka::operator&lt;&lt; </td>
+          <td>(</td>
+          <td class="paramtype">std::ostream &amp;&#160;</td>
+          <td class="paramname"><em>ostream</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a> &amp;&#160;</td>
+          <td class="paramname"><em>robot_state</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Streams the robot state as JSON object: {"field_name_1": [0,0,0,0,0,0,0], "field_name_2": [0,0,0,0,0,0], ...}. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">ostream</td><td>Ostream instance </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">robot_state</td><td>RobotState instance to stream</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Ostream instance </dd></dl>
+
+</div>
+</div>
+<a id="a7d75ab63150979690a639f432c166755"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7d75ab63150979690a639f432c166755">&#9670;&nbsp;</a></span>operator&lt;&lt;() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::ostream&amp; franka::operator&lt;&lt; </td>
+          <td>(</td>
+          <td class="paramtype">std::ostream &amp;&#160;</td>
+          <td class="paramname"><em>ostream</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="robot__state_8h.html#adfe059ae23ebbad59e421edaa879651a">RobotMode</a>&#160;</td>
+          <td class="paramname"><em>robot_mode</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Streams RobotMode in human-readable form. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">ostream</td><td>Ostream instance </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">robot_mode</td><td>RobotMode to stream</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Ostream instance </dd></dl>
+
+</div>
+</div>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/0.13.6/robot__state_8h__dep__incl.map b/0.13.6/robot__state_8h__dep__incl.map
new file mode 100644
index 00000000..0fad4be3
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+<map id="include/franka/robot_state.h" name="include/franka/robot_state.h">
+<area shape="rect" id="node1" title="Contains the franka::RobotState types." alt="" coords="274,5,426,47"/>
+<area shape="rect" id="node2" href="$active__control__base_8h.html" title="Abstract interface class as the base of the active controllers." alt="" coords="5,244,164,285"/>
+<area shape="rect" id="node6" href="$log_8h.html" title="Contains helper types for logging sent commands and received robot states." alt="" coords="115,95,265,121"/>
+<area shape="rect" id="node8" href="$model_8h.html" title="Contains model library types." alt="" coords="265,169,435,196"/>
+<area shape="rect" id="node9" href="$robot_8h.html" title="Contains the franka::Robot type." alt="" coords="389,95,553,121"/>
+<area shape="rect" id="node10" href="$examples__common_8h.html" title="Contains common types and functions for the examples." alt="" coords="511,169,741,196"/>
+<area shape="rect" id="node3" href="$active__control_8h.html" title="Implements the ActiveControlBase abstract class." alt="" coords="123,333,281,375"/>
+<area shape="rect" id="node4" href="$active__motion__generator_8h.html" title="Contains the franka::ActiveMotionGenerator type." alt="" coords="32,423,191,464"/>
+<area shape="rect" id="node5" href="$active__torque__control_8h.html" title="Contains the franka::ActiveTorqueControl type." alt="" coords="215,423,373,464"/>
+<area shape="rect" id="node7" href="$exception_8h.html" title="Contains exception definitions." alt="" coords="46,169,241,196"/>
+</map>
diff --git a/0.13.6/robot__state_8h__dep__incl.md5 b/0.13.6/robot__state_8h__dep__incl.md5
new file mode 100644
index 00000000..8fa8f224
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+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">robot_state.h</div>  </div>
+</div><!--header-->
+<div class="contents">
+<a href="robot__state_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// Copyright (c) 2023 Franka Robotics GmbH</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Use of this source code is governed by the Apache-2.0 license, see LICENSE</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#pragma once</span></div>
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+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;array&gt;</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;ostream&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="duration_8h.html">franka/duration.h</a>&gt;</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="errors_8h.html">franka/errors.h</a>&gt;</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="keyword">namespace </span>franka {</div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160; </div>
+<div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="robot__state_8h.html#adfe059ae23ebbad59e421edaa879651a">   21</a></span>&#160;<span class="keyword">enum class</span> <a class="code" href="robot__state_8h.html#adfe059ae23ebbad59e421edaa879651a">RobotMode</a> {</div>
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+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160; </div>
+<div class="line"><a name="l00034"></a><span class="lineno"><a class="line" href="structfranka_1_1RobotState.html">   34</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structfranka_1_1RobotState.html">RobotState</a> {</div>
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+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
+<div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="structfranka_1_1RobotState.html#a3e5b4b7687856e92d826044be7d15733">   47</a></span>&#160;  std::array&lt;double, 16&gt; <a class="code" href="structfranka_1_1RobotState.html#a3e5b4b7687856e92d826044be7d15733">O_T_EE_d</a>{};  <span class="comment">// NOLINT(readability-identifier-naming)</span></div>
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+<div class="line"><a name="l00393"></a><span class="lineno"><a class="line" href="structfranka_1_1RobotState.html#a4943ae75e0e2ec534e0afac31cbcc987">  393</a></span>&#160;  <a class="code" href="robot__state_8h.html#adfe059ae23ebbad59e421edaa879651a">RobotMode</a> <a class="code" href="structfranka_1_1RobotState.html#a4943ae75e0e2ec534e0afac31cbcc987">robot_mode</a> = RobotMode::kUserStopped;</div>
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+<div class="line"><a name="l00401"></a><span class="lineno"><a class="line" href="structfranka_1_1RobotState.html#aabfdabeaef8c1858c52dd32344bdd039">  401</a></span>&#160;  <a class="code" href="classfranka_1_1Duration.html">Duration</a> <a class="code" href="structfranka_1_1RobotState.html#aabfdabeaef8c1858c52dd32344bdd039">time</a>{};</div>
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+<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160; </div>
+<div class="line"><a name="l00413"></a><span class="lineno"><a class="line" href="robot__state_8h.html#aee38e87180cc96476d0f11335da29e20">  413</a></span>&#160;std::ostream&amp; <a class="code" href="errors_8h.html#ad1027058086c3c154f4bbc9cade1f197">operator&lt;&lt;</a>(std::ostream&amp; ostream, <span class="keyword">const</span> <a class="code" href="structfranka_1_1RobotState.html">franka::RobotState</a>&amp; robot_state);</div>
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+<div class="line"><a name="l00423"></a><span class="lineno"><a class="line" href="robot__state_8h.html#a7d75ab63150979690a639f432c166755">  423</a></span>&#160;std::ostream&amp; <a class="code" href="errors_8h.html#ad1027058086c3c154f4bbc9cade1f197">operator&lt;&lt;</a>(std::ostream&amp; ostream, <a class="code" href="robot__state_8h.html#adfe059ae23ebbad59e421edaa879651a">RobotMode</a> robot_mode);</div>
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+<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;}  <span class="comment">// namespace franka</span></div>
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+<div class="ttc" id="aduration_8h_html"><div class="ttname"><a href="duration_8h.html">duration.h</a></div><div class="ttdoc">Contains the franka::Duration type.</div></div>
+<div class="ttc" id="aerrors_8h_html"><div class="ttname"><a href="errors_8h.html">errors.h</a></div><div class="ttdoc">Contains the franka::Errors type.</div></div>
+<div class="ttc" id="aerrors_8h_html_ad1027058086c3c154f4bbc9cade1f197"><div class="ttname"><a href="errors_8h.html#ad1027058086c3c154f4bbc9cade1f197">franka::operator&lt;&lt;</a></div><div class="ttdeci">std::ostream &amp; operator&lt;&lt;(std::ostream &amp;ostream, const Errors &amp;errors)</div><div class="ttdoc">Streams the errors as JSON array.</div></div>
+<div class="ttc" id="arobot__state_8h_html_adfe059ae23ebbad59e421edaa879651a"><div class="ttname"><a href="robot__state_8h.html#adfe059ae23ebbad59e421edaa879651a">franka::RobotMode</a></div><div class="ttdeci">RobotMode</div><div class="ttdoc">Describes the robot's current mode.</div><div class="ttdef"><b>Definition:</b> robot_state.h:21</div></div>
+<div class="ttc" id="astructfranka_1_1Errors_html"><div class="ttname"><a href="structfranka_1_1Errors.html">franka::Errors</a></div><div class="ttdoc">Enumerates errors that can occur while controlling a franka::Robot.</div><div class="ttdef"><b>Definition:</b> errors.h:18</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html"><div class="ttname"><a href="structfranka_1_1RobotState.html">franka::RobotState</a></div><div class="ttdoc">Describes the robot state.</div><div class="ttdef"><b>Definition:</b> robot_state.h:34</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_a06d7019f85339409e932dc086b7a260b"><div class="ttname"><a href="structfranka_1_1RobotState.html#a06d7019f85339409e932dc086b7a260b">franka::RobotState::last_motion_errors</a></div><div class="ttdeci">Errors last_motion_errors</div><div class="ttdoc">Contains the errors that aborted the previous motion.</div><div class="ttdef"><b>Definition:</b> robot_state.h:379</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_a16cfc844894e8b5b1ad829be529962f0"><div class="ttname"><a href="structfranka_1_1RobotState.html#a16cfc844894e8b5b1ad829be529962f0">franka::RobotState::elbow_c</a></div><div class="ttdeci">std::array&lt; double, 2 &gt; elbow_c</div><div class="ttdoc">Commanded elbow configuration.</div><div class="ttdef"><b>Definition:</b> robot_state.h:191</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_a193781d47722b32925e0ea7ac415f442"><div class="ttname"><a href="structfranka_1_1RobotState.html#a193781d47722b32925e0ea7ac415f442">franka::RobotState::O_T_EE</a></div><div class="ttdeci">std::array&lt; double, 16 &gt; O_T_EE</div><div class="ttdoc">Measured end effector pose in base frame.</div><div class="ttdef"><b>Definition:</b> robot_state.h:40</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_a1e0a82b98534929c3061295d5761d607"><div class="ttname"><a href="structfranka_1_1RobotState.html#a1e0a82b98534929c3061295d5761d607">franka::RobotState::O_dP_EE_d</a></div><div class="ttdeci">std::array&lt; double, 6 &gt; O_dP_EE_d</div><div class="ttdoc">Desired end effector twist in base frame.</div><div class="ttdef"><b>Definition:</b> robot_state.h:326</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_a1e5b6caf84249b1129491dbbcb1fc2e6"><div class="ttname"><a href="structfranka_1_1RobotState.html#a1e5b6caf84249b1129491dbbcb1fc2e6">franka::RobotState::ddelbow_c</a></div><div class="ttdeci">std::array&lt; double, 2 &gt; ddelbow_c</div><div class="ttdoc">Commanded elbow acceleration.</div><div class="ttdef"><b>Definition:</b> robot_state.h:209</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_a271db0a55dd346715ed8a0daf3f8887c"><div class="ttname"><a href="structfranka_1_1RobotState.html#a271db0a55dd346715ed8a0daf3f8887c">franka::RobotState::dtheta</a></div><div class="ttdeci">std::array&lt; double, 7 &gt; dtheta</div><div class="ttdoc">Motor velocity.</div><div class="ttdef"><b>Definition:</b> robot_state.h:369</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_a295dada05d8588fc3c19a74fd427dcc0"><div class="ttname"><a href="structfranka_1_1RobotState.html#a295dada05d8588fc3c19a74fd427dcc0">franka::RobotState::elbow_d</a></div><div class="ttdeci">std::array&lt; double, 2 &gt; elbow_d</div><div class="ttdoc">Desired elbow configuration.</div><div class="ttdef"><b>Definition:</b> robot_state.h:176</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_a38757bafd4dd8e138410de1dca0c36f8"><div class="ttname"><a href="structfranka_1_1RobotState.html#a38757bafd4dd8e138410de1dca0c36f8">franka::RobotState::joint_collision</a></div><div class="ttdeci">std::array&lt; double, 7 &gt; joint_collision</div><div class="ttdoc">Indicates which contact level is activated in which joint.</div><div class="ttdef"><b>Definition:</b> robot_state.h:282</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_a395c48eff099419ea5d42eaf0870fc18"><div class="ttname"><a href="structfranka_1_1RobotState.html#a395c48eff099419ea5d42eaf0870fc18">franka::RobotState::O_T_EE_c</a></div><div class="ttdeci">std::array&lt; double, 16 &gt; O_T_EE_c</div><div class="ttdoc">Last commanded end effector pose of motion generation in base frame.</div><div class="ttdef"><b>Definition:</b> robot_state.h:342</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_a3e5b4b7687856e92d826044be7d15733"><div class="ttname"><a href="structfranka_1_1RobotState.html#a3e5b4b7687856e92d826044be7d15733">franka::RobotState::O_T_EE_d</a></div><div class="ttdeci">std::array&lt; double, 16 &gt; O_T_EE_d</div><div class="ttdoc">Last desired end effector pose of motion generation in base frame.</div><div class="ttdef"><b>Definition:</b> robot_state.h:47</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_a43485841c427d70e7f36a912cc3116d1"><div class="ttname"><a href="structfranka_1_1RobotState.html#a43485841c427d70e7f36a912cc3116d1">franka::RobotState::elbow</a></div><div class="ttdeci">std::array&lt; double, 2 &gt; elbow</div><div class="ttdoc">Elbow configuration.</div><div class="ttdef"><b>Definition:</b> robot_state.h:161</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_a48e921e6215ad32f36e424b4d7b66a89"><div class="ttname"><a href="structfranka_1_1RobotState.html#a48e921e6215ad32f36e424b4d7b66a89">franka::RobotState::F_x_Cload</a></div><div class="ttdeci">std::array&lt; double, 3 &gt; F_x_Cload</div><div class="ttdoc">Configured center of mass of the external load with respect to flange frame.</div><div class="ttdef"><b>Definition:</b> robot_state.h:126</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_a4943ae75e0e2ec534e0afac31cbcc987"><div class="ttname"><a href="structfranka_1_1RobotState.html#a4943ae75e0e2ec534e0afac31cbcc987">franka::RobotState::robot_mode</a></div><div class="ttdeci">RobotMode robot_mode</div><div class="ttdoc">Current robot mode.</div><div class="ttdef"><b>Definition:</b> robot_state.h:393</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_a4be112bd1a9a7d777a67aea4a18a8dcc"><div class="ttname"><a href="structfranka_1_1RobotState.html#a4be112bd1a9a7d777a67aea4a18a8dcc">franka::RobotState::O_dP_EE_c</a></div><div class="ttdeci">std::array&lt; double, 6 &gt; O_dP_EE_c</div><div class="ttdoc">Last commanded end effector twist in base frame.</div><div class="ttdef"><b>Definition:</b> robot_state.h:349</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_a52c20478f4c1e162df38582ea9bda044"><div class="ttname"><a href="structfranka_1_1RobotState.html#a52c20478f4c1e162df38582ea9bda044">franka::RobotState::cartesian_collision</a></div><div class="ttdeci">std::array&lt; double, 6 &gt; cartesian_collision</div><div class="ttdoc">Indicates which contact level is activated in which Cartesian dimension .</div><div class="ttdef"><b>Definition:</b> robot_state.h:291</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_a57c2c145e9f79010adf23085b8a9c5ad"><div class="ttname"><a href="structfranka_1_1RobotState.html#a57c2c145e9f79010adf23085b8a9c5ad">franka::RobotState::delbow_c</a></div><div class="ttdeci">std::array&lt; double, 2 &gt; delbow_c</div><div class="ttdoc">Commanded elbow velocity.</div><div class="ttdef"><b>Definition:</b> robot_state.h:200</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_a5a830b4f9d6a3c2dc92e4a9cc6050493"><div class="ttname"><a href="structfranka_1_1RobotState.html#a5a830b4f9d6a3c2dc92e4a9cc6050493">franka::RobotState::O_F_ext_hat_K</a></div><div class="ttdeci">std::array&lt; double, 6 &gt; O_F_ext_hat_K</div><div class="ttdoc">Estimated external wrench (force, torque) acting on stiffness frame, expressed relative to the base f...</div><div class="ttdef"><b>Definition:</b> robot_state.h:309</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_a5b194153497eff98049681f852118f82"><div class="ttname"><a href="structfranka_1_1RobotState.html#a5b194153497eff98049681f852118f82">franka::RobotState::I_load</a></div><div class="ttdeci">std::array&lt; double, 9 &gt; I_load</div><div class="ttdoc">Configured rotational inertia matrix of the external load with respect to center of mass.</div><div class="ttdef"><b>Definition:</b> robot_state.h:120</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_a6251e748cf72f4b86bcfdcb97d77ace2"><div class="ttname"><a href="structfranka_1_1RobotState.html#a6251e748cf72f4b86bcfdcb97d77ace2">franka::RobotState::ddq_d</a></div><div class="ttdeci">std::array&lt; double, 7 &gt; ddq_d</div><div class="ttdoc">Desired joint acceleration.</div><div class="ttdef"><b>Definition:</b> robot_state.h:257</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_a705b85049fef747008b0eba8284c8057"><div class="ttname"><a href="structfranka_1_1RobotState.html#a705b85049fef747008b0eba8284c8057">franka::RobotState::F_T_EE</a></div><div class="ttdeci">std::array&lt; double, 16 &gt; F_T_EE</div><div class="ttdoc">End effector frame pose in flange frame.</div><div class="ttdef"><b>Definition:</b> robot_state.h:58</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_a706045af1b176049e9e56df755325bd2"><div class="ttname"><a href="structfranka_1_1RobotState.html#a706045af1b176049e9e56df755325bd2">franka::RobotState::q_d</a></div><div class="ttdeci">std::array&lt; double, 7 &gt; q_d</div><div class="ttdoc">Desired joint position.</div><div class="ttdef"><b>Definition:</b> robot_state.h:239</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_a7086a89a2705810f93a3a95d43df2d9d"><div class="ttname"><a href="structfranka_1_1RobotState.html#a7086a89a2705810f93a3a95d43df2d9d">franka::RobotState::tau_J_d</a></div><div class="ttdeci">std::array&lt; double, 7 &gt; tau_J_d</div><div class="ttdoc">Desired link-side joint torque sensor signals without gravity.</div><div class="ttdef"><b>Definition:</b> robot_state.h:221</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_a7243c652a8efe58c343a0d1252302fa4"><div class="ttname"><a href="structfranka_1_1RobotState.html#a7243c652a8efe58c343a0d1252302fa4">franka::RobotState::joint_contact</a></div><div class="ttdeci">std::array&lt; double, 7 &gt; joint_contact</div><div class="ttdoc">Indicates which contact level is activated in which joint.</div><div class="ttdef"><b>Definition:</b> robot_state.h:265</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_a72ee7362018e3c9e95e3c41e857bfd8d"><div class="ttname"><a href="structfranka_1_1RobotState.html#a72ee7362018e3c9e95e3c41e857bfd8d">franka::RobotState::F_x_Ctotal</a></div><div class="ttdeci">std::array&lt; double, 3 &gt; F_x_Ctotal</div><div class="ttdoc">Combined center of mass of the end effector load and the external load with respect to flange frame.</div><div class="ttdef"><b>Definition:</b> robot_state.h:146</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_a74cee1beb5d400694133deea2846e611"><div class="ttname"><a href="structfranka_1_1RobotState.html#a74cee1beb5d400694133deea2846e611">franka::RobotState::I_ee</a></div><div class="ttdeci">std::array&lt; double, 9 &gt; I_ee</div><div class="ttdoc">Configured rotational inertia matrix of the end effector load with respect to center of mass.</div><div class="ttdef"><b>Definition:</b> robot_state.h:102</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_a7fc1f0358d2104d39d301d70544fa6c1"><div class="ttname"><a href="structfranka_1_1RobotState.html#a7fc1f0358d2104d39d301d70544fa6c1">franka::RobotState::cartesian_contact</a></div><div class="ttdeci">std::array&lt; double, 6 &gt; cartesian_contact</div><div class="ttdoc">Indicates which contact level is activated in which Cartesian dimension .</div><div class="ttdef"><b>Definition:</b> robot_state.h:273</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_a87880d4693c8f576ebdabf00f4d4f981"><div class="ttname"><a href="structfranka_1_1RobotState.html#a87880d4693c8f576ebdabf00f4d4f981">franka::RobotState::m_total</a></div><div class="ttdeci">double m_total</div><div class="ttdoc">Sum of the mass of the end effector and the external load.</div><div class="ttdef"><b>Definition:</b> robot_state.h:132</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_a88142795c453775c360e18d8a6570d15"><div class="ttname"><a href="structfranka_1_1RobotState.html#a88142795c453775c360e18d8a6570d15">franka::RobotState::F_T_NE</a></div><div class="ttdeci">std::array&lt; double, 16 &gt; F_T_NE</div><div class="ttdoc">Nominal end effector frame pose in flange frame.</div><div class="ttdef"><b>Definition:</b> robot_state.h:69</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_a907c4561d8f1c1a2af7980cf58ceb112"><div class="ttname"><a href="structfranka_1_1RobotState.html#a907c4561d8f1c1a2af7980cf58ceb112">franka::RobotState::F_x_Cee</a></div><div class="ttdeci">std::array&lt; double, 3 &gt; F_x_Cee</div><div class="ttdoc">Configured center of mass of the end effector load with respect to flange frame.</div><div class="ttdef"><b>Definition:</b> robot_state.h:108</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_a96267d443c05fcc58d7ac32f63912649"><div class="ttname"><a href="structfranka_1_1RobotState.html#a96267d443c05fcc58d7ac32f63912649">franka::RobotState::K_F_ext_hat_K</a></div><div class="ttdeci">std::array&lt; double, 6 &gt; K_F_ext_hat_K</div><div class="ttdoc">Estimated external wrench (force, torque) acting on stiffness frame, expressed relative to the stiffn...</div><div class="ttdef"><b>Definition:</b> robot_state.h:319</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_a99ea4ab9c5a42a5c17365ed8fd730cd1"><div class="ttname"><a href="structfranka_1_1RobotState.html#a99ea4ab9c5a42a5c17365ed8fd730cd1">franka::RobotState::m_load</a></div><div class="ttdeci">double m_load</div><div class="ttdoc">Configured mass of the external load.</div><div class="ttdef"><b>Definition:</b> robot_state.h:114</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_aa34145d77dd411d7ca578c355f0ba2b4"><div class="ttname"><a href="structfranka_1_1RobotState.html#aa34145d77dd411d7ca578c355f0ba2b4">franka::RobotState::theta</a></div><div class="ttdeci">std::array&lt; double, 7 &gt; theta</div><div class="ttdoc">Motor position.</div><div class="ttdef"><b>Definition:</b> robot_state.h:363</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_aabfdabeaef8c1858c52dd32344bdd039"><div class="ttname"><a href="structfranka_1_1RobotState.html#aabfdabeaef8c1858c52dd32344bdd039">franka::RobotState::time</a></div><div class="ttdeci">Duration time</div><div class="ttdoc">Strictly monotonically increasing timestamp since robot start.</div><div class="ttdef"><b>Definition:</b> robot_state.h:401</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_ab24d7982942d316459fc35337dc38ecd"><div class="ttname"><a href="structfranka_1_1RobotState.html#ab24d7982942d316459fc35337dc38ecd">franka::RobotState::O_ddP_O</a></div><div class="ttdeci">std::array&lt; double, 3 &gt; O_ddP_O</div><div class="ttdoc">Linear component of the acceleration of the robot's base, expressed in frame parallel to the base fra...</div><div class="ttdef"><b>Definition:</b> robot_state.h:335</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_abc5515f7a27f5de82396ea792a5ecb48"><div class="ttname"><a href="structfranka_1_1RobotState.html#abc5515f7a27f5de82396ea792a5ecb48">franka::RobotState::current_errors</a></div><div class="ttdeci">Errors current_errors</div><div class="ttdoc">Current error state.</div><div class="ttdef"><b>Definition:</b> robot_state.h:374</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_ac53f1046fe758cfdda438a8e3ba08fff"><div class="ttname"><a href="structfranka_1_1RobotState.html#ac53f1046fe758cfdda438a8e3ba08fff">franka::RobotState::NE_T_EE</a></div><div class="ttdeci">std::array&lt; double, 16 &gt; NE_T_EE</div><div class="ttdoc">End effector frame pose in nominal end effector frame.</div><div class="ttdef"><b>Definition:</b> robot_state.h:81</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_ac8dfcf78ddbb27852484e921d6d66ca1"><div class="ttname"><a href="structfranka_1_1RobotState.html#ac8dfcf78ddbb27852484e921d6d66ca1">franka::RobotState::O_ddP_EE_c</a></div><div class="ttdeci">std::array&lt; double, 6 &gt; O_ddP_EE_c</div><div class="ttdoc">Last commanded end effector acceleration in base frame.</div><div class="ttdef"><b>Definition:</b> robot_state.h:357</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_acdef8005828d193e45b128085a9e363b"><div class="ttname"><a href="structfranka_1_1RobotState.html#acdef8005828d193e45b128085a9e363b">franka::RobotState::tau_ext_hat_filtered</a></div><div class="ttdeci">std::array&lt; double, 7 &gt; tau_ext_hat_filtered</div><div class="ttdoc">Low-pass filtered torques generated by external forces on the joints.</div><div class="ttdef"><b>Definition:</b> robot_state.h:299</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_ad90e2518d661da0d8fa4c864bae210e5"><div class="ttname"><a href="structfranka_1_1RobotState.html#ad90e2518d661da0d8fa4c864bae210e5">franka::RobotState::tau_J</a></div><div class="ttdeci">std::array&lt; double, 7 &gt; tau_J</div><div class="ttdoc">Measured link-side joint torque sensor signals.</div><div class="ttdef"><b>Definition:</b> robot_state.h:215</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_ad9120ae7b7613e77df8c1c3eba8fb033"><div class="ttname"><a href="structfranka_1_1RobotState.html#ad9120ae7b7613e77df8c1c3eba8fb033">franka::RobotState::I_total</a></div><div class="ttdeci">std::array&lt; double, 9 &gt; I_total</div><div class="ttdoc">Combined rotational inertia matrix of the end effector load and the external load with respect to the...</div><div class="ttdef"><b>Definition:</b> robot_state.h:139</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_ade3335d1ac2f6c44741a916d565f7091"><div class="ttname"><a href="structfranka_1_1RobotState.html#ade3335d1ac2f6c44741a916d565f7091">franka::RobotState::q</a></div><div class="ttdeci">std::array&lt; double, 7 &gt; q</div><div class="ttdoc">Measured joint position.</div><div class="ttdef"><b>Definition:</b> robot_state.h:233</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_ae6b0d4ee0d7b36240a2165e6ded6f4b9"><div class="ttname"><a href="structfranka_1_1RobotState.html#ae6b0d4ee0d7b36240a2165e6ded6f4b9">franka::RobotState::dtau_J</a></div><div class="ttdeci">std::array&lt; double, 7 &gt; dtau_J</div><div class="ttdoc">Derivative of measured link-side joint torque sensor signals.</div><div class="ttdef"><b>Definition:</b> robot_state.h:227</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_aeb78a3b4b76d4f57b9898cbea3a0f7aa"><div class="ttname"><a href="structfranka_1_1RobotState.html#aeb78a3b4b76d4f57b9898cbea3a0f7aa">franka::RobotState::EE_T_K</a></div><div class="ttdeci">std::array&lt; double, 16 &gt; EE_T_K</div><div class="ttdoc">Stiffness frame pose in end effector frame.</div><div class="ttdef"><b>Definition:</b> robot_state.h:90</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_aed294a088be27b927be9575a18bec949"><div class="ttname"><a href="structfranka_1_1RobotState.html#aed294a088be27b927be9575a18bec949">franka::RobotState::dq_d</a></div><div class="ttdeci">std::array&lt; double, 7 &gt; dq_d</div><div class="ttdoc">Desired joint velocity.</div><div class="ttdef"><b>Definition:</b> robot_state.h:251</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_af208572613a6afcdc61a24970c71fa28"><div class="ttname"><a href="structfranka_1_1RobotState.html#af208572613a6afcdc61a24970c71fa28">franka::RobotState::control_command_success_rate</a></div><div class="ttdeci">double control_command_success_rate</div><div class="ttdoc">Percentage of the last 100 control commands that were successfully received by the robot.</div><div class="ttdef"><b>Definition:</b> robot_state.h:388</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_af372a0081d72bc7b4fe873f99c7b2d8c"><div class="ttname"><a href="structfranka_1_1RobotState.html#af372a0081d72bc7b4fe873f99c7b2d8c">franka::RobotState::dq</a></div><div class="ttdeci">std::array&lt; double, 7 &gt; dq</div><div class="ttdoc">Measured joint velocity.</div><div class="ttdef"><b>Definition:</b> robot_state.h:245</div></div>
+<div class="ttc" id="astructfranka_1_1RobotState_html_af982a16246e33c1495ec02972a36bce3"><div class="ttname"><a href="structfranka_1_1RobotState.html#af982a16246e33c1495ec02972a36bce3">franka::RobotState::m_ee</a></div><div class="ttdeci">double m_ee</div><div class="ttdoc">Configured mass of the end effector.</div><div class="ttdef"><b>Definition:</b> robot_state.h:96</div></div>
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+  ['startcartesianvelocitycontrol_399',['startCartesianVelocityControl',['../classfranka_1_1Robot.html#a838e2cfba6b08dd87742bbcfe62f15bf',1,'franka::Robot']]],
+  ['startjointpositioncontrol_400',['startJointPositionControl',['../classfranka_1_1Robot.html#aca7ecf76cf9c5af49cc5a878c91e19a9',1,'franka::Robot']]],
+  ['startjointvelocitycontrol_401',['startJointVelocityControl',['../classfranka_1_1Robot.html#ae9c867d10817b2485e306450f389a009',1,'franka::Robot']]],
+  ['starttorquecontrol_402',['startTorqueControl',['../classfranka_1_1Robot.html#a8146de9e50217068672b6f726a91de91',1,'franka::Robot']]],
+  ['stop_403',['stop',['../classfranka_1_1Gripper.html#add7397fb6c5631650c139d26a85c8e1d',1,'franka::Gripper::stop()'],['../classfranka_1_1Robot.html#a69cb08e075a81ecf3f26e94d26a06296',1,'franka::Robot::stop()'],['../classfranka_1_1VacuumGripper.html#a3722fe5488c516b4082c878a083cc865',1,'franka::VacuumGripper::stop()']]]
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+<head><title></title>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
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+<link rel="stylesheet" type="text/css" href="search.css"/>
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+var searchResults = new SearchResults("searchResults");
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+  if (event.data == "take_focus") {
+    var elem = searchResults.NavNext(0);
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+var searchData=
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<link rel="stylesheet" type="text/css" href="search.css"/>
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head><title></title>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<link rel="stylesheet" type="text/css" href="search.css"/>
+<script type="text/javascript" src="pages_0.js"></script>
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+<body class="SRPage">
+<div id="SRIndex">
+<div class="SRStatus" id="Loading">Loading...</div>
+<div id="SRResults"></div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+createResults();
+/* @license-end */
+</script>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+document.getElementById("Loading").style.display="none";
+document.getElementById("NoMatches").style.display="none";
+var searchResults = new SearchResults("searchResults");
+searchResults.Search();
+window.addEventListener("message", function(event) {
+  if (event.data == "take_focus") {
+    var elem = searchResults.NavNext(0);
+    if (elem) elem.focus();
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+/* @license-end */
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+</div>
+</body>
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head><title></title>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<link rel="stylesheet" type="text/css" href="search.css"/>
+<script type="text/javascript" src="related_0.js"></script>
+<script type="text/javascript" src="search.js"></script>
+</head>
+<body class="SRPage">
+<div id="SRIndex">
+<div class="SRStatus" id="Loading">Loading...</div>
+<div id="SRResults"></div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+/* @license-end */
+</script>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+document.getElementById("Loading").style.display="none";
+document.getElementById("NoMatches").style.display="none";
+var searchResults = new SearchResults("searchResults");
+searchResults.Search();
+window.addEventListener("message", function(event) {
+  if (event.data == "take_focus") {
+    var elem = searchResults.NavNext(0);
+    if (elem) elem.focus();
+  }
+});
+/* @license-end */
+</script>
+</div>
+</body>
+</html>
diff --git a/0.13.6/search/related_0.js b/0.13.6/search/related_0.js
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index 00000000..50d8669e
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+var searchData=
+[
+  ['robot_561',['Robot',['../classfranka_1_1ActiveMotionGenerator.html#a9f34d4a840b0d3e73fc3185af5fed175',1,'franka::ActiveMotionGenerator::Robot()'],['../classfranka_1_1ActiveTorqueControl.html#a9f34d4a840b0d3e73fc3185af5fed175',1,'franka::ActiveTorqueControl::Robot()']]]
+];
diff --git a/0.13.6/search/search.css b/0.13.6/search/search.css
new file mode 100644
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+/*---------------- Search Box */
+
+#MSearchBox {
+    white-space : nowrap;
+    background: white;
+    border-radius: 0.65em;
+    box-shadow: inset 0.5px 0.5px 3px 0px #555;
+    z-index: 102;
+}
+
+#MSearchBox .left {
+    display: inline-block;
+    vertical-align: middle;
+    height: 1.4em;
+}
+
+#MSearchSelect {
+    display: inline-block;
+    vertical-align: middle;
+    height: 1.4em;
+    padding: 0 0 0 0.3em;
+    margin: 0;
+}
+
+#MSearchField {
+    display: inline-block;
+    vertical-align: middle;
+    width: 7.5em;
+    height: 1.1em;
+    margin: 0 0.15em;
+    padding: 0;
+    line-height: 1em;
+    border:none;
+    color: #909090;
+    outline: none;
+    font-family: Arial, Verdana, sans-serif;
+    -webkit-border-radius: 0px;
+    border-radius: 0px;
+    background: none;
+}
+
+
+#MSearchBox .right {
+    display: inline-block;
+    vertical-align: middle;
+    width: 1.4em;
+    height: 1.4em;
+}
+
+#MSearchClose {
+    display: none;
+    font-size: inherit;
+    background : none;
+    border: none;
+    margin: 0;
+    padding: 0;
+    outline: none;
+
+}
+
+#MSearchCloseImg {
+    height: 1.4em;
+    padding: 0.3em;
+    margin: 0;
+}
+
+.MSearchBoxActive #MSearchField {
+    color: #000000;
+}
+
+#main-menu > li:last-child {
+    /* This <li> object is the parent of the search bar */
+    display: flex;
+    justify-content: center;
+    align-items: center;
+    height: 36px;
+    margin-right: 1em;
+}
+
+/*---------------- Search filter selection */
+
+#MSearchSelectWindow {
+    display: none;
+    position: absolute;
+    left: 0; top: 0;
+    border: 1px solid #90A5CE;
+    background-color: #F9FAFC;
+    z-index: 10001;
+    padding-top: 4px;
+    padding-bottom: 4px;
+    -moz-border-radius: 4px;
+    -webkit-border-top-left-radius: 4px;
+    -webkit-border-top-right-radius: 4px;
+    -webkit-border-bottom-left-radius: 4px;
+    -webkit-border-bottom-right-radius: 4px;
+    -webkit-box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+}
+
+.SelectItem {
+    font: 8pt Arial, Verdana, sans-serif;
+    padding-left:  2px;
+    padding-right: 12px;
+    border: 0px;
+}
+
+span.SelectionMark {
+    margin-right: 4px;
+    font-family: monospace;
+    outline-style: none;
+    text-decoration: none;
+}
+
+a.SelectItem {
+    display: block;
+    outline-style: none;
+    color: #000000; 
+    text-decoration: none;
+    padding-left:   6px;
+    padding-right: 12px;
+}
+
+a.SelectItem:focus,
+a.SelectItem:active {
+    color: #000000; 
+    outline-style: none;
+    text-decoration: none;
+}
+
+a.SelectItem:hover {
+    color: #FFFFFF;
+    background-color: #3D578C;
+    outline-style: none;
+    text-decoration: none;
+    cursor: pointer;
+    display: block;
+}
+
+/*---------------- Search results window */
+
+iframe#MSearchResults {
+    width: 60ex;
+    height: 15em;
+}
+
+#MSearchResultsWindow {
+    display: none;
+    position: absolute;
+    left: 0; top: 0;
+    border: 1px solid #000;
+    background-color: #EEF1F7;
+    z-index:10000;
+}
+
+/* ----------------------------------- */
+
+
+#SRIndex {
+    clear:both; 
+    padding-bottom: 15px;
+}
+
+.SREntry {
+    font-size: 10pt;
+    padding-left: 1ex;
+}
+
+.SRPage .SREntry {
+    font-size: 8pt;
+    padding: 1px 5px;
+}
+
+body.SRPage {
+    margin: 5px 2px;
+}
+
+.SRChildren {
+    padding-left: 3ex; padding-bottom: .5em 
+}
+
+.SRPage .SRChildren {
+    display: none;
+}
+
+.SRSymbol {
+    font-weight: bold; 
+    color: #425E97;
+    font-family: Arial, Verdana, sans-serif;
+    text-decoration: none;
+    outline: none;
+}
+
+a.SRScope {
+    display: block;
+    color: #425E97; 
+    font-family: Arial, Verdana, sans-serif;
+    text-decoration: none;
+    outline: none;
+}
+
+a.SRSymbol:focus, a.SRSymbol:active,
+a.SRScope:focus, a.SRScope:active {
+    text-decoration: underline;
+}
+
+span.SRScope {
+    padding-left: 4px;
+    font-family: Arial, Verdana, sans-serif;
+}
+
+.SRPage .SRStatus {
+    padding: 2px 5px;
+    font-size: 8pt;
+    font-style: italic;
+    font-family: Arial, Verdana, sans-serif;
+}
+
+.SRResult {
+    display: none;
+}
+
+div.searchresults {
+    margin-left: 10px;
+    margin-right: 10px;
+}
+
+/*---------------- External search page results */
+
+.searchresult {
+    background-color: #F0F3F8;
+}
+
+.pages b {
+   color: white;
+   padding: 5px 5px 3px 5px;
+   background-image: url("../tab_a.png");
+   background-repeat: repeat-x;
+   text-shadow: 0 1px 1px #000000;
+}
+
+.pages {
+    line-height: 17px;
+    margin-left: 4px;
+    text-decoration: none;
+}
+
+.hl {
+    font-weight: bold;
+}
+
+#searchresults {
+    margin-bottom: 20px;
+}
+
+.searchpages {
+    margin-top: 10px;
+}
+
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new file mode 100644
index 00000000..fb226f73
--- /dev/null
+++ b/0.13.6/search/search.js
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+/*
+ @licstart  The following is the entire license notice for the JavaScript code in this file.
+
+ The MIT License (MIT)
+
+ Copyright (C) 1997-2020 by Dimitri van Heesch
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ and associated documentation files (the "Software"), to deal in the Software without restriction,
+ including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in all copies or
+ substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+ @licend  The above is the entire license notice for the JavaScript code in this file
+ */
+function convertToId(search)
+{
+  var result = '';
+  for (i=0;i<search.length;i++)
+  {
+    var c = search.charAt(i);
+    var cn = c.charCodeAt(0);
+    if (c.match(/[a-z0-9\u0080-\uFFFF]/))
+    {
+      result+=c;
+    }
+    else if (cn<16)
+    {
+      result+="_0"+cn.toString(16);
+    }
+    else
+    {
+      result+="_"+cn.toString(16);
+    }
+  }
+  return result;
+}
+
+function getXPos(item)
+{
+  var x = 0;
+  if (item.offsetWidth)
+  {
+    while (item && item!=document.body)
+    {
+      x   += item.offsetLeft;
+      item = item.offsetParent;
+    }
+  }
+  return x;
+}
+
+function getYPos(item)
+{
+  var y = 0;
+  if (item.offsetWidth)
+  {
+     while (item && item!=document.body)
+     {
+       y   += item.offsetTop;
+       item = item.offsetParent;
+     }
+  }
+  return y;
+}
+
+/* A class handling everything associated with the search panel.
+
+   Parameters:
+   name - The name of the global variable that will be
+          storing this instance.  Is needed to be able to set timeouts.
+   resultPath - path to use for external files
+*/
+function SearchBox(name, resultsPath, inFrame, label, extension)
+{
+  if (!name || !resultsPath) {  alert("Missing parameters to SearchBox."); }
+  if (!extension || extension == "") { extension = ".html"; }
+
+  // ---------- Instance variables
+  this.name                  = name;
+  this.resultsPath           = resultsPath;
+  this.keyTimeout            = 0;
+  this.keyTimeoutLength      = 500;
+  this.closeSelectionTimeout = 300;
+  this.lastSearchValue       = "";
+  this.lastResultsPage       = "";
+  this.hideTimeout           = 0;
+  this.searchIndex           = 0;
+  this.searchActive          = false;
+  this.insideFrame           = inFrame;
+  this.searchLabel           = label;
+  this.extension             = extension;
+
+  // ----------- DOM Elements
+
+  this.DOMSearchField = function()
+  {  return document.getElementById("MSearchField");  }
+
+  this.DOMSearchSelect = function()
+  {  return document.getElementById("MSearchSelect");  }
+
+  this.DOMSearchSelectWindow = function()
+  {  return document.getElementById("MSearchSelectWindow");  }
+
+  this.DOMPopupSearchResults = function()
+  {  return document.getElementById("MSearchResults");  }
+
+  this.DOMPopupSearchResultsWindow = function()
+  {  return document.getElementById("MSearchResultsWindow");  }
+
+  this.DOMSearchClose = function()
+  {  return document.getElementById("MSearchClose"); }
+
+  this.DOMSearchBox = function()
+  {  return document.getElementById("MSearchBox");  }
+
+  // ------------ Event Handlers
+
+  // Called when focus is added or removed from the search field.
+  this.OnSearchFieldFocus = function(isActive)
+  {
+    this.Activate(isActive);
+  }
+
+  this.OnSearchSelectShow = function()
+  {
+    var searchSelectWindow = this.DOMSearchSelectWindow();
+    var searchField        = this.DOMSearchSelect();
+
+    if (this.insideFrame)
+    {
+      var left = getXPos(searchField);
+      var top  = getYPos(searchField);
+      left += searchField.offsetWidth + 6;
+      top += searchField.offsetHeight;
+
+      // show search selection popup
+      searchSelectWindow.style.display='block';
+      left -= searchSelectWindow.offsetWidth;
+      searchSelectWindow.style.left =  left + 'px';
+      searchSelectWindow.style.top  =  top  + 'px';
+    }
+    else
+    {
+      var left = getXPos(searchField);
+      var top  = getYPos(searchField);
+      top += searchField.offsetHeight;
+
+      // show search selection popup
+      searchSelectWindow.style.display='block';
+      searchSelectWindow.style.left =  left + 'px';
+      searchSelectWindow.style.top  =  top  + 'px';
+    }
+
+    // stop selection hide timer
+    if (this.hideTimeout)
+    {
+      clearTimeout(this.hideTimeout);
+      this.hideTimeout=0;
+    }
+    return false; // to avoid "image drag" default event
+  }
+
+  this.OnSearchSelectHide = function()
+  {
+    this.hideTimeout = setTimeout(this.name +".CloseSelectionWindow()",
+                                  this.closeSelectionTimeout);
+  }
+
+  // Called when the content of the search field is changed.
+  this.OnSearchFieldChange = function(evt)
+  {
+    if (this.keyTimeout) // kill running timer
+    {
+      clearTimeout(this.keyTimeout);
+      this.keyTimeout = 0;
+    }
+
+    var e  = (evt) ? evt : window.event; // for IE
+    if (e.keyCode==40 || e.keyCode==13)
+    {
+      if (e.shiftKey==1)
+      {
+        this.OnSearchSelectShow();
+        var win=this.DOMSearchSelectWindow();
+        for (i=0;i<win.childNodes.length;i++)
+        {
+          var child = win.childNodes[i]; // get span within a
+          if (child.className=='SelectItem')
+          {
+            child.focus();
+            return;
+          }
+        }
+        return;
+      }
+      else
+      {
+        window.frames.MSearchResults.postMessage("take_focus", "*");
+      }
+    }
+    else if (e.keyCode==27) // Escape out of the search field
+    {
+      this.DOMSearchField().blur();
+      this.DOMPopupSearchResultsWindow().style.display = 'none';
+      this.DOMSearchClose().style.display = 'none';
+      this.lastSearchValue = '';
+      this.Activate(false);
+      return;
+    }
+
+    // strip whitespaces
+    var searchValue = this.DOMSearchField().value.replace(/ +/g, "");
+
+    if (searchValue != this.lastSearchValue) // search value has changed
+    {
+      if (searchValue != "") // non-empty search
+      {
+        // set timer for search update
+        this.keyTimeout = setTimeout(this.name + '.Search()',
+                                     this.keyTimeoutLength);
+      }
+      else // empty search field
+      {
+        this.DOMPopupSearchResultsWindow().style.display = 'none';
+        this.DOMSearchClose().style.display = 'none';
+        this.lastSearchValue = '';
+      }
+    }
+  }
+
+  this.SelectItemCount = function(id)
+  {
+    var count=0;
+    var win=this.DOMSearchSelectWindow();
+    for (i=0;i<win.childNodes.length;i++)
+    {
+      var child = win.childNodes[i]; // get span within a
+      if (child.className=='SelectItem')
+      {
+        count++;
+      }
+    }
+    return count;
+  }
+
+  this.SelectItemSet = function(id)
+  {
+    var i,j=0;
+    var win=this.DOMSearchSelectWindow();
+    for (i=0;i<win.childNodes.length;i++)
+    {
+      var child = win.childNodes[i]; // get span within a
+      if (child.className=='SelectItem')
+      {
+        var node = child.firstChild;
+        if (j==id)
+        {
+          node.innerHTML='&#8226;';
+        }
+        else
+        {
+          node.innerHTML='&#160;';
+        }
+        j++;
+      }
+    }
+  }
+
+  // Called when an search filter selection is made.
+  // set item with index id as the active item
+  this.OnSelectItem = function(id)
+  {
+    this.searchIndex = id;
+    this.SelectItemSet(id);
+    var searchValue = this.DOMSearchField().value.replace(/ +/g, "");
+    if (searchValue!="" && this.searchActive) // something was found -> do a search
+    {
+      this.Search();
+    }
+  }
+
+  this.OnSearchSelectKey = function(evt)
+  {
+    var e = (evt) ? evt : window.event; // for IE
+    if (e.keyCode==40 && this.searchIndex<this.SelectItemCount()) // Down
+    {
+      this.searchIndex++;
+      this.OnSelectItem(this.searchIndex);
+    }
+    else if (e.keyCode==38 && this.searchIndex>0) // Up
+    {
+      this.searchIndex--;
+      this.OnSelectItem(this.searchIndex);
+    }
+    else if (e.keyCode==13 || e.keyCode==27)
+    {
+      this.OnSelectItem(this.searchIndex);
+      this.CloseSelectionWindow();
+      this.DOMSearchField().focus();
+    }
+    return false;
+  }
+
+  // --------- Actions
+
+  // Closes the results window.
+  this.CloseResultsWindow = function()
+  {
+    this.DOMPopupSearchResultsWindow().style.display = 'none';
+    this.DOMSearchClose().style.display = 'none';
+    this.Activate(false);
+  }
+
+  this.CloseSelectionWindow = function()
+  {
+    this.DOMSearchSelectWindow().style.display = 'none';
+  }
+
+  // Performs a search.
+  this.Search = function()
+  {
+    this.keyTimeout = 0;
+
+    // strip leading whitespace
+    var searchValue = this.DOMSearchField().value.replace(/^ +/, "");
+
+    var code = searchValue.toLowerCase().charCodeAt(0);
+    var idxChar = searchValue.substr(0, 1).toLowerCase();
+    if ( 0xD800 <= code && code <= 0xDBFF && searchValue > 1) // surrogate pair
+    {
+      idxChar = searchValue.substr(0, 2);
+    }
+
+    var resultsPage;
+    var resultsPageWithSearch;
+    var hasResultsPage;
+
+    var idx = indexSectionsWithContent[this.searchIndex].indexOf(idxChar);
+    if (idx!=-1)
+    {
+       var hexCode=idx.toString(16);
+       resultsPage = this.resultsPath + '/' + indexSectionNames[this.searchIndex] + '_' + hexCode + this.extension;
+       resultsPageWithSearch = resultsPage+'?'+escape(searchValue);
+       hasResultsPage = true;
+    }
+    else // nothing available for this search term
+    {
+       resultsPage = this.resultsPath + '/nomatches' + this.extension;
+       resultsPageWithSearch = resultsPage;
+       hasResultsPage = false;
+    }
+
+    window.frames.MSearchResults.location = resultsPageWithSearch;
+    var domPopupSearchResultsWindow = this.DOMPopupSearchResultsWindow();
+
+    if (domPopupSearchResultsWindow.style.display!='block')
+    {
+       var domSearchBox = this.DOMSearchBox();
+       this.DOMSearchClose().style.display = 'inline-block';
+       if (this.insideFrame)
+       {
+         var domPopupSearchResults = this.DOMPopupSearchResults();
+         domPopupSearchResultsWindow.style.position = 'relative';
+         domPopupSearchResultsWindow.style.display  = 'block';
+         var width = document.body.clientWidth - 8; // the -8 is for IE :-(
+         domPopupSearchResultsWindow.style.width    = width + 'px';
+         domPopupSearchResults.style.width          = width + 'px';
+       }
+       else
+       {
+         var domPopupSearchResults = this.DOMPopupSearchResults();
+         var left = getXPos(domSearchBox) + 150; // domSearchBox.offsetWidth;
+         var top  = getYPos(domSearchBox) + 20;  // domSearchBox.offsetHeight + 1;
+         domPopupSearchResultsWindow.style.display = 'block';
+         left -= domPopupSearchResults.offsetWidth;
+         domPopupSearchResultsWindow.style.top     = top  + 'px';
+         domPopupSearchResultsWindow.style.left    = left + 'px';
+       }
+    }
+
+    this.lastSearchValue = searchValue;
+    this.lastResultsPage = resultsPage;
+  }
+
+  // -------- Activation Functions
+
+  // Activates or deactivates the search panel, resetting things to
+  // their default values if necessary.
+  this.Activate = function(isActive)
+  {
+    if (isActive || // open it
+        this.DOMPopupSearchResultsWindow().style.display == 'block'
+       )
+    {
+      this.DOMSearchBox().className = 'MSearchBoxActive';
+
+      var searchField = this.DOMSearchField();
+
+      if (searchField.value == this.searchLabel) // clear "Search" term upon entry
+      {
+        searchField.value = '';
+        this.searchActive = true;
+      }
+    }
+    else if (!isActive) // directly remove the panel
+    {
+      this.DOMSearchBox().className = 'MSearchBoxInactive';
+      this.DOMSearchField().value   = this.searchLabel;
+      this.searchActive             = false;
+      this.lastSearchValue          = ''
+      this.lastResultsPage          = '';
+    }
+  }
+}
+
+// -----------------------------------------------------------------------
+
+// The class that handles everything on the search results page.
+function SearchResults(name)
+{
+    // The number of matches from the last run of <Search()>.
+    this.lastMatchCount = 0;
+    this.lastKey = 0;
+    this.repeatOn = false;
+
+    // Toggles the visibility of the passed element ID.
+    this.FindChildElement = function(id)
+    {
+      var parentElement = document.getElementById(id);
+      var element = parentElement.firstChild;
+
+      while (element && element!=parentElement)
+      {
+        if (element.nodeName.toLowerCase() == 'div' && element.className == 'SRChildren')
+        {
+          return element;
+        }
+
+        if (element.nodeName.toLowerCase() == 'div' && element.hasChildNodes())
+        {
+           element = element.firstChild;
+        }
+        else if (element.nextSibling)
+        {
+           element = element.nextSibling;
+        }
+        else
+        {
+          do
+          {
+            element = element.parentNode;
+          }
+          while (element && element!=parentElement && !element.nextSibling);
+
+          if (element && element!=parentElement)
+          {
+            element = element.nextSibling;
+          }
+        }
+      }
+    }
+
+    this.Toggle = function(id)
+    {
+      var element = this.FindChildElement(id);
+      if (element)
+      {
+        if (element.style.display == 'block')
+        {
+          element.style.display = 'none';
+        }
+        else
+        {
+          element.style.display = 'block';
+        }
+      }
+    }
+
+    // Searches for the passed string.  If there is no parameter,
+    // it takes it from the URL query.
+    //
+    // Always returns true, since other documents may try to call it
+    // and that may or may not be possible.
+    this.Search = function(search)
+    {
+      if (!search) // get search word from URL
+      {
+        search = window.location.search;
+        search = search.substring(1);  // Remove the leading '?'
+        search = unescape(search);
+      }
+
+      search = search.replace(/^ +/, ""); // strip leading spaces
+      search = search.replace(/ +$/, ""); // strip trailing spaces
+      search = search.toLowerCase();
+      search = convertToId(search);
+
+      var resultRows = document.getElementsByTagName("div");
+      var matches = 0;
+
+      var i = 0;
+      while (i < resultRows.length)
+      {
+        var row = resultRows.item(i);
+        if (row.className == "SRResult")
+        {
+          var rowMatchName = row.id.toLowerCase();
+          rowMatchName = rowMatchName.replace(/^sr\d*_/, ''); // strip 'sr123_'
+
+          if (search.length<=rowMatchName.length &&
+             rowMatchName.substr(0, search.length)==search)
+          {
+            row.style.display = 'block';
+            matches++;
+          }
+          else
+          {
+            row.style.display = 'none';
+          }
+        }
+        i++;
+      }
+      document.getElementById("Searching").style.display='none';
+      if (matches == 0) // no results
+      {
+        document.getElementById("NoMatches").style.display='block';
+      }
+      else // at least one result
+      {
+        document.getElementById("NoMatches").style.display='none';
+      }
+      this.lastMatchCount = matches;
+      return true;
+    }
+
+    // return the first item with index index or higher that is visible
+    this.NavNext = function(index)
+    {
+      var focusItem;
+      while (1)
+      {
+        var focusName = 'Item'+index;
+        focusItem = document.getElementById(focusName);
+        if (focusItem && focusItem.parentNode.parentNode.style.display=='block')
+        {
+          break;
+        }
+        else if (!focusItem) // last element
+        {
+          break;
+        }
+        focusItem=null;
+        index++;
+      }
+      return focusItem;
+    }
+
+    this.NavPrev = function(index)
+    {
+      var focusItem;
+      while (1)
+      {
+        var focusName = 'Item'+index;
+        focusItem = document.getElementById(focusName);
+        if (focusItem && focusItem.parentNode.parentNode.style.display=='block')
+        {
+          break;
+        }
+        else if (!focusItem) // last element
+        {
+          break;
+        }
+        focusItem=null;
+        index--;
+      }
+      return focusItem;
+    }
+
+    this.ProcessKeys = function(e)
+    {
+      if (e.type == "keydown")
+      {
+        this.repeatOn = false;
+        this.lastKey = e.keyCode;
+      }
+      else if (e.type == "keypress")
+      {
+        if (!this.repeatOn)
+        {
+          if (this.lastKey) this.repeatOn = true;
+          return false; // ignore first keypress after keydown
+        }
+      }
+      else if (e.type == "keyup")
+      {
+        this.lastKey = 0;
+        this.repeatOn = false;
+      }
+      return this.lastKey!=0;
+    }
+
+    this.Nav = function(evt,itemIndex)
+    {
+      var e  = (evt) ? evt : window.event; // for IE
+      if (e.keyCode==13) return true;
+      if (!this.ProcessKeys(e)) return false;
+
+      if (this.lastKey==38) // Up
+      {
+        var newIndex = itemIndex-1;
+        var focusItem = this.NavPrev(newIndex);
+        if (focusItem)
+        {
+          var child = this.FindChildElement(focusItem.parentNode.parentNode.id);
+          if (child && child.style.display == 'block') // children visible
+          {
+            var n=0;
+            var tmpElem;
+            while (1) // search for last child
+            {
+              tmpElem = document.getElementById('Item'+newIndex+'_c'+n);
+              if (tmpElem)
+              {
+                focusItem = tmpElem;
+              }
+              else // found it!
+              {
+                break;
+              }
+              n++;
+            }
+          }
+        }
+        if (focusItem)
+        {
+          focusItem.focus();
+        }
+        else // return focus to search field
+        {
+           parent.document.getElementById("MSearchField").focus();
+        }
+      }
+      else if (this.lastKey==40) // Down
+      {
+        var newIndex = itemIndex+1;
+        var focusItem;
+        var item = document.getElementById('Item'+itemIndex);
+        var elem = this.FindChildElement(item.parentNode.parentNode.id);
+        if (elem && elem.style.display == 'block') // children visible
+        {
+          focusItem = document.getElementById('Item'+itemIndex+'_c0');
+        }
+        if (!focusItem) focusItem = this.NavNext(newIndex);
+        if (focusItem)  focusItem.focus();
+      }
+      else if (this.lastKey==39) // Right
+      {
+        var item = document.getElementById('Item'+itemIndex);
+        var elem = this.FindChildElement(item.parentNode.parentNode.id);
+        if (elem) elem.style.display = 'block';
+      }
+      else if (this.lastKey==37) // Left
+      {
+        var item = document.getElementById('Item'+itemIndex);
+        var elem = this.FindChildElement(item.parentNode.parentNode.id);
+        if (elem) elem.style.display = 'none';
+      }
+      else if (this.lastKey==27) // Escape
+      {
+        parent.searchBox.CloseResultsWindow();
+        parent.document.getElementById("MSearchField").focus();
+      }
+      else if (this.lastKey==13) // Enter
+      {
+        return true;
+      }
+      return false;
+    }
+
+    this.NavChild = function(evt,itemIndex,childIndex)
+    {
+      var e  = (evt) ? evt : window.event; // for IE
+      if (e.keyCode==13) return true;
+      if (!this.ProcessKeys(e)) return false;
+
+      if (this.lastKey==38) // Up
+      {
+        if (childIndex>0)
+        {
+          var newIndex = childIndex-1;
+          document.getElementById('Item'+itemIndex+'_c'+newIndex).focus();
+        }
+        else // already at first child, jump to parent
+        {
+          document.getElementById('Item'+itemIndex).focus();
+        }
+      }
+      else if (this.lastKey==40) // Down
+      {
+        var newIndex = childIndex+1;
+        var elem = document.getElementById('Item'+itemIndex+'_c'+newIndex);
+        if (!elem) // last child, jump to parent next parent
+        {
+          elem = this.NavNext(itemIndex+1);
+        }
+        if (elem)
+        {
+          elem.focus();
+        }
+      }
+      else if (this.lastKey==27) // Escape
+      {
+        parent.searchBox.CloseResultsWindow();
+        parent.document.getElementById("MSearchField").focus();
+      }
+      else if (this.lastKey==13) // Enter
+      {
+        return true;
+      }
+      return false;
+    }
+}
+
+function setKeyActions(elem,action)
+{
+  elem.setAttribute('onkeydown',action);
+  elem.setAttribute('onkeypress',action);
+  elem.setAttribute('onkeyup',action);
+}
+
+function setClassAttr(elem,attr)
+{
+  elem.setAttribute('class',attr);
+  elem.setAttribute('className',attr);
+}
+
+function createResults()
+{
+  var results = document.getElementById("SRResults");
+  for (var e=0; e<searchData.length; e++)
+  {
+    var id = searchData[e][0];
+    var srResult = document.createElement('div');
+    srResult.setAttribute('id','SR_'+id);
+    setClassAttr(srResult,'SRResult');
+    var srEntry = document.createElement('div');
+    setClassAttr(srEntry,'SREntry');
+    var srLink = document.createElement('a');
+    srLink.setAttribute('id','Item'+e);
+    setKeyActions(srLink,'return searchResults.Nav(event,'+e+')');
+    setClassAttr(srLink,'SRSymbol');
+    srLink.innerHTML = searchData[e][1][0];
+    srEntry.appendChild(srLink);
+    if (searchData[e][1].length==2) // single result
+    {
+      srLink.setAttribute('href',searchData[e][1][1][0]);
+      if (searchData[e][1][1][1])
+      {
+       srLink.setAttribute('target','_parent');
+      }
+      var srScope = document.createElement('span');
+      setClassAttr(srScope,'SRScope');
+      srScope.innerHTML = searchData[e][1][1][2];
+      srEntry.appendChild(srScope);
+    }
+    else // multiple results
+    {
+      srLink.setAttribute('href','javascript:searchResults.Toggle("SR_'+id+'")');
+      var srChildren = document.createElement('div');
+      setClassAttr(srChildren,'SRChildren');
+      for (var c=0; c<searchData[e][1].length-1; c++)
+      {
+        var srChild = document.createElement('a');
+        srChild.setAttribute('id','Item'+e+'_c'+c);
+        setKeyActions(srChild,'return searchResults.NavChild(event,'+e+','+c+')');
+        setClassAttr(srChild,'SRScope');
+        srChild.setAttribute('href',searchData[e][1][c+1][0]);
+        if (searchData[e][1][c+1][1])
+        {
+         srChild.setAttribute('target','_parent');
+        }
+        srChild.innerHTML = searchData[e][1][c+1][2];
+        srChildren.appendChild(srChild);
+      }
+      srEntry.appendChild(srChildren);
+    }
+    srResult.appendChild(srEntry);
+    results.appendChild(srResult);
+  }
+}
+
+function init_search()
+{
+  var results = document.getElementById("MSearchSelectWindow");
+  for (var key in indexSectionLabels)
+  {
+    var link = document.createElement('a');
+    link.setAttribute('class','SelectItem');
+    link.setAttribute('onclick','searchBox.OnSelectItem('+key+')');
+    link.href='javascript:void(0)';
+    link.innerHTML='<span class="SelectionMark">&#160;</span>'+indexSectionLabels[key];
+    results.appendChild(link);
+  }
+  searchBox.OnSelectItem(0);
+}
+/* @license-end */
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diff --git a/0.13.6/structfranka_1_1CommandException__inherit__graph.map b/0.13.6/structfranka_1_1CommandException__inherit__graph.map
new file mode 100644
index 00000000..73c58e3f
--- /dev/null
+++ b/0.13.6/structfranka_1_1CommandException__inherit__graph.map
@@ -0,0 +1,5 @@
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+<area shape="rect" id="node1" title="CommandException is thrown if an error occurs during command execution." alt="" coords="5,155,208,181"/>
+<area shape="rect" id="node2" href="$structfranka_1_1Exception.html" title="Base class for all exceptions used by libfranka." alt="" coords="39,80,174,107"/>
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diff --git a/0.13.6/structfranka_1_1CommandException__inherit__graph.md5 b/0.13.6/structfranka_1_1CommandException__inherit__graph.md5
new file mode 100644
index 00000000..d76a1d46
--- /dev/null
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+<li class="navelem"><b>franka</b></li><li class="navelem"><a class="el" href="structfranka_1_1ControlException.html">ControlException</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structfranka_1_1ControlException-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">franka::ControlException Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p><a class="el" href="structfranka_1_1ControlException.html" title="ControlException is thrown if an error occurs during motion generation or torque control.">ControlException</a> is thrown if an error occurs during motion generation or torque control.  
+ <a href="structfranka_1_1ControlException.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="exception_8h_source.html">exception.h</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for franka::ControlException:</div>
+<div class="dyncontent">
+<div class="center"><img src="structfranka_1_1ControlException__inherit__graph.png" border="0" usemap="#afranka_1_1ControlException_inherit__map" alt="Inheritance graph"/></div>
+<map name="afranka_1_1ControlException_inherit__map" id="afranka_1_1ControlException_inherit__map">
+<area shape="rect" title="ControlException is thrown if an error occurs during motion generation or torque control." alt="" coords="5,155,188,181"/>
+<area shape="rect" href="structfranka_1_1Exception.html" title="Base class for all exceptions used by libfranka." alt="" coords="29,80,164,107"/>
+<area shape="rect" title=" " alt="" coords="27,5,166,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for franka::ControlException:</div>
+<div class="dyncontent">
+<div class="center"><img src="structfranka_1_1ControlException__coll__graph.png" border="0" usemap="#afranka_1_1ControlException_coll__map" alt="Collaboration graph"/></div>
+<map name="afranka_1_1ControlException_coll__map" id="afranka_1_1ControlException_coll__map">
+<area shape="rect" title="ControlException is thrown if an error occurs during motion generation or torque control." alt="" coords="5,155,188,181"/>
+<area shape="rect" href="structfranka_1_1Exception.html" title="Base class for all exceptions used by libfranka." alt="" coords="29,80,164,107"/>
+<area shape="rect" title=" " alt="" coords="27,5,166,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a2efb9628eef80a3819031dbf2e2cb518"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1ControlException.html#a2efb9628eef80a3819031dbf2e2cb518">ControlException</a> (const std::string &amp;what, std::vector&lt; <a class="el" href="structfranka_1_1Record.html">franka::Record</a> &gt; <a class="el" href="structfranka_1_1ControlException.html#ae57f0ac0a9aa195057af1f1cc712b41e">log</a>={}) noexcept</td></tr>
+<tr class="memdesc:a2efb9628eef80a3819031dbf2e2cb518"><td class="mdescLeft">&#160;</td><td class="mdescRight">Creates the exception with an explanatory string and a Log object.  <a href="structfranka_1_1ControlException.html#a2efb9628eef80a3819031dbf2e2cb518">More...</a><br /></td></tr>
+<tr class="separator:a2efb9628eef80a3819031dbf2e2cb518"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:ae57f0ac0a9aa195057af1f1cc712b41e"><td class="memItemLeft" align="right" valign="top"><a id="ae57f0ac0a9aa195057af1f1cc712b41e"></a>
+const std::vector&lt; <a class="el" href="structfranka_1_1Record.html">franka::Record</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1ControlException.html#ae57f0ac0a9aa195057af1f1cc712b41e">log</a></td></tr>
+<tr class="memdesc:ae57f0ac0a9aa195057af1f1cc712b41e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Vector of states and commands logged just before the exception occurred. <br /></td></tr>
+<tr class="separator:ae57f0ac0a9aa195057af1f1cc712b41e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p><a class="el" href="structfranka_1_1ControlException.html" title="ControlException is thrown if an error occurs during motion generation or torque control.">ControlException</a> is thrown if an error occurs during motion generation or torque control. </p>
+<p>The exception holds a vector with the last received robot states. The number of recorded states can be configured in the <a class="el" href="classfranka_1_1Robot.html" title="Maintains a network connection to the robot, provides the current robot state, gives access to the mo...">Robot</a> constructor. </p>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="generate_consecutive_motions_8cpp-example.html#_a10">generate_consecutive_motions.cpp</a>, <a class="el" href="motion_with_control_8cpp-example.html#_a12">motion_with_control.cpp</a>, and <a class="el" href="motion_with_control_external_control_loop_8cpp-example.html#_a12">motion_with_control_external_control_loop.cpp</a>.</dd>
+</dl>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a2efb9628eef80a3819031dbf2e2cb518"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2efb9628eef80a3819031dbf2e2cb518">&#9670;&nbsp;</a></span>ControlException()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">franka::ControlException::ControlException </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>what</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::vector&lt; <a class="el" href="structfranka_1_1Record.html">franka::Record</a> &gt;&#160;</td>
+          <td class="paramname"><em>log</em> = <code>{}</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">explicit</span><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Creates the exception with an explanatory string and a Log object. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">what</td><td>Explanatory string. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">log</td><td>Vector of last received states and commands. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/franka/<a class="el" href="exception_8h_source.html">exception.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
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diff --git a/0.13.6/structfranka_1_1ControlException__inherit__graph.map b/0.13.6/structfranka_1_1ControlException__inherit__graph.map
new file mode 100644
index 00000000..76e25ff0
--- /dev/null
+++ b/0.13.6/structfranka_1_1ControlException__inherit__graph.map
@@ -0,0 +1,5 @@
+<map id="franka::ControlException" name="franka::ControlException">
+<area shape="rect" id="node1" title="ControlException is thrown if an error occurs during motion generation or torque control." alt="" coords="5,155,188,181"/>
+<area shape="rect" id="node2" href="$structfranka_1_1Exception.html" title="Base class for all exceptions used by libfranka." alt="" coords="29,80,164,107"/>
+<area shape="rect" id="node3" title=" " alt="" coords="27,5,166,32"/>
+</map>
diff --git a/0.13.6/structfranka_1_1ControlException__inherit__graph.md5 b/0.13.6/structfranka_1_1ControlException__inherit__graph.md5
new file mode 100644
index 00000000..fe9c0ccd
--- /dev/null
+++ b/0.13.6/structfranka_1_1ControlException__inherit__graph.md5
@@ -0,0 +1 @@
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diff --git a/0.13.6/structfranka_1_1ControlException__inherit__graph.png b/0.13.6/structfranka_1_1ControlException__inherit__graph.png
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+</div>
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+  <tr><td class="entry"><a class="el" href="structfranka_1_1Errors.html#a7d3a6480cbe572fd46e579b43732edc9">joint_move_in_wrong_direction</a></td><td class="entry"><a class="el" href="structfranka_1_1Errors.html">franka::Errors</a></td><td class="entry"></td></tr>
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+  <tr><td class="entry"><a class="el" href="structfranka_1_1Errors.html#a44ba0d45e52639280d32cf447f967e29">joint_position_limits_violation</a></td><td class="entry"><a class="el" href="structfranka_1_1Errors.html">franka::Errors</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structfranka_1_1Errors.html#a7af91cbf61dc79304bff3ffadc51ea86">joint_position_motion_generator_start_pose_invalid</a></td><td class="entry"><a class="el" href="structfranka_1_1Errors.html">franka::Errors</a></td><td class="entry"></td></tr>
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+  <tr><td class="entry"><a class="el" href="structfranka_1_1Errors.html#aef3c74f48978545187ee2dc3a96db1c8">joint_via_motion_generator_planning_joint_limit_violation</a></td><td class="entry"><a class="el" href="structfranka_1_1Errors.html">franka::Errors</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structfranka_1_1Errors.html#ac55d3624087e606cb4ffab121869d580">max_goal_pose_deviation_violation</a></td><td class="entry"><a class="el" href="structfranka_1_1Errors.html">franka::Errors</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structfranka_1_1Errors.html#ad90cffe703ca1b782007f3ba49da587c">max_path_pose_deviation_violation</a></td><td class="entry"><a class="el" href="structfranka_1_1Errors.html">franka::Errors</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structfranka_1_1Errors.html#a50cb6e50c1ce2b5ec281dcad83f1779e">operator bool</a>() const noexcept</td><td class="entry"><a class="el" href="structfranka_1_1Errors.html">franka::Errors</a></td><td class="entry"><span class="mlabel">explicit</span></td></tr>
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+  <tr><td class="entry"><a class="el" href="structfranka_1_1Errors.html#a6c4d8cb1fb314567ebd07a6195b840f5">power_limit_violation</a></td><td class="entry"><a class="el" href="structfranka_1_1Errors.html">franka::Errors</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structfranka_1_1Errors.html#adf68f6333624cb5558864441a991de8c">self_collision_avoidance_violation</a></td><td class="entry"><a class="el" href="structfranka_1_1Errors.html">franka::Errors</a></td><td class="entry"></td></tr>
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+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
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+   &#160;<span id="projectnumber">0.13.6</span>
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+   <div id="projectbrief">FCI C++ API</div>
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>franka</b></li><li class="navelem"><a class="el" href="structfranka_1_1Errors.html">Errors</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structfranka_1_1Errors-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">franka::Errors Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Enumerates errors that can occur while controlling a <a class="el" href="classfranka_1_1Robot.html" title="Maintains a network connection to the robot, provides the current robot state, gives access to the mo...">franka::Robot</a>.  
+ <a href="structfranka_1_1Errors.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="errors_8h_source.html">errors.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:aedd6b6af230c01b6f106b5050b29d9ae"><td class="memItemLeft" align="right" valign="top"><a id="aedd6b6af230c01b6f106b5050b29d9ae"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1Errors.html#aedd6b6af230c01b6f106b5050b29d9ae">Errors</a> ()</td></tr>
+<tr class="memdesc:aedd6b6af230c01b6f106b5050b29d9ae"><td class="mdescLeft">&#160;</td><td class="mdescRight">Creates an empty <a class="el" href="structfranka_1_1Errors.html" title="Enumerates errors that can occur while controlling a franka::Robot.">Errors</a> instance. <br /></td></tr>
+<tr class="separator:aedd6b6af230c01b6f106b5050b29d9ae"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4548a72089cc6d61c9249a1b8f4cc480"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1Errors.html#a4548a72089cc6d61c9249a1b8f4cc480">Errors</a> (const <a class="el" href="structfranka_1_1Errors.html">Errors</a> &amp;other)</td></tr>
+<tr class="memdesc:a4548a72089cc6d61c9249a1b8f4cc480"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy constructs a new <a class="el" href="structfranka_1_1Errors.html" title="Enumerates errors that can occur while controlling a franka::Robot.">Errors</a> instance.  <a href="structfranka_1_1Errors.html#a4548a72089cc6d61c9249a1b8f4cc480">More...</a><br /></td></tr>
+<tr class="separator:a4548a72089cc6d61c9249a1b8f4cc480"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6fefa4083d79362080b79f3492fd4cb6"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structfranka_1_1Errors.html">Errors</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1Errors.html#a6fefa4083d79362080b79f3492fd4cb6">operator=</a> (<a class="el" href="structfranka_1_1Errors.html">Errors</a> other)</td></tr>
+<tr class="memdesc:a6fefa4083d79362080b79f3492fd4cb6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Assigns this <a class="el" href="structfranka_1_1Errors.html" title="Enumerates errors that can occur while controlling a franka::Robot.">Errors</a> instance from another <a class="el" href="structfranka_1_1Errors.html" title="Enumerates errors that can occur while controlling a franka::Robot.">Errors</a> value.  <a href="structfranka_1_1Errors.html#a6fefa4083d79362080b79f3492fd4cb6">More...</a><br /></td></tr>
+<tr class="separator:a6fefa4083d79362080b79f3492fd4cb6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:adffc6f8b2235e566c4a43ce69a86634e"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1Errors.html#adffc6f8b2235e566c4a43ce69a86634e">Errors</a> (const std::array&lt; bool, 41 &gt; &amp;errors)</td></tr>
+<tr class="memdesc:adffc6f8b2235e566c4a43ce69a86634e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Creates a new <a class="el" href="structfranka_1_1Errors.html" title="Enumerates errors that can occur while controlling a franka::Robot.">Errors</a> instance from the given array.  <a href="structfranka_1_1Errors.html#adffc6f8b2235e566c4a43ce69a86634e">More...</a><br /></td></tr>
+<tr class="separator:adffc6f8b2235e566c4a43ce69a86634e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a50cb6e50c1ce2b5ec281dcad83f1779e"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1Errors.html#a50cb6e50c1ce2b5ec281dcad83f1779e">operator bool</a> () const noexcept</td></tr>
+<tr class="memdesc:a50cb6e50c1ce2b5ec281dcad83f1779e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if any error flag is set to true.  <a href="structfranka_1_1Errors.html#a50cb6e50c1ce2b5ec281dcad83f1779e">More...</a><br /></td></tr>
+<tr class="separator:a50cb6e50c1ce2b5ec281dcad83f1779e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a63ed1948f69db5be95a9c70107955d68"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1Errors.html#a63ed1948f69db5be95a9c70107955d68">operator std::string</a> () const</td></tr>
+<tr class="memdesc:a63ed1948f69db5be95a9c70107955d68"><td class="mdescLeft">&#160;</td><td class="mdescRight">Creates a string with names of active errors: "[active_error_name2, active_error_name_2, ... active_error_name_n]" If no errors are active, the string contains empty brackets: "[]".  <a href="structfranka_1_1Errors.html#a63ed1948f69db5be95a9c70107955d68">More...</a><br /></td></tr>
+<tr class="separator:a63ed1948f69db5be95a9c70107955d68"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a44ba0d45e52639280d32cf447f967e29"><td class="memItemLeft" align="right" valign="top"><a id="a44ba0d45e52639280d32cf447f967e29"></a>
+const bool &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1Errors.html#a44ba0d45e52639280d32cf447f967e29">joint_position_limits_violation</a></td></tr>
+<tr class="memdesc:a44ba0d45e52639280d32cf447f967e29"><td class="mdescLeft">&#160;</td><td class="mdescRight">True if the robot moved past the joint limits. <br /></td></tr>
+<tr class="separator:a44ba0d45e52639280d32cf447f967e29"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a41c8b50ecbb015a2dba1a3dbbff694b6"><td class="memItemLeft" align="right" valign="top"><a id="a41c8b50ecbb015a2dba1a3dbbff694b6"></a>
+const bool &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1Errors.html#a41c8b50ecbb015a2dba1a3dbbff694b6">cartesian_position_limits_violation</a></td></tr>
+<tr class="memdesc:a41c8b50ecbb015a2dba1a3dbbff694b6"><td class="mdescLeft">&#160;</td><td class="mdescRight">True if the robot moved past any of the virtual walls. <br /></td></tr>
+<tr class="separator:a41c8b50ecbb015a2dba1a3dbbff694b6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:adf68f6333624cb5558864441a991de8c"><td class="memItemLeft" align="right" valign="top"><a id="adf68f6333624cb5558864441a991de8c"></a>
+const bool &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1Errors.html#adf68f6333624cb5558864441a991de8c">self_collision_avoidance_violation</a></td></tr>
+<tr class="memdesc:adf68f6333624cb5558864441a991de8c"><td class="mdescLeft">&#160;</td><td class="mdescRight">True if the robot would have collided with itself. <br /></td></tr>
+<tr class="separator:adf68f6333624cb5558864441a991de8c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a803ac4acbc26350602ea2eb02b7b30c4"><td class="memItemLeft" align="right" valign="top"><a id="a803ac4acbc26350602ea2eb02b7b30c4"></a>
+const bool &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1Errors.html#a803ac4acbc26350602ea2eb02b7b30c4">joint_velocity_violation</a></td></tr>
+<tr class="memdesc:a803ac4acbc26350602ea2eb02b7b30c4"><td class="mdescLeft">&#160;</td><td class="mdescRight">True if the robot exceeded joint velocity limits. <br /></td></tr>
+<tr class="separator:a803ac4acbc26350602ea2eb02b7b30c4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a382fbec6b463ddcc2cbfd90340021ff1"><td class="memItemLeft" align="right" valign="top"><a id="a382fbec6b463ddcc2cbfd90340021ff1"></a>
+const bool &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1Errors.html#a382fbec6b463ddcc2cbfd90340021ff1">cartesian_velocity_violation</a></td></tr>
+<tr class="memdesc:a382fbec6b463ddcc2cbfd90340021ff1"><td class="mdescLeft">&#160;</td><td class="mdescRight">True if the robot exceeded Cartesian velocity limits. <br /></td></tr>
+<tr class="separator:a382fbec6b463ddcc2cbfd90340021ff1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae7b19674da28b11ba970c30c7d800923"><td class="memItemLeft" align="right" valign="top"><a id="ae7b19674da28b11ba970c30c7d800923"></a>
+const bool &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1Errors.html#ae7b19674da28b11ba970c30c7d800923">force_control_safety_violation</a></td></tr>
+<tr class="memdesc:ae7b19674da28b11ba970c30c7d800923"><td class="mdescLeft">&#160;</td><td class="mdescRight">True if the robot exceeded safety threshold during force control. <br /></td></tr>
+<tr class="separator:ae7b19674da28b11ba970c30c7d800923"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afb0928680c586e73d4e2cd4b42c7fe48"><td class="memItemLeft" align="right" valign="top"><a id="afb0928680c586e73d4e2cd4b42c7fe48"></a>
+const bool &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1Errors.html#afb0928680c586e73d4e2cd4b42c7fe48">joint_reflex</a></td></tr>
+<tr class="memdesc:afb0928680c586e73d4e2cd4b42c7fe48"><td class="mdescLeft">&#160;</td><td class="mdescRight">True if a collision was detected, i.e. the robot exceeded a torque threshold in a joint motion. <br /></td></tr>
+<tr class="separator:afb0928680c586e73d4e2cd4b42c7fe48"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a47bd58b0ab2198e4d038e0a24eafb310"><td class="memItemLeft" align="right" valign="top"><a id="a47bd58b0ab2198e4d038e0a24eafb310"></a>
+const bool &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1Errors.html#a47bd58b0ab2198e4d038e0a24eafb310">cartesian_reflex</a></td></tr>
+<tr class="memdesc:a47bd58b0ab2198e4d038e0a24eafb310"><td class="mdescLeft">&#160;</td><td class="mdescRight">True if a collision was detected, i.e. the robot exceeded a torque threshold in a Cartesian motion. <br /></td></tr>
+<tr class="separator:a47bd58b0ab2198e4d038e0a24eafb310"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac55d3624087e606cb4ffab121869d580"><td class="memItemLeft" align="right" valign="top"><a id="ac55d3624087e606cb4ffab121869d580"></a>
+const bool &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1Errors.html#ac55d3624087e606cb4ffab121869d580">max_goal_pose_deviation_violation</a></td></tr>
+<tr class="memdesc:ac55d3624087e606cb4ffab121869d580"><td class="mdescLeft">&#160;</td><td class="mdescRight">True if internal motion generator did not reach the goal pose. <br /></td></tr>
+<tr class="separator:ac55d3624087e606cb4ffab121869d580"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad90cffe703ca1b782007f3ba49da587c"><td class="memItemLeft" align="right" valign="top"><a id="ad90cffe703ca1b782007f3ba49da587c"></a>
+const bool &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1Errors.html#ad90cffe703ca1b782007f3ba49da587c">max_path_pose_deviation_violation</a></td></tr>
+<tr class="memdesc:ad90cffe703ca1b782007f3ba49da587c"><td class="mdescLeft">&#160;</td><td class="mdescRight">True if internal motion generator deviated from the path. <br /></td></tr>
+<tr class="separator:ad90cffe703ca1b782007f3ba49da587c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afc093fc5f99e1f6cab6de4fa9bc32692"><td class="memItemLeft" align="right" valign="top"><a id="afc093fc5f99e1f6cab6de4fa9bc32692"></a>
+const bool &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1Errors.html#afc093fc5f99e1f6cab6de4fa9bc32692">cartesian_velocity_profile_safety_violation</a></td></tr>
+<tr class="memdesc:afc093fc5f99e1f6cab6de4fa9bc32692"><td class="mdescLeft">&#160;</td><td class="mdescRight">True if Cartesian velocity profile for internal motions was exceeded. <br /></td></tr>
+<tr class="separator:afc093fc5f99e1f6cab6de4fa9bc32692"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7af91cbf61dc79304bff3ffadc51ea86"><td class="memItemLeft" align="right" valign="top"><a id="a7af91cbf61dc79304bff3ffadc51ea86"></a>
+const bool &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1Errors.html#a7af91cbf61dc79304bff3ffadc51ea86">joint_position_motion_generator_start_pose_invalid</a></td></tr>
+<tr class="memdesc:a7af91cbf61dc79304bff3ffadc51ea86"><td class="mdescLeft">&#160;</td><td class="mdescRight">True if an external joint position motion generator was started with a pose too far from the current pose. <br /></td></tr>
+<tr class="separator:a7af91cbf61dc79304bff3ffadc51ea86"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9536ad072868b90525c56143cbb956ef"><td class="memItemLeft" align="right" valign="top"><a id="a9536ad072868b90525c56143cbb956ef"></a>
+const bool &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1Errors.html#a9536ad072868b90525c56143cbb956ef">joint_motion_generator_position_limits_violation</a></td></tr>
+<tr class="memdesc:a9536ad072868b90525c56143cbb956ef"><td class="mdescLeft">&#160;</td><td class="mdescRight">True if an external joint motion generator would move into a joint limit. <br /></td></tr>
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+<tr class="memitem:ae211638df9b0e23905c8a9d36e249207"><td class="memItemLeft" align="right" valign="top"><a id="ae211638df9b0e23905c8a9d36e249207"></a>
+const bool &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1Errors.html#ae211638df9b0e23905c8a9d36e249207">joint_motion_generator_velocity_limits_violation</a></td></tr>
+<tr class="memdesc:ae211638df9b0e23905c8a9d36e249207"><td class="mdescLeft">&#160;</td><td class="mdescRight">True if an external joint motion generator exceeded velocity limits. <br /></td></tr>
+<tr class="separator:ae211638df9b0e23905c8a9d36e249207"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abd6da8e6a32d817a7b4848a24efd9379"><td class="memItemLeft" align="right" valign="top"><a id="abd6da8e6a32d817a7b4848a24efd9379"></a>
+const bool &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1Errors.html#abd6da8e6a32d817a7b4848a24efd9379">joint_motion_generator_velocity_discontinuity</a></td></tr>
+<tr class="memdesc:abd6da8e6a32d817a7b4848a24efd9379"><td class="mdescLeft">&#160;</td><td class="mdescRight">True if commanded velocity in joint motion generators is discontinuous (target values are too far apart). <br /></td></tr>
+<tr class="separator:abd6da8e6a32d817a7b4848a24efd9379"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+const bool &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1Errors.html#a633195adca91f5ecaf1506da12f3311f">joint_motion_generator_acceleration_discontinuity</a></td></tr>
+<tr class="memdesc:a633195adca91f5ecaf1506da12f3311f"><td class="mdescLeft">&#160;</td><td class="mdescRight">True if commanded acceleration in joint motion generators is discontinuous (target values are too far apart). <br /></td></tr>
+<tr class="separator:a633195adca91f5ecaf1506da12f3311f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa910fad4992b91be1ea1c321ee9b7a1e"><td class="memItemLeft" align="right" valign="top"><a id="aa910fad4992b91be1ea1c321ee9b7a1e"></a>
+const bool &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1Errors.html#aa910fad4992b91be1ea1c321ee9b7a1e">cartesian_position_motion_generator_start_pose_invalid</a></td></tr>
+<tr class="memdesc:aa910fad4992b91be1ea1c321ee9b7a1e"><td class="mdescLeft">&#160;</td><td class="mdescRight">True if an external Cartesian position motion generator was started with a pose too far from the current pose. <br /></td></tr>
+<tr class="separator:aa910fad4992b91be1ea1c321ee9b7a1e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac21ebdc1e0e8fb3099a7dce284550c4c"><td class="memItemLeft" align="right" valign="top"><a id="ac21ebdc1e0e8fb3099a7dce284550c4c"></a>
+const bool &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1Errors.html#ac21ebdc1e0e8fb3099a7dce284550c4c">cartesian_motion_generator_elbow_limit_violation</a></td></tr>
+<tr class="memdesc:ac21ebdc1e0e8fb3099a7dce284550c4c"><td class="mdescLeft">&#160;</td><td class="mdescRight">True if an external Cartesian motion generator would move into an elbow limit. <br /></td></tr>
+<tr class="separator:ac21ebdc1e0e8fb3099a7dce284550c4c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a91437c081452ef708563346b102ba894"><td class="memItemLeft" align="right" valign="top"><a id="a91437c081452ef708563346b102ba894"></a>
+const bool &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1Errors.html#a91437c081452ef708563346b102ba894">cartesian_motion_generator_velocity_limits_violation</a></td></tr>
+<tr class="memdesc:a91437c081452ef708563346b102ba894"><td class="mdescLeft">&#160;</td><td class="mdescRight">True if an external Cartesian motion generator would move with too high velocity. <br /></td></tr>
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+<tr class="separator:a6d905b803bbe8a7be8490f2a94ba524a"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+const bool &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1Errors.html#a73aef7473fd6d1d5b207e68fa35948c5">cartesian_motion_generator_joint_position_limits_violation</a></td></tr>
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+const bool &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1Errors.html#a435d16d62a123bfbf578bc76e3780605">cartesian_motion_generator_joint_velocity_limits_violation</a></td></tr>
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+const bool &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1Errors.html#a1c8c56766fefc19fda5d5de909ca5b37">cartesian_motion_generator_joint_velocity_discontinuity</a></td></tr>
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+<tr class="memitem:a2e223ef3c771709a6a3f094adf12f9cb"><td class="memItemLeft" align="right" valign="top"><a id="a2e223ef3c771709a6a3f094adf12f9cb"></a>
+const bool &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1Errors.html#a2e223ef3c771709a6a3f094adf12f9cb">cartesian_motion_generator_joint_acceleration_discontinuity</a></td></tr>
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+<tr class="separator:a2e223ef3c771709a6a3f094adf12f9cb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa1952c6da2f81578861a19b947c97b85"><td class="memItemLeft" align="right" valign="top"><a id="aa1952c6da2f81578861a19b947c97b85"></a>
+const bool &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1Errors.html#aa1952c6da2f81578861a19b947c97b85">cartesian_position_motion_generator_invalid_frame</a></td></tr>
+<tr class="memdesc:aa1952c6da2f81578861a19b947c97b85"><td class="mdescLeft">&#160;</td><td class="mdescRight">True if the Cartesian pose is not a valid transformation matrix. <br /></td></tr>
+<tr class="separator:aa1952c6da2f81578861a19b947c97b85"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae474f20a64b2585dbe6496966dddff0a"><td class="memItemLeft" align="right" valign="top"><a id="ae474f20a64b2585dbe6496966dddff0a"></a>
+const bool &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1Errors.html#ae474f20a64b2585dbe6496966dddff0a">force_controller_desired_force_tolerance_violation</a></td></tr>
+<tr class="memdesc:ae474f20a64b2585dbe6496966dddff0a"><td class="mdescLeft">&#160;</td><td class="mdescRight">True if desired force exceeds the safety thresholds. <br /></td></tr>
+<tr class="separator:ae474f20a64b2585dbe6496966dddff0a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af40d93759ace9ee6026208110692a732"><td class="memItemLeft" align="right" valign="top"><a id="af40d93759ace9ee6026208110692a732"></a>
+const bool &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1Errors.html#af40d93759ace9ee6026208110692a732">controller_torque_discontinuity</a></td></tr>
+<tr class="memdesc:af40d93759ace9ee6026208110692a732"><td class="mdescLeft">&#160;</td><td class="mdescRight">True if the torque set by the external controller is discontinuous. <br /></td></tr>
+<tr class="separator:af40d93759ace9ee6026208110692a732"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa6de1956ac056792a1dea6b9ddd52a50"><td class="memItemLeft" align="right" valign="top">const bool &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1Errors.html#aa6de1956ac056792a1dea6b9ddd52a50">start_elbow_sign_inconsistent</a></td></tr>
+<tr class="memdesc:aa6de1956ac056792a1dea6b9ddd52a50"><td class="mdescLeft">&#160;</td><td class="mdescRight">True if the start elbow sign was inconsistent.  <a href="structfranka_1_1Errors.html#aa6de1956ac056792a1dea6b9ddd52a50">More...</a><br /></td></tr>
+<tr class="separator:aa6de1956ac056792a1dea6b9ddd52a50"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4d17af86c1ebb698c218796fa15f9bd7"><td class="memItemLeft" align="right" valign="top"><a id="a4d17af86c1ebb698c218796fa15f9bd7"></a>
+const bool &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1Errors.html#a4d17af86c1ebb698c218796fa15f9bd7">communication_constraints_violation</a></td></tr>
+<tr class="memdesc:a4d17af86c1ebb698c218796fa15f9bd7"><td class="mdescLeft">&#160;</td><td class="mdescRight">True if minimum network communication quality could not be held during a motion. <br /></td></tr>
+<tr class="separator:a4d17af86c1ebb698c218796fa15f9bd7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6c4d8cb1fb314567ebd07a6195b840f5"><td class="memItemLeft" align="right" valign="top"><a id="a6c4d8cb1fb314567ebd07a6195b840f5"></a>
+const bool &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1Errors.html#a6c4d8cb1fb314567ebd07a6195b840f5">power_limit_violation</a></td></tr>
+<tr class="memdesc:a6c4d8cb1fb314567ebd07a6195b840f5"><td class="mdescLeft">&#160;</td><td class="mdescRight">True if commanded values would result in exceeding the power limit. <br /></td></tr>
+<tr class="separator:a6c4d8cb1fb314567ebd07a6195b840f5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1c78be870253b510a4516acf14c2d3e3"><td class="memItemLeft" align="right" valign="top">const bool &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1Errors.html#a1c78be870253b510a4516acf14c2d3e3">joint_p2p_insufficient_torque_for_planning</a></td></tr>
+<tr class="memdesc:a1c78be870253b510a4516acf14c2d3e3"><td class="mdescLeft">&#160;</td><td class="mdescRight">True if the robot is overloaded for the required motion.  <a href="structfranka_1_1Errors.html#a1c78be870253b510a4516acf14c2d3e3">More...</a><br /></td></tr>
+<tr class="separator:a1c78be870253b510a4516acf14c2d3e3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1491f8428341649befa3d088aebb317e"><td class="memItemLeft" align="right" valign="top"><a id="a1491f8428341649befa3d088aebb317e"></a>
+const bool &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1Errors.html#a1491f8428341649befa3d088aebb317e">tau_j_range_violation</a></td></tr>
+<tr class="memdesc:a1491f8428341649befa3d088aebb317e"><td class="mdescLeft">&#160;</td><td class="mdescRight">True if the measured torque signal is out of the safe range. <br /></td></tr>
+<tr class="separator:a1491f8428341649befa3d088aebb317e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aebb701987262097687d21b3cf1bc8930"><td class="memItemLeft" align="right" valign="top"><a id="aebb701987262097687d21b3cf1bc8930"></a>
+const bool &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1Errors.html#aebb701987262097687d21b3cf1bc8930">instability_detected</a></td></tr>
+<tr class="memdesc:aebb701987262097687d21b3cf1bc8930"><td class="mdescLeft">&#160;</td><td class="mdescRight">True if an instability is detected. <br /></td></tr>
+<tr class="separator:aebb701987262097687d21b3cf1bc8930"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7d3a6480cbe572fd46e579b43732edc9"><td class="memItemLeft" align="right" valign="top"><a id="a7d3a6480cbe572fd46e579b43732edc9"></a>
+const bool &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1Errors.html#a7d3a6480cbe572fd46e579b43732edc9">joint_move_in_wrong_direction</a></td></tr>
+<tr class="memdesc:a7d3a6480cbe572fd46e579b43732edc9"><td class="mdescLeft">&#160;</td><td class="mdescRight">True if the robot is in joint position limits violation error and the user guides the robot further towards the limit. <br /></td></tr>
+<tr class="separator:a7d3a6480cbe572fd46e579b43732edc9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5617689cd7e875baebcecf054513f0c4"><td class="memItemLeft" align="right" valign="top"><a id="a5617689cd7e875baebcecf054513f0c4"></a>
+const bool &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1Errors.html#a5617689cd7e875baebcecf054513f0c4">cartesian_spline_motion_generator_violation</a></td></tr>
+<tr class="memdesc:a5617689cd7e875baebcecf054513f0c4"><td class="mdescLeft">&#160;</td><td class="mdescRight">True if the generated motion violates a joint limit. <br /></td></tr>
+<tr class="separator:a5617689cd7e875baebcecf054513f0c4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aef3c74f48978545187ee2dc3a96db1c8"><td class="memItemLeft" align="right" valign="top"><a id="aef3c74f48978545187ee2dc3a96db1c8"></a>
+const bool &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1Errors.html#aef3c74f48978545187ee2dc3a96db1c8">joint_via_motion_generator_planning_joint_limit_violation</a></td></tr>
+<tr class="memdesc:aef3c74f48978545187ee2dc3a96db1c8"><td class="mdescLeft">&#160;</td><td class="mdescRight">True if the generated motion violates a joint limit. <br /></td></tr>
+<tr class="separator:aef3c74f48978545187ee2dc3a96db1c8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4dc331a7ae3242ea43e6fbf7e21c695a"><td class="memItemLeft" align="right" valign="top"><a id="a4dc331a7ae3242ea43e6fbf7e21c695a"></a>
+const bool &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1Errors.html#a4dc331a7ae3242ea43e6fbf7e21c695a">base_acceleration_initialization_timeout</a></td></tr>
+<tr class="memdesc:a4dc331a7ae3242ea43e6fbf7e21c695a"><td class="mdescLeft">&#160;</td><td class="mdescRight">True if the gravity vector could not be initialized by measureing the base acceleration. <br /></td></tr>
+<tr class="separator:a4dc331a7ae3242ea43e6fbf7e21c695a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8467b7b8a3a68c3e0be7adc39933cb0e"><td class="memItemLeft" align="right" valign="top"><a id="a8467b7b8a3a68c3e0be7adc39933cb0e"></a>
+const bool &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1Errors.html#a8467b7b8a3a68c3e0be7adc39933cb0e">base_acceleration_invalid_reading</a></td></tr>
+<tr class="memdesc:a8467b7b8a3a68c3e0be7adc39933cb0e"><td class="mdescLeft">&#160;</td><td class="mdescRight">True if the base acceleration O_ddP_O cannot be determined. <br /></td></tr>
+<tr class="separator:a8467b7b8a3a68c3e0be7adc39933cb0e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Enumerates errors that can occur while controlling a <a class="el" href="classfranka_1_1Robot.html" title="Maintains a network connection to the robot, provides the current robot state, gives access to the mo...">franka::Robot</a>. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a4548a72089cc6d61c9249a1b8f4cc480"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4548a72089cc6d61c9249a1b8f4cc480">&#9670;&nbsp;</a></span>Errors() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">franka::Errors::Errors </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="structfranka_1_1Errors.html">Errors</a> &amp;&#160;</td>
+          <td class="paramname"><em>other</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Copy constructs a new <a class="el" href="structfranka_1_1Errors.html" title="Enumerates errors that can occur while controlling a franka::Robot.">Errors</a> instance. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">other</td><td>Other <a class="el" href="structfranka_1_1Errors.html" title="Enumerates errors that can occur while controlling a franka::Robot.">Errors</a> instance. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="adffc6f8b2235e566c4a43ce69a86634e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adffc6f8b2235e566c4a43ce69a86634e">&#9670;&nbsp;</a></span>Errors() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">franka::Errors::Errors </td>
+          <td>(</td>
+          <td class="paramtype">const std::array&lt; bool, 41 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>errors</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Creates a new <a class="el" href="structfranka_1_1Errors.html" title="Enumerates errors that can occur while controlling a franka::Robot.">Errors</a> instance from the given array. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">errors</td><td>Array of error flags. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a50cb6e50c1ce2b5ec281dcad83f1779e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a50cb6e50c1ce2b5ec281dcad83f1779e">&#9670;&nbsp;</a></span>operator bool()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">franka::Errors::operator bool </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">explicit</span><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Check if any error flag is set to true. </p>
+<dl class="section return"><dt>Returns</dt><dd>True if any errors are set. </dd></dl>
+
+</div>
+</div>
+<a id="a63ed1948f69db5be95a9c70107955d68"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a63ed1948f69db5be95a9c70107955d68">&#9670;&nbsp;</a></span>operator std::string()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">franka::Errors::operator std::string </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">explicit</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Creates a string with names of active errors: "[active_error_name2, active_error_name_2, ... active_error_name_n]" If no errors are active, the string contains empty brackets: "[]". </p>
+<dl class="section return"><dt>Returns</dt><dd>string with names of active errors </dd></dl>
+
+</div>
+</div>
+<a id="a6fefa4083d79362080b79f3492fd4cb6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6fefa4083d79362080b79f3492fd4cb6">&#9670;&nbsp;</a></span>operator=()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structfranka_1_1Errors.html">Errors</a>&amp; franka::Errors::operator= </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="structfranka_1_1Errors.html">Errors</a>&#160;</td>
+          <td class="paramname"><em>other</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Assigns this <a class="el" href="structfranka_1_1Errors.html" title="Enumerates errors that can occur while controlling a franka::Robot.">Errors</a> instance from another <a class="el" href="structfranka_1_1Errors.html" title="Enumerates errors that can occur while controlling a franka::Robot.">Errors</a> value. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">other</td><td>Other <a class="el" href="structfranka_1_1Errors.html" title="Enumerates errors that can occur while controlling a franka::Robot.">Errors</a> instance.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd><a class="el" href="structfranka_1_1Errors.html" title="Enumerates errors that can occur while controlling a franka::Robot.">Errors</a> instance. </dd></dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a1c78be870253b510a4516acf14c2d3e3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1c78be870253b510a4516acf14c2d3e3">&#9670;&nbsp;</a></span>joint_p2p_insufficient_torque_for_planning</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">const bool&amp; franka::Errors::joint_p2p_insufficient_torque_for_planning</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>True if the robot is overloaded for the required motion. </p>
+<p>Applies only to motions started from Desk. </p>
+
+</div>
+</div>
+<a id="aa6de1956ac056792a1dea6b9ddd52a50"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa6de1956ac056792a1dea6b9ddd52a50">&#9670;&nbsp;</a></span>start_elbow_sign_inconsistent</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">const bool&amp; franka::Errors::start_elbow_sign_inconsistent</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>True if the start elbow sign was inconsistent. </p>
+<p>Applies only to motions started from Desk. </p>
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/franka/<a class="el" href="errors_8h_source.html">errors.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>libfranka: franka::Exception Struct Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
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+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>franka</b></li><li class="navelem"><a class="el" href="structfranka_1_1Exception.html">Exception</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">franka::Exception Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Base class for all exceptions used by <code>libfranka</code>.  
+ <a href="structfranka_1_1Exception.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="exception_8h_source.html">exception.h</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for franka::Exception:</div>
+<div class="dyncontent">
+<div class="center"><img src="structfranka_1_1Exception__inherit__graph.png" border="0" usemap="#afranka_1_1Exception_inherit__map" alt="Inheritance graph"/></div>
+<map name="afranka_1_1Exception_inherit__map" id="afranka_1_1Exception_inherit__map">
+<area shape="rect" title="Base class for all exceptions used by libfranka." alt="" coords="192,209,327,236"/>
+<area shape="rect" href="structfranka_1_1CommandException.html" title="CommandException is thrown if an error occurs during command execution." alt="" coords="375,5,578,32"/>
+<area shape="rect" href="structfranka_1_1ControlException.html" title="ControlException is thrown if an error occurs during motion generation or torque control." alt="" coords="385,56,568,83"/>
+<area shape="rect" href="structfranka_1_1IncompatibleVersionException.html" title="IncompatibleVersionException is thrown if the robot does not support this version of libfranka." alt="" coords="375,107,579,149"/>
+<area shape="rect" href="structfranka_1_1InvalidOperationException.html" title="InvalidOperationException is thrown if an operation cannot be performed." alt="" coords="387,173,566,214"/>
+<area shape="rect" href="structfranka_1_1ModelException.html" title="ModelException is thrown if an error occurs when loading the model library." alt="" coords="389,239,564,265"/>
+<area shape="rect" href="structfranka_1_1NetworkException.html" title="NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occu..." alt="" coords="381,289,572,316"/>
+<area shape="rect" href="structfranka_1_1ProtocolException.html" title="ProtocolException is thrown if the robot returns an incorrect message." alt="" coords="383,340,571,367"/>
+<area shape="rect" href="structfranka_1_1RealtimeException.html" title="RealtimeException is thrown if realtime priority cannot be set." alt="" coords="379,391,574,417"/>
+<area shape="rect" title=" " alt="" coords="5,209,144,236"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for franka::Exception:</div>
+<div class="dyncontent">
+<div class="center"><img src="structfranka_1_1Exception__coll__graph.png" border="0" usemap="#afranka_1_1Exception_coll__map" alt="Collaboration graph"/></div>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Base class for all exceptions used by <code>libfranka</code>. </p>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="cartesian_impedance_control_8cpp-example.html#_a15">cartesian_impedance_control.cpp</a>, <a class="el" href="communication_test_8cpp-example.html#_a11">communication_test.cpp</a>, <a class="el" href="echo_robot_state_8cpp-example.html#_a3">echo_robot_state.cpp</a>, <a class="el" href="generate_cartesian_pose_motion_8cpp-example.html#_a11">generate_cartesian_pose_motion.cpp</a>, <a class="el" href="generate_cartesian_pose_motion_external_control_loop_8cpp-example.html#_a10">generate_cartesian_pose_motion_external_control_loop.cpp</a>, <a class="el" href="generate_cartesian_velocity_motion_8cpp-example.html#_a11">generate_cartesian_velocity_motion.cpp</a>, <a class="el" href="generate_cartesian_velocity_motion_external_control_loop_8cpp-example.html#_a11">generate_cartesian_velocity_motion_external_control_loop.cpp</a>, <a class="el" href="generate_consecutive_motions_8cpp-example.html#_a12">generate_consecutive_motions.cpp</a>, <a class="el" href="generate_elbow_motion_8cpp-example.html#_a12">generate_elbow_motion.cpp</a>, <a class="el" href="generate_joint_position_motion_8cpp-example.html#_a11">generate_joint_position_motion.cpp</a>, <a class="el" href="generate_joint_position_motion_external_control_loop_8cpp-example.html#_a10">generate_joint_position_motion_external_control_loop.cpp</a>, <a class="el" href="generate_joint_velocity_motion_8cpp-example.html#_a10">generate_joint_velocity_motion.cpp</a>, <a class="el" href="generate_joint_velocity_motion_external_control_loop_8cpp-example.html#_a10">generate_joint_velocity_motion_external_control_loop.cpp</a>, <a class="el" href="grasp_object_8cpp-example.html#_a8">grasp_object.cpp</a>, <a class="el" href="joint_impedance_control_8cpp-example.html#_a13">joint_impedance_control.cpp</a>, <a class="el" href="joint_point_to_point_motion_8cpp-example.html#_a5">joint_point_to_point_motion.cpp</a>, <a class="el" href="motion_with_control_8cpp-example.html#_a14">motion_with_control.cpp</a>, <a class="el" href="motion_with_control_external_control_loop_8cpp-example.html#_a14">motion_with_control_external_control_loop.cpp</a>, <a class="el" href="print_joint_poses_8cpp-example.html#_a4">print_joint_poses.cpp</a>, and <a class="el" href="vacuum_object_8cpp-example.html#_a6">vacuum_object.cpp</a>.</dd>
+</dl>
+</div><hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/franka/<a class="el" href="exception_8h_source.html">exception.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
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diff --git a/0.13.6/structfranka_1_1Exception__inherit__graph.map b/0.13.6/structfranka_1_1Exception__inherit__graph.map
new file mode 100644
index 00000000..c6b44fd0
--- /dev/null
+++ b/0.13.6/structfranka_1_1Exception__inherit__graph.map
@@ -0,0 +1,12 @@
+<map id="franka::Exception" name="franka::Exception">
+<area shape="rect" id="node1" title="Base class for all exceptions used by libfranka." alt="" coords="192,209,327,236"/>
+<area shape="rect" id="node3" href="$structfranka_1_1CommandException.html" title="CommandException is thrown if an error occurs during command execution." alt="" coords="375,5,578,32"/>
+<area shape="rect" id="node4" href="$structfranka_1_1ControlException.html" title="ControlException is thrown if an error occurs during motion generation or torque control." alt="" coords="385,56,568,83"/>
+<area shape="rect" id="node5" href="$structfranka_1_1IncompatibleVersionException.html" title="IncompatibleVersionException is thrown if the robot does not support this version of libfranka." alt="" coords="375,107,579,149"/>
+<area shape="rect" id="node6" href="$structfranka_1_1InvalidOperationException.html" title="InvalidOperationException is thrown if an operation cannot be performed." alt="" coords="387,173,566,214"/>
+<area shape="rect" id="node7" href="$structfranka_1_1ModelException.html" title="ModelException is thrown if an error occurs when loading the model library." alt="" coords="389,239,564,265"/>
+<area shape="rect" id="node8" href="$structfranka_1_1NetworkException.html" title="NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occu..." alt="" coords="381,289,572,316"/>
+<area shape="rect" id="node9" href="$structfranka_1_1ProtocolException.html" title="ProtocolException is thrown if the robot returns an incorrect message." alt="" coords="383,340,571,367"/>
+<area shape="rect" id="node10" href="$structfranka_1_1RealtimeException.html" title="RealtimeException is thrown if realtime priority cannot be set." alt="" coords="379,391,574,417"/>
+<area shape="rect" id="node2" title=" " alt="" coords="5,209,144,236"/>
+</map>
diff --git a/0.13.6/structfranka_1_1Exception__inherit__graph.md5 b/0.13.6/structfranka_1_1Exception__inherit__graph.md5
new file mode 100644
index 00000000..697f6d12
--- /dev/null
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@@ -0,0 +1 @@
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+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
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+</div><!-- top -->
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+<a href="#pub-attribs">Public Attributes</a> &#124;
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+  <div class="headertitle">
+<div class="title">franka::Finishable Struct Reference</div>  </div>
+</div><!--header-->
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+<p>Helper type for control and motion generation loops.  
+ <a href="structfranka_1_1Finishable.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="control__types_8h_source.html">control_types.h</a>&gt;</code></p>
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+Inheritance diagram for franka::Finishable:</div>
+<div class="dyncontent">
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+bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1Finishable.html#a5d48028c0f912d4a089e6220d8715f7f">motion_finished</a> = false</td></tr>
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+<div class="textblock"><p>Helper type for control and motion generation loops. </p>
+<p>Used to determine whether to terminate a loop after the control callback has returned.</p>
+<dl class="section see"><dt>See also</dt><dd><a class="el" href="classfranka_1_1Robot.html#callback-docs">Documentation on callbacks</a> </dd></dl>
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>franka</b></li><li class="navelem"><a class="el" href="structfranka_1_1GripperState.html">GripperState</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structfranka_1_1GripperState-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">franka::GripperState Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Describes the gripper state.  
+ <a href="structfranka_1_1GripperState.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="gripper__state_8h_source.html">gripper_state.h</a>&gt;</code></p>
+<div class="dynheader">
+Collaboration diagram for franka::GripperState:</div>
+<div class="dyncontent">
+<div class="center"><img src="structfranka_1_1GripperState__coll__graph.png" border="0" usemap="#afranka_1_1GripperState_coll__map" alt="Collaboration graph"/></div>
+<map name="afranka_1_1GripperState_coll__map" id="afranka_1_1GripperState_coll__map">
+<area shape="rect" title="Describes the gripper state." alt="" coords="5,95,159,121"/>
+<area shape="rect" href="classfranka_1_1Duration.html" title="Represents a duration with millisecond resolution." alt="" coords="19,5,145,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:adf095f446ec39a9a48e120b209dcd6e9"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1GripperState.html#adf095f446ec39a9a48e120b209dcd6e9">width</a> {}</td></tr>
+<tr class="memdesc:adf095f446ec39a9a48e120b209dcd6e9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Current gripper opening width.  <a href="structfranka_1_1GripperState.html#adf095f446ec39a9a48e120b209dcd6e9">More...</a><br /></td></tr>
+<tr class="separator:adf095f446ec39a9a48e120b209dcd6e9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab71a26356c2898c49609bf991843e166"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1GripperState.html#ab71a26356c2898c49609bf991843e166">max_width</a> {}</td></tr>
+<tr class="memdesc:ab71a26356c2898c49609bf991843e166"><td class="mdescLeft">&#160;</td><td class="mdescRight">Maximum gripper opening width.  <a href="structfranka_1_1GripperState.html#ab71a26356c2898c49609bf991843e166">More...</a><br /></td></tr>
+<tr class="separator:ab71a26356c2898c49609bf991843e166"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa65b46313e740454ead9c9ea27e7bf8d"><td class="memItemLeft" align="right" valign="top"><a id="aa65b46313e740454ead9c9ea27e7bf8d"></a>
+bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1GripperState.html#aa65b46313e740454ead9c9ea27e7bf8d">is_grasped</a> {}</td></tr>
+<tr class="memdesc:aa65b46313e740454ead9c9ea27e7bf8d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Indicates whether an object is currently grasped. <br /></td></tr>
+<tr class="separator:aa65b46313e740454ead9c9ea27e7bf8d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa6733fa786dbf3b073acbaf3779e34b3"><td class="memItemLeft" align="right" valign="top">uint16_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1GripperState.html#aa6733fa786dbf3b073acbaf3779e34b3">temperature</a> {}</td></tr>
+<tr class="memdesc:aa6733fa786dbf3b073acbaf3779e34b3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Current gripper temperature.  <a href="structfranka_1_1GripperState.html#aa6733fa786dbf3b073acbaf3779e34b3">More...</a><br /></td></tr>
+<tr class="separator:aa6733fa786dbf3b073acbaf3779e34b3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a80bf474b0e4351e2eefab62d1bd10c07"><td class="memItemLeft" align="right" valign="top"><a id="a80bf474b0e4351e2eefab62d1bd10c07"></a>
+<a class="el" href="classfranka_1_1Duration.html">Duration</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1GripperState.html#a80bf474b0e4351e2eefab62d1bd10c07">time</a> {}</td></tr>
+<tr class="memdesc:a80bf474b0e4351e2eefab62d1bd10c07"><td class="mdescLeft">&#160;</td><td class="mdescRight">Strictly monotonically increasing timestamp since robot start. <br /></td></tr>
+<tr class="separator:a80bf474b0e4351e2eefab62d1bd10c07"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Describes the gripper state. </p>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="grasp_object_8cpp-example.html#_a2">grasp_object.cpp</a>.</dd>
+</dl>
+</div><h2 class="groupheader">Member Data Documentation</h2>
+<a id="ab71a26356c2898c49609bf991843e166"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab71a26356c2898c49609bf991843e166">&#9670;&nbsp;</a></span>max_width</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double franka::GripperState::max_width {}</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Maximum gripper opening width. </p>
+<p>This parameter is estimated by homing the gripper. After changing the gripper fingers, a homing needs to be done. Unit: \([m]\).</p>
+<dl class="section see"><dt>See also</dt><dd><a class="el" href="classfranka_1_1Gripper.html#aef356f93a4c3b9d6b2532c29126d478c" title="Performs homing of the gripper.">Gripper::homing</a>. </dd></dl>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="grasp_object_8cpp-example.html#a4">grasp_object.cpp</a>.</dd>
+</dl>
+
+</div>
+</div>
+<a id="aa6733fa786dbf3b073acbaf3779e34b3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa6733fa786dbf3b073acbaf3779e34b3">&#9670;&nbsp;</a></span>temperature</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint16_t franka::GripperState::temperature {}</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Current gripper temperature. </p>
+<p>Unit: \([°C]\). </p>
+
+</div>
+</div>
+<a id="adf095f446ec39a9a48e120b209dcd6e9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adf095f446ec39a9a48e120b209dcd6e9">&#9670;&nbsp;</a></span>width</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double franka::GripperState::width {}</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Current gripper opening width. </p>
+<p>Unit: \([m]\). </p>
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/franka/<a class="el" href="gripper__state_8h_source.html">gripper_state.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
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+  <tr class="even"><td class="entry"><a class="el" href="structfranka_1_1IncompatibleVersionException.html#a518f40d994ed7e970c6f7fdafb673239">IncompatibleVersionException</a>(uint16_t server_version, uint16_t library_version) noexcept</td><td class="entry"><a class="el" href="structfranka_1_1IncompatibleVersionException.html">franka::IncompatibleVersionException</a></td><td class="entry"></td></tr>
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+   &#160;<span id="projectnumber">0.13.6</span>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structfranka_1_1IncompatibleVersionException-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">franka::IncompatibleVersionException Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p><a class="el" href="structfranka_1_1IncompatibleVersionException.html" title="IncompatibleVersionException is thrown if the robot does not support this version of libfranka.">IncompatibleVersionException</a> is thrown if the robot does not support this version of libfranka.  
+ <a href="structfranka_1_1IncompatibleVersionException.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="exception_8h_source.html">exception.h</a>&gt;</code></p>
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+Inheritance diagram for franka::IncompatibleVersionException:</div>
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+<tr class="memitem:a81e6d7f01965ed7ee34f83dc3883ad01"><td class="memItemLeft" align="right" valign="top"><a id="a81e6d7f01965ed7ee34f83dc3883ad01"></a>
+const uint16_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1IncompatibleVersionException.html#a81e6d7f01965ed7ee34f83dc3883ad01">library_version</a></td></tr>
+<tr class="memdesc:a81e6d7f01965ed7ee34f83dc3883ad01"><td class="mdescLeft">&#160;</td><td class="mdescRight">libfranka protocol version. <br /></td></tr>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p><a class="el" href="structfranka_1_1IncompatibleVersionException.html" title="IncompatibleVersionException is thrown if the robot does not support this version of libfranka.">IncompatibleVersionException</a> is thrown if the robot does not support this version of libfranka. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a518f40d994ed7e970c6f7fdafb673239"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a518f40d994ed7e970c6f7fdafb673239">&#9670;&nbsp;</a></span>IncompatibleVersionException()</h2>
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+          <td>(</td>
+          <td class="paramtype">uint16_t&#160;</td>
+          <td class="paramname"><em>server_version</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">uint16_t&#160;</td>
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+        <tr>
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+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">server_version</td><td>Protocol version on the Control side. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">library_version</td><td>Protocol version of libfranka. </td></tr>
+  </table>
+  </dd>
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HcmV?d00001

diff --git a/0.13.6/structfranka_1_1IncompatibleVersionException__inherit__graph.map b/0.13.6/structfranka_1_1IncompatibleVersionException__inherit__graph.map
new file mode 100644
index 00000000..2461bd9d
--- /dev/null
+++ b/0.13.6/structfranka_1_1IncompatibleVersionException__inherit__graph.map
@@ -0,0 +1,5 @@
+<map id="franka::IncompatibleVersionException" name="franka::IncompatibleVersionException">
+<area shape="rect" id="node1" title="IncompatibleVersionException is thrown if the robot does not support this version of libfranka." alt="" coords="5,155,209,196"/>
+<area shape="rect" id="node2" href="$structfranka_1_1Exception.html" title="Base class for all exceptions used by libfranka." alt="" coords="40,80,175,107"/>
+<area shape="rect" id="node3" title=" " alt="" coords="38,5,177,32"/>
+</map>
diff --git a/0.13.6/structfranka_1_1IncompatibleVersionException__inherit__graph.md5 b/0.13.6/structfranka_1_1IncompatibleVersionException__inherit__graph.md5
new file mode 100644
index 00000000..e2854f08
--- /dev/null
+++ b/0.13.6/structfranka_1_1IncompatibleVersionException__inherit__graph.md5
@@ -0,0 +1 @@
+d8405e8f399f826091a2d7b535b2ec56
\ No newline at end of file
diff --git a/0.13.6/structfranka_1_1IncompatibleVersionException__inherit__graph.png b/0.13.6/structfranka_1_1IncompatibleVersionException__inherit__graph.png
new file mode 100644
index 0000000000000000000000000000000000000000..2932e20b524d86359f9c030f3b750508f5d17734
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+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
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+  <ul>
+<li class="navelem"><b>franka</b></li><li class="navelem"><a class="el" href="structfranka_1_1InvalidOperationException.html">InvalidOperationException</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">franka::InvalidOperationException Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p><a class="el" href="structfranka_1_1InvalidOperationException.html" title="InvalidOperationException is thrown if an operation cannot be performed.">InvalidOperationException</a> is thrown if an operation cannot be performed.  
+ <a href="structfranka_1_1InvalidOperationException.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="exception_8h_source.html">exception.h</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for franka::InvalidOperationException:</div>
+<div class="dyncontent">
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+Collaboration diagram for franka::InvalidOperationException:</div>
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+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p><a class="el" href="structfranka_1_1InvalidOperationException.html" title="InvalidOperationException is thrown if an operation cannot be performed.">InvalidOperationException</a> is thrown if an operation cannot be performed. </p>
+</div><hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/franka/<a class="el" href="exception_8h_source.html">exception.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/0.13.6/structfranka_1_1InvalidOperationException__coll__graph.map b/0.13.6/structfranka_1_1InvalidOperationException__coll__graph.map
new file mode 100644
index 00000000..e95ed993
--- /dev/null
+++ b/0.13.6/structfranka_1_1InvalidOperationException__coll__graph.map
@@ -0,0 +1,5 @@
+<map id="franka::InvalidOperationException" name="franka::InvalidOperationException">
+<area shape="rect" id="node1" title="InvalidOperationException is thrown if an operation cannot be performed." alt="" coords="5,155,184,196"/>
+<area shape="rect" id="node2" href="$structfranka_1_1Exception.html" title="Base class for all exceptions used by libfranka." alt="" coords="27,80,162,107"/>
+<area shape="rect" id="node3" title=" " alt="" coords="25,5,164,32"/>
+</map>
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new file mode 100644
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@@ -0,0 +1 @@
+378a4924d439a7e9d695dd50ea34922d
\ No newline at end of file
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diff --git a/0.13.6/structfranka_1_1InvalidOperationException__inherit__graph.map b/0.13.6/structfranka_1_1InvalidOperationException__inherit__graph.map
new file mode 100644
index 00000000..e95ed993
--- /dev/null
+++ b/0.13.6/structfranka_1_1InvalidOperationException__inherit__graph.map
@@ -0,0 +1,5 @@
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diff --git a/0.13.6/structfranka_1_1InvalidOperationException__inherit__graph.md5 b/0.13.6/structfranka_1_1InvalidOperationException__inherit__graph.md5
new file mode 100644
index 00000000..498ce916
--- /dev/null
+++ b/0.13.6/structfranka_1_1InvalidOperationException__inherit__graph.md5
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/0.13.6/structfranka_1_1InvalidOperationException__inherit__graph.png b/0.13.6/structfranka_1_1InvalidOperationException__inherit__graph.png
new file mode 100644
index 0000000000000000000000000000000000000000..8cac2e286e716ea01aed3ffc408591b90d4fb172
GIT binary patch
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+   &#160;<span id="projectnumber">0.13.6</span>
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+   <div id="projectbrief">FCI C++ API</div>
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+  <ul>
+<li class="navelem"><b>franka</b></li><li class="navelem"><a class="el" href="structfranka_1_1ModelException.html">ModelException</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">franka::ModelException Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p><a class="el" href="structfranka_1_1ModelException.html" title="ModelException is thrown if an error occurs when loading the model library.">ModelException</a> is thrown if an error occurs when loading the model library.  
+ <a href="structfranka_1_1ModelException.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="exception_8h_source.html">exception.h</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for franka::ModelException:</div>
+<div class="dyncontent">
+<div class="center"><img src="structfranka_1_1ModelException__inherit__graph.png" border="0" usemap="#afranka_1_1ModelException_inherit__map" alt="Inheritance graph"/></div>
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+<area shape="rect" title="ModelException is thrown if an error occurs when loading the model library." alt="" coords="5,155,180,181"/>
+<area shape="rect" href="structfranka_1_1Exception.html" title="Base class for all exceptions used by libfranka." alt="" coords="25,80,160,107"/>
+<area shape="rect" title=" " alt="" coords="23,5,162,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for franka::ModelException:</div>
+<div class="dyncontent">
+<div class="center"><img src="structfranka_1_1ModelException__coll__graph.png" border="0" usemap="#afranka_1_1ModelException_coll__map" alt="Collaboration graph"/></div>
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+<area shape="rect" title="ModelException is thrown if an error occurs when loading the model library." alt="" coords="5,155,180,181"/>
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+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p><a class="el" href="structfranka_1_1ModelException.html" title="ModelException is thrown if an error occurs when loading the model library.">ModelException</a> is thrown if an error occurs when loading the model library. </p>
+</div><hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/franka/<a class="el" href="exception_8h_source.html">exception.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
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new file mode 100644
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+<area shape="rect" id="node3" title=" " alt="" coords="23,5,162,32"/>
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new file mode 100644
index 00000000..eefb28fa
--- /dev/null
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@@ -0,0 +1,5 @@
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new file mode 100644
index 00000000..6d7532b4
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+<li class="navelem"><b>franka</b></li><li class="navelem"><a class="el" href="structfranka_1_1NetworkException.html">NetworkException</a></li>  </ul>
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+<div class="title">franka::NetworkException Struct Reference</div>  </div>
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+<div class="contents">
+
+<p><a class="el" href="structfranka_1_1NetworkException.html" title="NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occu...">NetworkException</a> is thrown if a connection to the robot cannot be established, or when a timeout occurs.  
+ <a href="structfranka_1_1NetworkException.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="exception_8h_source.html">exception.h</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for franka::NetworkException:</div>
+<div class="dyncontent">
+<div class="center"><img src="structfranka_1_1NetworkException__inherit__graph.png" border="0" usemap="#afranka_1_1NetworkException_inherit__map" alt="Inheritance graph"/></div>
+<map name="afranka_1_1NetworkException_inherit__map" id="afranka_1_1NetworkException_inherit__map">
+<area shape="rect" title="NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occu..." alt="" coords="5,155,196,181"/>
+<area shape="rect" href="structfranka_1_1Exception.html" title="Base class for all exceptions used by libfranka." alt="" coords="33,80,168,107"/>
+<area shape="rect" title=" " alt="" coords="31,5,170,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for franka::NetworkException:</div>
+<div class="dyncontent">
+<div class="center"><img src="structfranka_1_1NetworkException__coll__graph.png" border="0" usemap="#afranka_1_1NetworkException_coll__map" alt="Collaboration graph"/></div>
+<map name="afranka_1_1NetworkException_coll__map" id="afranka_1_1NetworkException_coll__map">
+<area shape="rect" title="NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occu..." alt="" coords="5,155,196,181"/>
+<area shape="rect" href="structfranka_1_1Exception.html" title="Base class for all exceptions used by libfranka." alt="" coords="33,80,168,107"/>
+<area shape="rect" title=" " alt="" coords="31,5,170,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p><a class="el" href="structfranka_1_1NetworkException.html" title="NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occu...">NetworkException</a> is thrown if a connection to the robot cannot be established, or when a timeout occurs. </p>
+</div><hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/franka/<a class="el" href="exception_8h_source.html">exception.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/0.13.6/structfranka_1_1NetworkException__coll__graph.map b/0.13.6/structfranka_1_1NetworkException__coll__graph.map
new file mode 100644
index 00000000..1d2a3fb1
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+++ b/0.13.6/structfranka_1_1NetworkException__coll__graph.map
@@ -0,0 +1,5 @@
+<map id="franka::NetworkException" name="franka::NetworkException">
+<area shape="rect" id="node1" title="NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occu..." alt="" coords="5,155,196,181"/>
+<area shape="rect" id="node2" href="$structfranka_1_1Exception.html" title="Base class for all exceptions used by libfranka." alt="" coords="33,80,168,107"/>
+<area shape="rect" id="node3" title=" " alt="" coords="31,5,170,32"/>
+</map>
diff --git a/0.13.6/structfranka_1_1NetworkException__coll__graph.md5 b/0.13.6/structfranka_1_1NetworkException__coll__graph.md5
new file mode 100644
index 00000000..075dd123
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+++ b/0.13.6/structfranka_1_1NetworkException__coll__graph.md5
@@ -0,0 +1 @@
+d8561e044d91fa5f3077a8f6d620401b
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+  <ul>
+<li class="navelem"><b>franka</b></li><li class="navelem"><a class="el" href="structfranka_1_1ProtocolException.html">ProtocolException</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">franka::ProtocolException Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p><a class="el" href="structfranka_1_1ProtocolException.html" title="ProtocolException is thrown if the robot returns an incorrect message.">ProtocolException</a> is thrown if the robot returns an incorrect message.  
+ <a href="structfranka_1_1ProtocolException.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="exception_8h_source.html">exception.h</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for franka::ProtocolException:</div>
+<div class="dyncontent">
+<div class="center"><img src="structfranka_1_1ProtocolException__inherit__graph.png" border="0" usemap="#afranka_1_1ProtocolException_inherit__map" alt="Inheritance graph"/></div>
+<map name="afranka_1_1ProtocolException_inherit__map" id="afranka_1_1ProtocolException_inherit__map">
+<area shape="rect" title="ProtocolException is thrown if the robot returns an incorrect message." alt="" coords="5,155,193,181"/>
+<area shape="rect" href="structfranka_1_1Exception.html" title="Base class for all exceptions used by libfranka." alt="" coords="32,80,167,107"/>
+<area shape="rect" title=" " alt="" coords="30,5,169,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for franka::ProtocolException:</div>
+<div class="dyncontent">
+<div class="center"><img src="structfranka_1_1ProtocolException__coll__graph.png" border="0" usemap="#afranka_1_1ProtocolException_coll__map" alt="Collaboration graph"/></div>
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+<area shape="rect" title="ProtocolException is thrown if the robot returns an incorrect message." alt="" coords="5,155,193,181"/>
+<area shape="rect" href="structfranka_1_1Exception.html" title="Base class for all exceptions used by libfranka." alt="" coords="32,80,167,107"/>
+<area shape="rect" title=" " alt="" coords="30,5,169,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p><a class="el" href="structfranka_1_1ProtocolException.html" title="ProtocolException is thrown if the robot returns an incorrect message.">ProtocolException</a> is thrown if the robot returns an incorrect message. </p>
+</div><hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/franka/<a class="el" href="exception_8h_source.html">exception.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/0.13.6/structfranka_1_1ProtocolException__coll__graph.map b/0.13.6/structfranka_1_1ProtocolException__coll__graph.map
new file mode 100644
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+<area shape="rect" id="node2" href="$structfranka_1_1Exception.html" title="Base class for all exceptions used by libfranka." alt="" coords="32,80,167,107"/>
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diff --git a/0.13.6/structfranka_1_1ProtocolException__coll__graph.md5 b/0.13.6/structfranka_1_1ProtocolException__coll__graph.md5
new file mode 100644
index 00000000..f7972396
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diff --git a/0.13.6/structfranka_1_1ProtocolException__coll__graph.png b/0.13.6/structfranka_1_1ProtocolException__coll__graph.png
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>franka</b></li><li class="navelem"><a class="el" href="structfranka_1_1RealtimeException.html">RealtimeException</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">franka::RealtimeException Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p><a class="el" href="structfranka_1_1RealtimeException.html" title="RealtimeException is thrown if realtime priority cannot be set.">RealtimeException</a> is thrown if realtime priority cannot be set.  
+ <a href="structfranka_1_1RealtimeException.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="exception_8h_source.html">exception.h</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for franka::RealtimeException:</div>
+<div class="dyncontent">
+<div class="center"><img src="structfranka_1_1RealtimeException__inherit__graph.png" border="0" usemap="#afranka_1_1RealtimeException_inherit__map" alt="Inheritance graph"/></div>
+<map name="afranka_1_1RealtimeException_inherit__map" id="afranka_1_1RealtimeException_inherit__map">
+<area shape="rect" title="RealtimeException is thrown if realtime priority cannot be set." alt="" coords="5,155,200,181"/>
+<area shape="rect" href="structfranka_1_1Exception.html" title="Base class for all exceptions used by libfranka." alt="" coords="35,80,170,107"/>
+<area shape="rect" title=" " alt="" coords="33,5,172,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for franka::RealtimeException:</div>
+<div class="dyncontent">
+<div class="center"><img src="structfranka_1_1RealtimeException__coll__graph.png" border="0" usemap="#afranka_1_1RealtimeException_coll__map" alt="Collaboration graph"/></div>
+<map name="afranka_1_1RealtimeException_coll__map" id="afranka_1_1RealtimeException_coll__map">
+<area shape="rect" title="RealtimeException is thrown if realtime priority cannot be set." alt="" coords="5,155,200,181"/>
+<area shape="rect" href="structfranka_1_1Exception.html" title="Base class for all exceptions used by libfranka." alt="" coords="35,80,170,107"/>
+<area shape="rect" title=" " alt="" coords="33,5,172,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p><a class="el" href="structfranka_1_1RealtimeException.html" title="RealtimeException is thrown if realtime priority cannot be set.">RealtimeException</a> is thrown if realtime priority cannot be set. </p>
+</div><hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/franka/<a class="el" href="exception_8h_source.html">exception.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/0.13.6/structfranka_1_1RealtimeException__coll__graph.map b/0.13.6/structfranka_1_1RealtimeException__coll__graph.map
new file mode 100644
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diff --git a/0.13.6/structfranka_1_1RealtimeException__coll__graph.md5 b/0.13.6/structfranka_1_1RealtimeException__coll__graph.md5
new file mode 100644
index 00000000..47b203b1
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diff --git a/0.13.6/structfranka_1_1RealtimeException__coll__graph.png b/0.13.6/structfranka_1_1RealtimeException__coll__graph.png
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+   &#160;<span id="projectnumber">0.13.6</span>
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+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">franka::Record Member List</div>  </div>
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+
+<p>This is the complete list of members for <a class="el" href="structfranka_1_1Record.html">franka::Record</a>, including all inherited members.</p>
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+<title>libfranka: franka::Record Struct Reference</title>
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structfranka_1_1Record-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">franka::Record Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>One row of the log contains a robot command of timestamp n and a corresponding robot state of timestamp n+1.  
+ <a href="structfranka_1_1Record.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="log_8h_source.html">log.h</a>&gt;</code></p>
+<div class="dynheader">
+Collaboration diagram for franka::Record:</div>
+<div class="dyncontent">
+<div class="center"><img src="structfranka_1_1Record__coll__graph.png" border="0" usemap="#afranka_1_1Record_coll__map" alt="Collaboration graph"/></div>
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+<area shape="rect" title="One row of the log contains a robot command of timestamp n and a corresponding robot state of timesta..." alt="" coords="864,208,980,235"/>
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+<area shape="rect" href="classfranka_1_1Torques.html" title="Stores joint&#45;level torque commands without gravity and friction." alt="" coords="229,5,351,32"/>
+<area shape="rect" href="structfranka_1_1Finishable.html" title="Helper type for control and motion generation loops." alt="" coords="5,107,143,133"/>
+<area shape="rect" href="classfranka_1_1JointPositions.html" title="Stores values for joint position motion generation." alt="" coords="211,56,369,83"/>
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+<area shape="rect" href="structfranka_1_1Errors.html" title="Enumerates errors that can occur while controlling a franka::Robot." alt="" coords="235,319,345,345"/>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a58249658c9549fbc792eea90e7b6a7cc"><td class="memItemLeft" align="right" valign="top"><a id="a58249658c9549fbc792eea90e7b6a7cc"></a>
+<a class="el" href="structfranka_1_1RobotState.html">RobotState</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1Record.html#a58249658c9549fbc792eea90e7b6a7cc">state</a></td></tr>
+<tr class="memdesc:a58249658c9549fbc792eea90e7b6a7cc"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="classfranka_1_1Robot.html" title="Maintains a network connection to the robot, provides the current robot state, gives access to the mo...">Robot</a> state of timestamp n+1. <br /></td></tr>
+<tr class="separator:a58249658c9549fbc792eea90e7b6a7cc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8106f2ba9c2cf5ec7cbcf914c4c99e9c"><td class="memItemLeft" align="right" valign="top"><a id="a8106f2ba9c2cf5ec7cbcf914c4c99e9c"></a>
+<a class="el" href="structfranka_1_1RobotCommand.html">RobotCommand</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1Record.html#a8106f2ba9c2cf5ec7cbcf914c4c99e9c">command</a></td></tr>
+<tr class="memdesc:a8106f2ba9c2cf5ec7cbcf914c4c99e9c"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="classfranka_1_1Robot.html" title="Maintains a network connection to the robot, provides the current robot state, gives access to the mo...">Robot</a> command of timestamp n, after rate limiting (if activated). <br /></td></tr>
+<tr class="separator:a8106f2ba9c2cf5ec7cbcf914c4c99e9c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>One row of the log contains a robot command of timestamp n and a corresponding robot state of timestamp n+1. </p>
+<p>Provided by the <a class="el" href="structfranka_1_1ControlException.html" title="ControlException is thrown if an error occurs during motion generation or torque control.">ControlException</a>. </p>
+</div><hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/franka/<a class="el" href="log_8h_source.html">log.h</a></li>
+</ul>
+</div><!-- contents -->
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+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
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+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
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+   <div id="projectbrief">FCI C++ API</div>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">franka::RobotCommand Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structfranka_1_1RobotCommand.html">franka::RobotCommand</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="structfranka_1_1RobotCommand.html#acce2090d696ebb9759fd0f37fd35a298">cartesian_pose</a></td><td class="entry"><a class="el" href="structfranka_1_1RobotCommand.html">franka::RobotCommand</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structfranka_1_1RobotCommand.html#a04b4841130fab920936190be1bc5dba3">cartesian_velocities</a></td><td class="entry"><a class="el" href="structfranka_1_1RobotCommand.html">franka::RobotCommand</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structfranka_1_1RobotCommand.html#a086afcec596eae5284b6c39dc1452280">joint_positions</a></td><td class="entry"><a class="el" href="structfranka_1_1RobotCommand.html">franka::RobotCommand</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structfranka_1_1RobotCommand.html#a049657cf2bbbb53d6ffa5581721e7b71">joint_velocities</a></td><td class="entry"><a class="el" href="structfranka_1_1RobotCommand.html">franka::RobotCommand</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structfranka_1_1RobotCommand.html#a8b23e8b669b1fd594988ecdbf54bfbce">torques</a></td><td class="entry"><a class="el" href="structfranka_1_1RobotCommand.html">franka::RobotCommand</a></td><td class="entry"></td></tr>
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+<title>libfranka: franka::RobotCommand Struct Reference</title>
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+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
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+   <div id="projectbrief">FCI C++ API</div>
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+        name="MSearchResults" id="MSearchResults">
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+  <ul>
+<li class="navelem"><b>franka</b></li><li class="navelem"><a class="el" href="structfranka_1_1RobotCommand.html">RobotCommand</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structfranka_1_1RobotCommand-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">franka::RobotCommand Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Command sent to the robot.  
+ <a href="structfranka_1_1RobotCommand.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="log_8h_source.html">log.h</a>&gt;</code></p>
+<div class="dynheader">
+Collaboration diagram for franka::RobotCommand:</div>
+<div class="dyncontent">
+<div class="center"><img src="structfranka_1_1RobotCommand__coll__graph.png" border="0" usemap="#afranka_1_1RobotCommand_coll__map" alt="Collaboration graph"/></div>
+<map name="afranka_1_1RobotCommand_coll__map" id="afranka_1_1RobotCommand_coll__map">
+<area shape="rect" title="Command sent to the robot." alt="" coords="571,107,747,133"/>
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+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a086afcec596eae5284b6c39dc1452280"><td class="memItemLeft" align="right" valign="top"><a id="a086afcec596eae5284b6c39dc1452280"></a>
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+<tr class="memdesc:a086afcec596eae5284b6c39dc1452280"><td class="mdescLeft">&#160;</td><td class="mdescRight">\(q_d\) sent to the robot. <br /></td></tr>
+<tr class="separator:a086afcec596eae5284b6c39dc1452280"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a049657cf2bbbb53d6ffa5581721e7b71"><td class="memItemLeft" align="right" valign="top"><a id="a049657cf2bbbb53d6ffa5581721e7b71"></a>
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+<tr class="memdesc:a049657cf2bbbb53d6ffa5581721e7b71"><td class="mdescLeft">&#160;</td><td class="mdescRight">\(\dot{q}_d\) sent to the robot. <br /></td></tr>
+<tr class="separator:a049657cf2bbbb53d6ffa5581721e7b71"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:acce2090d696ebb9759fd0f37fd35a298"><td class="memItemLeft" align="right" valign="top"><a id="acce2090d696ebb9759fd0f37fd35a298"></a>
+<a class="el" href="classfranka_1_1CartesianPose.html">CartesianPose</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1RobotCommand.html#acce2090d696ebb9759fd0f37fd35a298">cartesian_pose</a> {1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1}</td></tr>
+<tr class="memdesc:acce2090d696ebb9759fd0f37fd35a298"><td class="mdescLeft">&#160;</td><td class="mdescRight">\(^O{\mathbf{T}_{EE}}_{d}\) sent to the robot. <br /></td></tr>
+<tr class="separator:acce2090d696ebb9759fd0f37fd35a298"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a04b4841130fab920936190be1bc5dba3"><td class="memItemLeft" align="right" valign="top"><a id="a04b4841130fab920936190be1bc5dba3"></a>
+<a class="el" href="classfranka_1_1CartesianVelocities.html">CartesianVelocities</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1RobotCommand.html#a04b4841130fab920936190be1bc5dba3">cartesian_velocities</a> {0, 0, 0, 0, 0, 0}</td></tr>
+<tr class="memdesc:a04b4841130fab920936190be1bc5dba3"><td class="mdescLeft">&#160;</td><td class="mdescRight">\(^O\dot{P}_{EE}\) sent to the robot. <br /></td></tr>
+<tr class="separator:a04b4841130fab920936190be1bc5dba3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8b23e8b669b1fd594988ecdbf54bfbce"><td class="memItemLeft" align="right" valign="top"><a id="a8b23e8b669b1fd594988ecdbf54bfbce"></a>
+<a class="el" href="classfranka_1_1Torques.html">Torques</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1RobotCommand.html#a8b23e8b669b1fd594988ecdbf54bfbce">torques</a> {0, 0, 0, 0, 0, 0, 0}</td></tr>
+<tr class="memdesc:a8b23e8b669b1fd594988ecdbf54bfbce"><td class="mdescLeft">&#160;</td><td class="mdescRight">\({\tau_J}_d\) sent to the robot. <br /></td></tr>
+<tr class="separator:a8b23e8b669b1fd594988ecdbf54bfbce"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Command sent to the robot. </p>
+<p>Structure used only for logging purposes. </p>
+</div><hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/franka/<a class="el" href="log_8h_source.html">log.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/0.13.6/structfranka_1_1RobotCommand__coll__graph.map b/0.13.6/structfranka_1_1RobotCommand__coll__graph.map
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index 00000000..619a4dd1
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+<area shape="rect" id="node2" href="$classfranka_1_1Torques.html" title="Stores joint&#45;level torque commands without gravity and friction." alt="" coords="229,5,351,32"/>
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+<area shape="rect" id="node7" href="$classfranka_1_1CartesianVelocities.html" title="Stores values for Cartesian velocity motion generation." alt="" coords="192,208,388,235"/>
+</map>
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new file mode 100644
index 00000000..dd237dcb
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+  <ul>
+<li class="navelem"><b>franka</b></li><li class="navelem"><a class="el" href="structfranka_1_1RobotState.html">RobotState</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">franka::RobotState Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="structfranka_1_1RobotState.html#a52c20478f4c1e162df38582ea9bda044">cartesian_collision</a></td><td class="entry"><a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structfranka_1_1RobotState.html#a7fc1f0358d2104d39d301d70544fa6c1">cartesian_contact</a></td><td class="entry"><a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structfranka_1_1RobotState.html#af208572613a6afcdc61a24970c71fa28">control_command_success_rate</a></td><td class="entry"><a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structfranka_1_1RobotState.html#abc5515f7a27f5de82396ea792a5ecb48">current_errors</a></td><td class="entry"><a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structfranka_1_1RobotState.html#a1e5b6caf84249b1129491dbbcb1fc2e6">ddelbow_c</a></td><td class="entry"><a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structfranka_1_1RobotState.html#a6251e748cf72f4b86bcfdcb97d77ace2">ddq_d</a></td><td class="entry"><a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structfranka_1_1RobotState.html#a57c2c145e9f79010adf23085b8a9c5ad">delbow_c</a></td><td class="entry"><a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structfranka_1_1RobotState.html#af372a0081d72bc7b4fe873f99c7b2d8c">dq</a></td><td class="entry"><a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structfranka_1_1RobotState.html#aed294a088be27b927be9575a18bec949">dq_d</a></td><td class="entry"><a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structfranka_1_1RobotState.html#ae6b0d4ee0d7b36240a2165e6ded6f4b9">dtau_J</a></td><td class="entry"><a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structfranka_1_1RobotState.html#a271db0a55dd346715ed8a0daf3f8887c">dtheta</a></td><td class="entry"><a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structfranka_1_1RobotState.html#aeb78a3b4b76d4f57b9898cbea3a0f7aa">EE_T_K</a></td><td class="entry"><a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structfranka_1_1RobotState.html#a43485841c427d70e7f36a912cc3116d1">elbow</a></td><td class="entry"><a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structfranka_1_1RobotState.html#a16cfc844894e8b5b1ad829be529962f0">elbow_c</a></td><td class="entry"><a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structfranka_1_1RobotState.html#a295dada05d8588fc3c19a74fd427dcc0">elbow_d</a></td><td class="entry"><a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structfranka_1_1RobotState.html#a705b85049fef747008b0eba8284c8057">F_T_EE</a></td><td class="entry"><a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structfranka_1_1RobotState.html#a88142795c453775c360e18d8a6570d15">F_T_NE</a></td><td class="entry"><a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structfranka_1_1RobotState.html#a907c4561d8f1c1a2af7980cf58ceb112">F_x_Cee</a></td><td class="entry"><a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structfranka_1_1RobotState.html#a48e921e6215ad32f36e424b4d7b66a89">F_x_Cload</a></td><td class="entry"><a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structfranka_1_1RobotState.html#a72ee7362018e3c9e95e3c41e857bfd8d">F_x_Ctotal</a></td><td class="entry"><a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structfranka_1_1RobotState.html#a74cee1beb5d400694133deea2846e611">I_ee</a></td><td class="entry"><a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structfranka_1_1RobotState.html#a5b194153497eff98049681f852118f82">I_load</a></td><td class="entry"><a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structfranka_1_1RobotState.html#ad9120ae7b7613e77df8c1c3eba8fb033">I_total</a></td><td class="entry"><a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structfranka_1_1RobotState.html#a38757bafd4dd8e138410de1dca0c36f8">joint_collision</a></td><td class="entry"><a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structfranka_1_1RobotState.html#a7243c652a8efe58c343a0d1252302fa4">joint_contact</a></td><td class="entry"><a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structfranka_1_1RobotState.html#a96267d443c05fcc58d7ac32f63912649">K_F_ext_hat_K</a></td><td class="entry"><a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structfranka_1_1RobotState.html#a06d7019f85339409e932dc086b7a260b">last_motion_errors</a></td><td class="entry"><a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structfranka_1_1RobotState.html#af982a16246e33c1495ec02972a36bce3">m_ee</a></td><td class="entry"><a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structfranka_1_1RobotState.html#a99ea4ab9c5a42a5c17365ed8fd730cd1">m_load</a></td><td class="entry"><a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structfranka_1_1RobotState.html#a87880d4693c8f576ebdabf00f4d4f981">m_total</a></td><td class="entry"><a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structfranka_1_1RobotState.html#ac53f1046fe758cfdda438a8e3ba08fff">NE_T_EE</a></td><td class="entry"><a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structfranka_1_1RobotState.html#ac8dfcf78ddbb27852484e921d6d66ca1">O_ddP_EE_c</a></td><td class="entry"><a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structfranka_1_1RobotState.html#ab24d7982942d316459fc35337dc38ecd">O_ddP_O</a></td><td class="entry"><a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structfranka_1_1RobotState.html#a4be112bd1a9a7d777a67aea4a18a8dcc">O_dP_EE_c</a></td><td class="entry"><a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structfranka_1_1RobotState.html#a1e0a82b98534929c3061295d5761d607">O_dP_EE_d</a></td><td class="entry"><a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structfranka_1_1RobotState.html#a5a830b4f9d6a3c2dc92e4a9cc6050493">O_F_ext_hat_K</a></td><td class="entry"><a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structfranka_1_1RobotState.html#a193781d47722b32925e0ea7ac415f442">O_T_EE</a></td><td class="entry"><a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structfranka_1_1RobotState.html#a395c48eff099419ea5d42eaf0870fc18">O_T_EE_c</a></td><td class="entry"><a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structfranka_1_1RobotState.html#a3e5b4b7687856e92d826044be7d15733">O_T_EE_d</a></td><td class="entry"><a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structfranka_1_1RobotState.html#ade3335d1ac2f6c44741a916d565f7091">q</a></td><td class="entry"><a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structfranka_1_1RobotState.html#a706045af1b176049e9e56df755325bd2">q_d</a></td><td class="entry"><a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structfranka_1_1RobotState.html#a4943ae75e0e2ec534e0afac31cbcc987">robot_mode</a></td><td class="entry"><a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structfranka_1_1RobotState.html#acdef8005828d193e45b128085a9e363b">tau_ext_hat_filtered</a></td><td class="entry"><a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structfranka_1_1RobotState.html#ad90e2518d661da0d8fa4c864bae210e5">tau_J</a></td><td class="entry"><a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structfranka_1_1RobotState.html#a7086a89a2705810f93a3a95d43df2d9d">tau_J_d</a></td><td class="entry"><a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structfranka_1_1RobotState.html#aa34145d77dd411d7ca578c355f0ba2b4">theta</a></td><td class="entry"><a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structfranka_1_1RobotState.html#aabfdabeaef8c1858c52dd32344bdd039">time</a></td><td class="entry"><a class="el" href="structfranka_1_1RobotState.html">franka::RobotState</a></td><td class="entry"></td></tr>
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diff --git a/0.13.6/structfranka_1_1RobotState.html b/0.13.6/structfranka_1_1RobotState.html
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+<title>libfranka: franka::RobotState Struct Reference</title>
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+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
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+  <ul>
+<li class="navelem"><b>franka</b></li><li class="navelem"><a class="el" href="structfranka_1_1RobotState.html">RobotState</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structfranka_1_1RobotState-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">franka::RobotState Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Describes the robot state.  
+ <a href="structfranka_1_1RobotState.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="robot__state_8h_source.html">robot_state.h</a>&gt;</code></p>
+<div class="dynheader">
+Collaboration diagram for franka::RobotState:</div>
+<div class="dyncontent">
+<div class="center"><img src="structfranka_1_1RobotState__coll__graph.png" border="0" usemap="#afranka_1_1RobotState_coll__map" alt="Collaboration graph"/></div>
+<map name="afranka_1_1RobotState_coll__map" id="afranka_1_1RobotState_coll__map">
+<area shape="rect" title="Describes the robot state." alt="" coords="68,109,211,136"/>
+<area shape="rect" href="classfranka_1_1Duration.html" title="Represents a duration with millisecond resolution." alt="" coords="5,5,132,32"/>
+<area shape="rect" href="structfranka_1_1Errors.html" title="Enumerates errors that can occur while controlling a franka::Robot." alt="" coords="157,5,266,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a193781d47722b32925e0ea7ac415f442"><td class="memItemLeft" align="right" valign="top">std::array&lt; double, 16 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1RobotState.html#a193781d47722b32925e0ea7ac415f442">O_T_EE</a> {}</td></tr>
+<tr class="memdesc:a193781d47722b32925e0ea7ac415f442"><td class="mdescLeft">&#160;</td><td class="mdescRight">\(^{O}T_{EE}\) Measured end effector pose in <a class="el" href="classfranka_1_1Robot.html#o-frame">base frame</a>.  <a href="structfranka_1_1RobotState.html#a193781d47722b32925e0ea7ac415f442">More...</a><br /></td></tr>
+<tr class="separator:a193781d47722b32925e0ea7ac415f442"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3e5b4b7687856e92d826044be7d15733"><td class="memItemLeft" align="right" valign="top">std::array&lt; double, 16 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1RobotState.html#a3e5b4b7687856e92d826044be7d15733">O_T_EE_d</a> {}</td></tr>
+<tr class="memdesc:a3e5b4b7687856e92d826044be7d15733"><td class="mdescLeft">&#160;</td><td class="mdescRight">\({^OT_{EE}}_{d}\) Last desired end effector pose of motion generation in <a class="el" href="classfranka_1_1Robot.html#o-frame">base frame</a>.  <a href="structfranka_1_1RobotState.html#a3e5b4b7687856e92d826044be7d15733">More...</a><br /></td></tr>
+<tr class="separator:a3e5b4b7687856e92d826044be7d15733"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a705b85049fef747008b0eba8284c8057"><td class="memItemLeft" align="right" valign="top">std::array&lt; double, 16 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1RobotState.html#a705b85049fef747008b0eba8284c8057">F_T_EE</a> {}</td></tr>
+<tr class="memdesc:a705b85049fef747008b0eba8284c8057"><td class="mdescLeft">&#160;</td><td class="mdescRight">\(^{F}T_{EE}\) End effector frame pose in flange frame.  <a href="structfranka_1_1RobotState.html#a705b85049fef747008b0eba8284c8057">More...</a><br /></td></tr>
+<tr class="separator:a705b85049fef747008b0eba8284c8057"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a88142795c453775c360e18d8a6570d15"><td class="memItemLeft" align="right" valign="top">std::array&lt; double, 16 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1RobotState.html#a88142795c453775c360e18d8a6570d15">F_T_NE</a> {}</td></tr>
+<tr class="memdesc:a88142795c453775c360e18d8a6570d15"><td class="mdescLeft">&#160;</td><td class="mdescRight">\(^{F}T_{NE}\) Nominal end effector frame pose in flange frame.  <a href="structfranka_1_1RobotState.html#a88142795c453775c360e18d8a6570d15">More...</a><br /></td></tr>
+<tr class="separator:a88142795c453775c360e18d8a6570d15"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac53f1046fe758cfdda438a8e3ba08fff"><td class="memItemLeft" align="right" valign="top">std::array&lt; double, 16 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1RobotState.html#ac53f1046fe758cfdda438a8e3ba08fff">NE_T_EE</a> {}</td></tr>
+<tr class="memdesc:ac53f1046fe758cfdda438a8e3ba08fff"><td class="mdescLeft">&#160;</td><td class="mdescRight">\(^{NE}T_{EE}\) End effector frame pose in nominal end effector frame.  <a href="structfranka_1_1RobotState.html#ac53f1046fe758cfdda438a8e3ba08fff">More...</a><br /></td></tr>
+<tr class="separator:ac53f1046fe758cfdda438a8e3ba08fff"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aeb78a3b4b76d4f57b9898cbea3a0f7aa"><td class="memItemLeft" align="right" valign="top">std::array&lt; double, 16 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1RobotState.html#aeb78a3b4b76d4f57b9898cbea3a0f7aa">EE_T_K</a> {}</td></tr>
+<tr class="memdesc:aeb78a3b4b76d4f57b9898cbea3a0f7aa"><td class="mdescLeft">&#160;</td><td class="mdescRight">\(^{EE}T_{K}\) Stiffness frame pose in end effector frame.  <a href="structfranka_1_1RobotState.html#aeb78a3b4b76d4f57b9898cbea3a0f7aa">More...</a><br /></td></tr>
+<tr class="separator:aeb78a3b4b76d4f57b9898cbea3a0f7aa"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af982a16246e33c1495ec02972a36bce3"><td class="memItemLeft" align="right" valign="top"><a id="af982a16246e33c1495ec02972a36bce3"></a>
+double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1RobotState.html#af982a16246e33c1495ec02972a36bce3">m_ee</a> {}</td></tr>
+<tr class="memdesc:af982a16246e33c1495ec02972a36bce3"><td class="mdescLeft">&#160;</td><td class="mdescRight">\(m_{EE}\) Configured mass of the end effector. <br /></td></tr>
+<tr class="separator:af982a16246e33c1495ec02972a36bce3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a74cee1beb5d400694133deea2846e611"><td class="memItemLeft" align="right" valign="top"><a id="a74cee1beb5d400694133deea2846e611"></a>
+std::array&lt; double, 9 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1RobotState.html#a74cee1beb5d400694133deea2846e611">I_ee</a> {}</td></tr>
+<tr class="memdesc:a74cee1beb5d400694133deea2846e611"><td class="mdescLeft">&#160;</td><td class="mdescRight">\(I_{EE}\) Configured rotational inertia matrix of the end effector load with respect to center of mass. <br /></td></tr>
+<tr class="separator:a74cee1beb5d400694133deea2846e611"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a907c4561d8f1c1a2af7980cf58ceb112"><td class="memItemLeft" align="right" valign="top"><a id="a907c4561d8f1c1a2af7980cf58ceb112"></a>
+std::array&lt; double, 3 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1RobotState.html#a907c4561d8f1c1a2af7980cf58ceb112">F_x_Cee</a> {}</td></tr>
+<tr class="memdesc:a907c4561d8f1c1a2af7980cf58ceb112"><td class="mdescLeft">&#160;</td><td class="mdescRight">\(^{F}x_{C_{EE}}\) Configured center of mass of the end effector load with respect to flange frame. <br /></td></tr>
+<tr class="separator:a907c4561d8f1c1a2af7980cf58ceb112"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1RobotState.html#a99ea4ab9c5a42a5c17365ed8fd730cd1">m_load</a> {}</td></tr>
+<tr class="memdesc:a99ea4ab9c5a42a5c17365ed8fd730cd1"><td class="mdescLeft">&#160;</td><td class="mdescRight">\(m_{load}\) Configured mass of the external load. <br /></td></tr>
+<tr class="separator:a99ea4ab9c5a42a5c17365ed8fd730cd1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5b194153497eff98049681f852118f82"><td class="memItemLeft" align="right" valign="top"><a id="a5b194153497eff98049681f852118f82"></a>
+std::array&lt; double, 9 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1RobotState.html#a5b194153497eff98049681f852118f82">I_load</a> {}</td></tr>
+<tr class="memdesc:a5b194153497eff98049681f852118f82"><td class="mdescLeft">&#160;</td><td class="mdescRight">\(I_{load}\) Configured rotational inertia matrix of the external load with respect to center of mass. <br /></td></tr>
+<tr class="separator:a5b194153497eff98049681f852118f82"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a48e921e6215ad32f36e424b4d7b66a89"><td class="memItemLeft" align="right" valign="top"><a id="a48e921e6215ad32f36e424b4d7b66a89"></a>
+std::array&lt; double, 3 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1RobotState.html#a48e921e6215ad32f36e424b4d7b66a89">F_x_Cload</a> {}</td></tr>
+<tr class="memdesc:a48e921e6215ad32f36e424b4d7b66a89"><td class="mdescLeft">&#160;</td><td class="mdescRight">\(^{F}x_{C_{load}}\) Configured center of mass of the external load with respect to flange frame. <br /></td></tr>
+<tr class="separator:a48e921e6215ad32f36e424b4d7b66a89"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a87880d4693c8f576ebdabf00f4d4f981"><td class="memItemLeft" align="right" valign="top"><a id="a87880d4693c8f576ebdabf00f4d4f981"></a>
+double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1RobotState.html#a87880d4693c8f576ebdabf00f4d4f981">m_total</a> {}</td></tr>
+<tr class="memdesc:a87880d4693c8f576ebdabf00f4d4f981"><td class="mdescLeft">&#160;</td><td class="mdescRight">\(m_{total}\) Sum of the mass of the end effector and the external load. <br /></td></tr>
+<tr class="separator:a87880d4693c8f576ebdabf00f4d4f981"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad9120ae7b7613e77df8c1c3eba8fb033"><td class="memItemLeft" align="right" valign="top"><a id="ad9120ae7b7613e77df8c1c3eba8fb033"></a>
+std::array&lt; double, 9 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1RobotState.html#ad9120ae7b7613e77df8c1c3eba8fb033">I_total</a> {}</td></tr>
+<tr class="memdesc:ad9120ae7b7613e77df8c1c3eba8fb033"><td class="mdescLeft">&#160;</td><td class="mdescRight">\(I_{total}\) Combined rotational inertia matrix of the end effector load and the external load with respect to the center of mass. <br /></td></tr>
+<tr class="separator:ad9120ae7b7613e77df8c1c3eba8fb033"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a72ee7362018e3c9e95e3c41e857bfd8d"><td class="memItemLeft" align="right" valign="top"><a id="a72ee7362018e3c9e95e3c41e857bfd8d"></a>
+std::array&lt; double, 3 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1RobotState.html#a72ee7362018e3c9e95e3c41e857bfd8d">F_x_Ctotal</a> {}</td></tr>
+<tr class="memdesc:a72ee7362018e3c9e95e3c41e857bfd8d"><td class="mdescLeft">&#160;</td><td class="mdescRight">\(^{F}x_{C_{total}}\) Combined center of mass of the end effector load and the external load with respect to flange frame. <br /></td></tr>
+<tr class="separator:a72ee7362018e3c9e95e3c41e857bfd8d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a43485841c427d70e7f36a912cc3116d1"><td class="memItemLeft" align="right" valign="top">std::array&lt; double, 2 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1RobotState.html#a43485841c427d70e7f36a912cc3116d1">elbow</a> {}</td></tr>
+<tr class="memdesc:a43485841c427d70e7f36a912cc3116d1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Elbow configuration.  <a href="structfranka_1_1RobotState.html#a43485841c427d70e7f36a912cc3116d1">More...</a><br /></td></tr>
+<tr class="separator:a43485841c427d70e7f36a912cc3116d1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a295dada05d8588fc3c19a74fd427dcc0"><td class="memItemLeft" align="right" valign="top">std::array&lt; double, 2 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1RobotState.html#a295dada05d8588fc3c19a74fd427dcc0">elbow_d</a> {}</td></tr>
+<tr class="memdesc:a295dada05d8588fc3c19a74fd427dcc0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Desired elbow configuration.  <a href="structfranka_1_1RobotState.html#a295dada05d8588fc3c19a74fd427dcc0">More...</a><br /></td></tr>
+<tr class="separator:a295dada05d8588fc3c19a74fd427dcc0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a16cfc844894e8b5b1ad829be529962f0"><td class="memItemLeft" align="right" valign="top">std::array&lt; double, 2 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1RobotState.html#a16cfc844894e8b5b1ad829be529962f0">elbow_c</a> {}</td></tr>
+<tr class="memdesc:a16cfc844894e8b5b1ad829be529962f0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Commanded elbow configuration.  <a href="structfranka_1_1RobotState.html#a16cfc844894e8b5b1ad829be529962f0">More...</a><br /></td></tr>
+<tr class="separator:a16cfc844894e8b5b1ad829be529962f0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a57c2c145e9f79010adf23085b8a9c5ad"><td class="memItemLeft" align="right" valign="top">std::array&lt; double, 2 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1RobotState.html#a57c2c145e9f79010adf23085b8a9c5ad">delbow_c</a> {}</td></tr>
+<tr class="memdesc:a57c2c145e9f79010adf23085b8a9c5ad"><td class="mdescLeft">&#160;</td><td class="mdescRight">Commanded elbow velocity.  <a href="structfranka_1_1RobotState.html#a57c2c145e9f79010adf23085b8a9c5ad">More...</a><br /></td></tr>
+<tr class="separator:a57c2c145e9f79010adf23085b8a9c5ad"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1e5b6caf84249b1129491dbbcb1fc2e6"><td class="memItemLeft" align="right" valign="top">std::array&lt; double, 2 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1RobotState.html#a1e5b6caf84249b1129491dbbcb1fc2e6">ddelbow_c</a> {}</td></tr>
+<tr class="memdesc:a1e5b6caf84249b1129491dbbcb1fc2e6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Commanded elbow acceleration.  <a href="structfranka_1_1RobotState.html#a1e5b6caf84249b1129491dbbcb1fc2e6">More...</a><br /></td></tr>
+<tr class="separator:a1e5b6caf84249b1129491dbbcb1fc2e6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad90e2518d661da0d8fa4c864bae210e5"><td class="memItemLeft" align="right" valign="top">std::array&lt; double, 7 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1RobotState.html#ad90e2518d661da0d8fa4c864bae210e5">tau_J</a> {}</td></tr>
+<tr class="memdesc:ad90e2518d661da0d8fa4c864bae210e5"><td class="mdescLeft">&#160;</td><td class="mdescRight">\(\tau_{J}\) Measured link-side joint torque sensor signals.  <a href="structfranka_1_1RobotState.html#ad90e2518d661da0d8fa4c864bae210e5">More...</a><br /></td></tr>
+<tr class="separator:ad90e2518d661da0d8fa4c864bae210e5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7086a89a2705810f93a3a95d43df2d9d"><td class="memItemLeft" align="right" valign="top">std::array&lt; double, 7 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1RobotState.html#a7086a89a2705810f93a3a95d43df2d9d">tau_J_d</a> {}</td></tr>
+<tr class="memdesc:a7086a89a2705810f93a3a95d43df2d9d"><td class="mdescLeft">&#160;</td><td class="mdescRight">\({\tau_J}_d\) Desired link-side joint torque sensor signals without gravity.  <a href="structfranka_1_1RobotState.html#a7086a89a2705810f93a3a95d43df2d9d">More...</a><br /></td></tr>
+<tr class="separator:a7086a89a2705810f93a3a95d43df2d9d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae6b0d4ee0d7b36240a2165e6ded6f4b9"><td class="memItemLeft" align="right" valign="top">std::array&lt; double, 7 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1RobotState.html#ae6b0d4ee0d7b36240a2165e6ded6f4b9">dtau_J</a> {}</td></tr>
+<tr class="memdesc:ae6b0d4ee0d7b36240a2165e6ded6f4b9"><td class="mdescLeft">&#160;</td><td class="mdescRight">\(\dot{\tau_{J}}\) Derivative of measured link-side joint torque sensor signals.  <a href="structfranka_1_1RobotState.html#ae6b0d4ee0d7b36240a2165e6ded6f4b9">More...</a><br /></td></tr>
+<tr class="separator:ae6b0d4ee0d7b36240a2165e6ded6f4b9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ade3335d1ac2f6c44741a916d565f7091"><td class="memItemLeft" align="right" valign="top">std::array&lt; double, 7 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1RobotState.html#ade3335d1ac2f6c44741a916d565f7091">q</a> {}</td></tr>
+<tr class="memdesc:ade3335d1ac2f6c44741a916d565f7091"><td class="mdescLeft">&#160;</td><td class="mdescRight">\(q\) Measured joint position.  <a href="structfranka_1_1RobotState.html#ade3335d1ac2f6c44741a916d565f7091">More...</a><br /></td></tr>
+<tr class="separator:ade3335d1ac2f6c44741a916d565f7091"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a706045af1b176049e9e56df755325bd2"><td class="memItemLeft" align="right" valign="top">std::array&lt; double, 7 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1RobotState.html#a706045af1b176049e9e56df755325bd2">q_d</a> {}</td></tr>
+<tr class="memdesc:a706045af1b176049e9e56df755325bd2"><td class="mdescLeft">&#160;</td><td class="mdescRight">\(q_d\) Desired joint position.  <a href="structfranka_1_1RobotState.html#a706045af1b176049e9e56df755325bd2">More...</a><br /></td></tr>
+<tr class="separator:a706045af1b176049e9e56df755325bd2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af372a0081d72bc7b4fe873f99c7b2d8c"><td class="memItemLeft" align="right" valign="top">std::array&lt; double, 7 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1RobotState.html#af372a0081d72bc7b4fe873f99c7b2d8c">dq</a> {}</td></tr>
+<tr class="memdesc:af372a0081d72bc7b4fe873f99c7b2d8c"><td class="mdescLeft">&#160;</td><td class="mdescRight">\(\dot{q}\) Measured joint velocity.  <a href="structfranka_1_1RobotState.html#af372a0081d72bc7b4fe873f99c7b2d8c">More...</a><br /></td></tr>
+<tr class="separator:af372a0081d72bc7b4fe873f99c7b2d8c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aed294a088be27b927be9575a18bec949"><td class="memItemLeft" align="right" valign="top">std::array&lt; double, 7 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1RobotState.html#aed294a088be27b927be9575a18bec949">dq_d</a> {}</td></tr>
+<tr class="memdesc:aed294a088be27b927be9575a18bec949"><td class="mdescLeft">&#160;</td><td class="mdescRight">\(\dot{q}_d\) Desired joint velocity.  <a href="structfranka_1_1RobotState.html#aed294a088be27b927be9575a18bec949">More...</a><br /></td></tr>
+<tr class="separator:aed294a088be27b927be9575a18bec949"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6251e748cf72f4b86bcfdcb97d77ace2"><td class="memItemLeft" align="right" valign="top">std::array&lt; double, 7 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1RobotState.html#a6251e748cf72f4b86bcfdcb97d77ace2">ddq_d</a> {}</td></tr>
+<tr class="memdesc:a6251e748cf72f4b86bcfdcb97d77ace2"><td class="mdescLeft">&#160;</td><td class="mdescRight">\(\ddot{q}_d\) Desired joint acceleration.  <a href="structfranka_1_1RobotState.html#a6251e748cf72f4b86bcfdcb97d77ace2">More...</a><br /></td></tr>
+<tr class="separator:a6251e748cf72f4b86bcfdcb97d77ace2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7243c652a8efe58c343a0d1252302fa4"><td class="memItemLeft" align="right" valign="top">std::array&lt; double, 7 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1RobotState.html#a7243c652a8efe58c343a0d1252302fa4">joint_contact</a> {}</td></tr>
+<tr class="memdesc:a7243c652a8efe58c343a0d1252302fa4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Indicates which contact level is activated in which joint.  <a href="structfranka_1_1RobotState.html#a7243c652a8efe58c343a0d1252302fa4">More...</a><br /></td></tr>
+<tr class="separator:a7243c652a8efe58c343a0d1252302fa4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7fc1f0358d2104d39d301d70544fa6c1"><td class="memItemLeft" align="right" valign="top">std::array&lt; double, 6 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1RobotState.html#a7fc1f0358d2104d39d301d70544fa6c1">cartesian_contact</a> {}</td></tr>
+<tr class="memdesc:a7fc1f0358d2104d39d301d70544fa6c1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Indicates which contact level is activated in which Cartesian dimension \((x,y,z,R,P,Y)\).  <a href="structfranka_1_1RobotState.html#a7fc1f0358d2104d39d301d70544fa6c1">More...</a><br /></td></tr>
+<tr class="separator:a7fc1f0358d2104d39d301d70544fa6c1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a38757bafd4dd8e138410de1dca0c36f8"><td class="memItemLeft" align="right" valign="top">std::array&lt; double, 7 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1RobotState.html#a38757bafd4dd8e138410de1dca0c36f8">joint_collision</a> {}</td></tr>
+<tr class="memdesc:a38757bafd4dd8e138410de1dca0c36f8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Indicates which contact level is activated in which joint.  <a href="structfranka_1_1RobotState.html#a38757bafd4dd8e138410de1dca0c36f8">More...</a><br /></td></tr>
+<tr class="separator:a38757bafd4dd8e138410de1dca0c36f8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a52c20478f4c1e162df38582ea9bda044"><td class="memItemLeft" align="right" valign="top">std::array&lt; double, 6 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1RobotState.html#a52c20478f4c1e162df38582ea9bda044">cartesian_collision</a> {}</td></tr>
+<tr class="memdesc:a52c20478f4c1e162df38582ea9bda044"><td class="mdescLeft">&#160;</td><td class="mdescRight">Indicates which contact level is activated in which Cartesian dimension \((x,y,z,R,P,Y)\).  <a href="structfranka_1_1RobotState.html#a52c20478f4c1e162df38582ea9bda044">More...</a><br /></td></tr>
+<tr class="separator:a52c20478f4c1e162df38582ea9bda044"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:acdef8005828d193e45b128085a9e363b"><td class="memItemLeft" align="right" valign="top">std::array&lt; double, 7 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1RobotState.html#acdef8005828d193e45b128085a9e363b">tau_ext_hat_filtered</a> {}</td></tr>
+<tr class="memdesc:acdef8005828d193e45b128085a9e363b"><td class="mdescLeft">&#160;</td><td class="mdescRight">\(\hat{\tau}_{\text{ext}}\) Low-pass filtered torques generated by external forces on the joints.  <a href="structfranka_1_1RobotState.html#acdef8005828d193e45b128085a9e363b">More...</a><br /></td></tr>
+<tr class="separator:acdef8005828d193e45b128085a9e363b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5a830b4f9d6a3c2dc92e4a9cc6050493"><td class="memItemLeft" align="right" valign="top">std::array&lt; double, 6 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1RobotState.html#a5a830b4f9d6a3c2dc92e4a9cc6050493">O_F_ext_hat_K</a> {}</td></tr>
+<tr class="memdesc:a5a830b4f9d6a3c2dc92e4a9cc6050493"><td class="mdescLeft">&#160;</td><td class="mdescRight">\(^OF_{K,\text{ext}}\) Estimated external wrench (force, torque) acting on stiffness frame, expressed relative to the <a class="el" href="classfranka_1_1Robot.html#o-frame">base frame</a>.  <a href="structfranka_1_1RobotState.html#a5a830b4f9d6a3c2dc92e4a9cc6050493">More...</a><br /></td></tr>
+<tr class="separator:a5a830b4f9d6a3c2dc92e4a9cc6050493"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a96267d443c05fcc58d7ac32f63912649"><td class="memItemLeft" align="right" valign="top">std::array&lt; double, 6 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1RobotState.html#a96267d443c05fcc58d7ac32f63912649">K_F_ext_hat_K</a> {}</td></tr>
+<tr class="memdesc:a96267d443c05fcc58d7ac32f63912649"><td class="mdescLeft">&#160;</td><td class="mdescRight">\(^{K}F_{K,\text{ext}}\) Estimated external wrench (force, torque) acting on stiffness frame, expressed relative to the stiffness frame.  <a href="structfranka_1_1RobotState.html#a96267d443c05fcc58d7ac32f63912649">More...</a><br /></td></tr>
+<tr class="separator:a96267d443c05fcc58d7ac32f63912649"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1e0a82b98534929c3061295d5761d607"><td class="memItemLeft" align="right" valign="top">std::array&lt; double, 6 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1RobotState.html#a1e0a82b98534929c3061295d5761d607">O_dP_EE_d</a> {}</td></tr>
+<tr class="memdesc:a1e0a82b98534929c3061295d5761d607"><td class="mdescLeft">&#160;</td><td class="mdescRight">\({^OdP_{EE}}_{d}\) Desired end effector twist in <a class="el" href="classfranka_1_1Robot.html#o-frame">base frame</a>.  <a href="structfranka_1_1RobotState.html#a1e0a82b98534929c3061295d5761d607">More...</a><br /></td></tr>
+<tr class="separator:a1e0a82b98534929c3061295d5761d607"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab24d7982942d316459fc35337dc38ecd"><td class="memItemLeft" align="right" valign="top">std::array&lt; double, 3 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1RobotState.html#ab24d7982942d316459fc35337dc38ecd">O_ddP_O</a> {}</td></tr>
+<tr class="memdesc:ab24d7982942d316459fc35337dc38ecd"><td class="mdescLeft">&#160;</td><td class="mdescRight">\({^OddP}_O\) Linear component of the acceleration of the robot's base, expressed in frame parallel to the <a class="el" href="classfranka_1_1Robot.html#o-frame">base frame</a>, i.e.  <a href="structfranka_1_1RobotState.html#ab24d7982942d316459fc35337dc38ecd">More...</a><br /></td></tr>
+<tr class="separator:ab24d7982942d316459fc35337dc38ecd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a395c48eff099419ea5d42eaf0870fc18"><td class="memItemLeft" align="right" valign="top">std::array&lt; double, 16 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1RobotState.html#a395c48eff099419ea5d42eaf0870fc18">O_T_EE_c</a> {}</td></tr>
+<tr class="memdesc:a395c48eff099419ea5d42eaf0870fc18"><td class="mdescLeft">&#160;</td><td class="mdescRight">\({^OT_{EE}}_{c}\) Last commanded end effector pose of motion generation in <a class="el" href="classfranka_1_1Robot.html#o-frame">base frame</a>.  <a href="structfranka_1_1RobotState.html#a395c48eff099419ea5d42eaf0870fc18">More...</a><br /></td></tr>
+<tr class="separator:a395c48eff099419ea5d42eaf0870fc18"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4be112bd1a9a7d777a67aea4a18a8dcc"><td class="memItemLeft" align="right" valign="top">std::array&lt; double, 6 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1RobotState.html#a4be112bd1a9a7d777a67aea4a18a8dcc">O_dP_EE_c</a> {}</td></tr>
+<tr class="memdesc:a4be112bd1a9a7d777a67aea4a18a8dcc"><td class="mdescLeft">&#160;</td><td class="mdescRight">\({^OdP_{EE}}_{c}\) Last commanded end effector twist in <a class="el" href="classfranka_1_1Robot.html#o-frame">base frame</a>.  <a href="structfranka_1_1RobotState.html#a4be112bd1a9a7d777a67aea4a18a8dcc">More...</a><br /></td></tr>
+<tr class="separator:a4be112bd1a9a7d777a67aea4a18a8dcc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac8dfcf78ddbb27852484e921d6d66ca1"><td class="memItemLeft" align="right" valign="top">std::array&lt; double, 6 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1RobotState.html#ac8dfcf78ddbb27852484e921d6d66ca1">O_ddP_EE_c</a> {}</td></tr>
+<tr class="memdesc:ac8dfcf78ddbb27852484e921d6d66ca1"><td class="mdescLeft">&#160;</td><td class="mdescRight">\({^OddP_{EE}}_{c}\) Last commanded end effector acceleration in <a class="el" href="classfranka_1_1Robot.html#o-frame">base frame</a>.  <a href="structfranka_1_1RobotState.html#ac8dfcf78ddbb27852484e921d6d66ca1">More...</a><br /></td></tr>
+<tr class="separator:ac8dfcf78ddbb27852484e921d6d66ca1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa34145d77dd411d7ca578c355f0ba2b4"><td class="memItemLeft" align="right" valign="top">std::array&lt; double, 7 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1RobotState.html#aa34145d77dd411d7ca578c355f0ba2b4">theta</a> {}</td></tr>
+<tr class="memdesc:aa34145d77dd411d7ca578c355f0ba2b4"><td class="mdescLeft">&#160;</td><td class="mdescRight">\(\theta\) Motor position.  <a href="structfranka_1_1RobotState.html#aa34145d77dd411d7ca578c355f0ba2b4">More...</a><br /></td></tr>
+<tr class="separator:aa34145d77dd411d7ca578c355f0ba2b4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a271db0a55dd346715ed8a0daf3f8887c"><td class="memItemLeft" align="right" valign="top">std::array&lt; double, 7 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1RobotState.html#a271db0a55dd346715ed8a0daf3f8887c">dtheta</a> {}</td></tr>
+<tr class="memdesc:a271db0a55dd346715ed8a0daf3f8887c"><td class="mdescLeft">&#160;</td><td class="mdescRight">\(\dot{\theta}\) Motor velocity.  <a href="structfranka_1_1RobotState.html#a271db0a55dd346715ed8a0daf3f8887c">More...</a><br /></td></tr>
+<tr class="separator:a271db0a55dd346715ed8a0daf3f8887c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abc5515f7a27f5de82396ea792a5ecb48"><td class="memItemLeft" align="right" valign="top"><a id="abc5515f7a27f5de82396ea792a5ecb48"></a>
+<a class="el" href="structfranka_1_1Errors.html">Errors</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1RobotState.html#abc5515f7a27f5de82396ea792a5ecb48">current_errors</a> {}</td></tr>
+<tr class="memdesc:abc5515f7a27f5de82396ea792a5ecb48"><td class="mdescLeft">&#160;</td><td class="mdescRight">Current error state. <br /></td></tr>
+<tr class="separator:abc5515f7a27f5de82396ea792a5ecb48"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a06d7019f85339409e932dc086b7a260b"><td class="memItemLeft" align="right" valign="top"><a id="a06d7019f85339409e932dc086b7a260b"></a>
+<a class="el" href="structfranka_1_1Errors.html">Errors</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1RobotState.html#a06d7019f85339409e932dc086b7a260b">last_motion_errors</a> {}</td></tr>
+<tr class="memdesc:a06d7019f85339409e932dc086b7a260b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Contains the errors that aborted the previous motion. <br /></td></tr>
+<tr class="separator:a06d7019f85339409e932dc086b7a260b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af208572613a6afcdc61a24970c71fa28"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1RobotState.html#af208572613a6afcdc61a24970c71fa28">control_command_success_rate</a> {}</td></tr>
+<tr class="memdesc:af208572613a6afcdc61a24970c71fa28"><td class="mdescLeft">&#160;</td><td class="mdescRight">Percentage of the last 100 control commands that were successfully received by the robot.  <a href="structfranka_1_1RobotState.html#af208572613a6afcdc61a24970c71fa28">More...</a><br /></td></tr>
+<tr class="separator:af208572613a6afcdc61a24970c71fa28"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4943ae75e0e2ec534e0afac31cbcc987"><td class="memItemLeft" align="right" valign="top"><a id="a4943ae75e0e2ec534e0afac31cbcc987"></a>
+<a class="el" href="robot__state_8h.html#adfe059ae23ebbad59e421edaa879651a">RobotMode</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1RobotState.html#a4943ae75e0e2ec534e0afac31cbcc987">robot_mode</a> = RobotMode::kUserStopped</td></tr>
+<tr class="memdesc:a4943ae75e0e2ec534e0afac31cbcc987"><td class="mdescLeft">&#160;</td><td class="mdescRight">Current robot mode. <br /></td></tr>
+<tr class="separator:a4943ae75e0e2ec534e0afac31cbcc987"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aabfdabeaef8c1858c52dd32344bdd039"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classfranka_1_1Duration.html">Duration</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1RobotState.html#aabfdabeaef8c1858c52dd32344bdd039">time</a> {}</td></tr>
+<tr class="memdesc:aabfdabeaef8c1858c52dd32344bdd039"><td class="mdescLeft">&#160;</td><td class="mdescRight">Strictly monotonically increasing timestamp since robot start.  <a href="structfranka_1_1RobotState.html#aabfdabeaef8c1858c52dd32344bdd039">More...</a><br /></td></tr>
+<tr class="separator:aabfdabeaef8c1858c52dd32344bdd039"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Describes the robot state. </p>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="cartesian_impedance_control_8cpp-example.html#_a4">cartesian_impedance_control.cpp</a>, <a class="el" href="communication_test_8cpp-example.html#_a7">communication_test.cpp</a>, <a class="el" href="echo_robot_state_8cpp-example.html#_a2">echo_robot_state.cpp</a>, <a class="el" href="force_control_8cpp-example.html#_a5">force_control.cpp</a>, <a class="el" href="generate_cartesian_pose_motion_8cpp-example.html#_a5">generate_cartesian_pose_motion.cpp</a>, <a class="el" href="generate_cartesian_pose_motion_external_control_loop_8cpp-example.html#_a5">generate_cartesian_pose_motion_external_control_loop.cpp</a>, <a class="el" href="generate_cartesian_velocity_motion_8cpp-example.html#_a6">generate_cartesian_velocity_motion.cpp</a>, <a class="el" href="generate_cartesian_velocity_motion_external_control_loop_8cpp-example.html#_a6">generate_cartesian_velocity_motion_external_control_loop.cpp</a>, <a class="el" href="generate_consecutive_motions_8cpp-example.html#_a5">generate_consecutive_motions.cpp</a>, <a class="el" href="generate_elbow_motion_8cpp-example.html#_a5">generate_elbow_motion.cpp</a>, <a class="el" href="generate_joint_position_motion_8cpp-example.html#_a5">generate_joint_position_motion.cpp</a>, <a class="el" href="generate_joint_position_motion_external_control_loop_8cpp-example.html#_a5">generate_joint_position_motion_external_control_loop.cpp</a>, <a class="el" href="generate_joint_velocity_motion_8cpp-example.html#_a5">generate_joint_velocity_motion.cpp</a>, <a class="el" href="generate_joint_velocity_motion_external_control_loop_8cpp-example.html#_a5">generate_joint_velocity_motion_external_control_loop.cpp</a>, <a class="el" href="joint_impedance_control_8cpp-example.html#_a1">joint_impedance_control.cpp</a>, <a class="el" href="motion_with_control_8cpp-example.html#_a1">motion_with_control.cpp</a>, <a class="el" href="motion_with_control_external_control_loop_8cpp-example.html#_a1">motion_with_control_external_control_loop.cpp</a>, and <a class="el" href="print_joint_poses_8cpp-example.html#_a2">print_joint_poses.cpp</a>.</dd>
+</dl>
+</div><h2 class="groupheader">Member Data Documentation</h2>
+<a id="a52c20478f4c1e162df38582ea9bda044"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a52c20478f4c1e162df38582ea9bda044">&#9670;&nbsp;</a></span>cartesian_collision</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::array&lt;double, 6&gt; franka::RobotState::cartesian_collision {}</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Indicates which contact level is activated in which Cartesian dimension \((x,y,z,R,P,Y)\). </p>
+<p>After contact disappears, the value stays the same until a reset command is sent.</p>
+<dl class="section see"><dt>See also</dt><dd><a class="el" href="classfranka_1_1Robot.html#a168e1214ac36d74ac64f894332b84534" title="Changes the collision behavior.">Robot::setCollisionBehavior</a> for setting sensitivity values. </dd>
+<dd>
+<a class="el" href="classfranka_1_1Robot.html#af682aa673415718715bd859116bc2fed" title="Runs automatic error recovery on the robot.">Robot::automaticErrorRecovery</a> for performing a reset after a collision. </dd></dl>
+
+</div>
+</div>
+<a id="a7fc1f0358d2104d39d301d70544fa6c1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7fc1f0358d2104d39d301d70544fa6c1">&#9670;&nbsp;</a></span>cartesian_contact</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::array&lt;double, 6&gt; franka::RobotState::cartesian_contact {}</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Indicates which contact level is activated in which Cartesian dimension \((x,y,z,R,P,Y)\). </p>
+<p>After contact disappears, the value turns to zero.</p>
+<dl class="section see"><dt>See also</dt><dd><a class="el" href="classfranka_1_1Robot.html#a168e1214ac36d74ac64f894332b84534" title="Changes the collision behavior.">Robot::setCollisionBehavior</a> for setting sensitivity values. </dd></dl>
+
+</div>
+</div>
+<a id="af208572613a6afcdc61a24970c71fa28"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af208572613a6afcdc61a24970c71fa28">&#9670;&nbsp;</a></span>control_command_success_rate</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double franka::RobotState::control_command_success_rate {}</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Percentage of the last 100 control commands that were successfully received by the robot. </p>
+<p>Shows a value of zero if no control or motion generator loop is currently running.</p>
+<p>Range: \([0, 1]\). </p>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="communication_test_8cpp-example.html#a10">communication_test.cpp</a>.</dd>
+</dl>
+
+</div>
+</div>
+<a id="a1e5b6caf84249b1129491dbbcb1fc2e6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1e5b6caf84249b1129491dbbcb1fc2e6">&#9670;&nbsp;</a></span>ddelbow_c</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::array&lt;double, 2&gt; franka::RobotState::ddelbow_c {}</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Commanded elbow acceleration. </p>
+<p>The values of the array are:</p><ul>
+<li>ddelbow_c[0] Acceleration of the 3rd joint in \(\frac{rad}{s^2}\)</li>
+<li>ddelbow_c[1] is always 0. </li>
+</ul>
+
+</div>
+</div>
+<a id="a6251e748cf72f4b86bcfdcb97d77ace2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6251e748cf72f4b86bcfdcb97d77ace2">&#9670;&nbsp;</a></span>ddq_d</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::array&lt;double, 7&gt; franka::RobotState::ddq_d {}</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>\(\ddot{q}_d\) Desired joint acceleration. </p>
+<p>Unit: \([\frac{rad}{s^2}]\) </p>
+
+</div>
+</div>
+<a id="a57c2c145e9f79010adf23085b8a9c5ad"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a57c2c145e9f79010adf23085b8a9c5ad">&#9670;&nbsp;</a></span>delbow_c</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::array&lt;double, 2&gt; franka::RobotState::delbow_c {}</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Commanded elbow velocity. </p>
+<p>The values of the array are:</p><ul>
+<li>delbow_c[0] Velocity of the 3rd joint in \(\frac{rad}{s}\)</li>
+<li>delbow_c[1] is always 0. </li>
+</ul>
+
+</div>
+</div>
+<a id="af372a0081d72bc7b4fe873f99c7b2d8c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af372a0081d72bc7b4fe873f99c7b2d8c">&#9670;&nbsp;</a></span>dq</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::array&lt;double, 7&gt; franka::RobotState::dq {}</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>\(\dot{q}\) Measured joint velocity. </p>
+<p>Unit: \([\frac{rad}{s}]\) </p>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="cartesian_impedance_control_8cpp-example.html#a13">cartesian_impedance_control.cpp</a>, <a class="el" href="motion_with_control_8cpp-example.html#a4">motion_with_control.cpp</a>, and <a class="el" href="motion_with_control_external_control_loop_8cpp-example.html#a4">motion_with_control_external_control_loop.cpp</a>.</dd>
+</dl>
+
+</div>
+</div>
+<a id="aed294a088be27b927be9575a18bec949"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aed294a088be27b927be9575a18bec949">&#9670;&nbsp;</a></span>dq_d</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::array&lt;double, 7&gt; franka::RobotState::dq_d {}</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>\(\dot{q}_d\) Desired joint velocity. </p>
+<p>Unit: \([\frac{rad}{s}]\) </p>
+
+</div>
+</div>
+<a id="ae6b0d4ee0d7b36240a2165e6ded6f4b9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae6b0d4ee0d7b36240a2165e6ded6f4b9">&#9670;&nbsp;</a></span>dtau_J</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::array&lt;double, 7&gt; franka::RobotState::dtau_J {}</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>\(\dot{\tau_{J}}\) Derivative of measured link-side joint torque sensor signals. </p>
+<p>Unit: \([\frac{Nm}{s}]\) </p>
+
+</div>
+</div>
+<a id="a271db0a55dd346715ed8a0daf3f8887c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a271db0a55dd346715ed8a0daf3f8887c">&#9670;&nbsp;</a></span>dtheta</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::array&lt;double, 7&gt; franka::RobotState::dtheta {}</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>\(\dot{\theta}\) Motor velocity. </p>
+<p>Unit: \([\frac{rad}{s}]\) </p>
+
+</div>
+</div>
+<a id="aeb78a3b4b76d4f57b9898cbea3a0f7aa"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aeb78a3b4b76d4f57b9898cbea3a0f7aa">&#9670;&nbsp;</a></span>EE_T_K</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::array&lt;double, 16&gt; franka::RobotState::EE_T_K {}</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>\(^{EE}T_{K}\) Stiffness frame pose in end effector frame. </p>
+<p>Pose is represented as a 4x4 matrix in column-major format.</p>
+<p>See also <a class="el" href="classfranka_1_1Robot.html#k-frame">K frame</a>. </p>
+
+</div>
+</div>
+<a id="a43485841c427d70e7f36a912cc3116d1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a43485841c427d70e7f36a912cc3116d1">&#9670;&nbsp;</a></span>elbow</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::array&lt;double, 2&gt; franka::RobotState::elbow {}</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Elbow configuration. </p>
+<p>The values of the array are:</p><ul>
+<li>elbow[0]: Position of the 3rd joint in \([rad]\).</li>
+<li>elbow[1]: Flip direction of the elbow (4th joint):<ul>
+<li>+1 if \(q_4 &gt; q_{elbow-flip}\)</li>
+<li>0 if \(q_4 == q_{elbow-flip} \)</li>
+<li>-1 if \(q_4 &lt; q_{elbow-flip} \)</li>
+</ul>
+</li>
+</ul>
+<p>with \(q_{elbow-flip}\) as specified in the robot interface specification page in the FCI Documentation. </p>
+
+</div>
+</div>
+<a id="a16cfc844894e8b5b1ad829be529962f0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a16cfc844894e8b5b1ad829be529962f0">&#9670;&nbsp;</a></span>elbow_c</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::array&lt;double, 2&gt; franka::RobotState::elbow_c {}</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Commanded elbow configuration. </p>
+<p>The values of the array are:</p><ul>
+<li>elbow_c[0]: Position of the 3rd joint in \([rad]\).</li>
+<li>elbow_c[1]: Flip direction of the elbow (4th joint):<ul>
+<li>+1 if \(q_4 &gt; q_{elbow-flip}\)</li>
+<li>0 if \(q_4 == q_{elbow-flip} \)</li>
+<li>-1 if \(q_4 &lt; q_{elbow-flip} \)</li>
+</ul>
+</li>
+</ul>
+<p>with \(q_{elbow-flip}\) as specified in the robot interface specification page in the FCI Documentation. </p>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="generate_elbow_motion_8cpp-example.html#a10">generate_elbow_motion.cpp</a>.</dd>
+</dl>
+
+</div>
+</div>
+<a id="a295dada05d8588fc3c19a74fd427dcc0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a295dada05d8588fc3c19a74fd427dcc0">&#9670;&nbsp;</a></span>elbow_d</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::array&lt;double, 2&gt; franka::RobotState::elbow_d {}</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Desired elbow configuration. </p>
+<p>The values of the array are:</p><ul>
+<li>elbow_d[0]: Position of the 3rd joint in \([rad]\).</li>
+<li>elbow_d[1]: Flip direction of the elbow (4th joint):<ul>
+<li>+1 if \(q_4 &gt; q_{elbow-flip}\)</li>
+<li>0 if \(q_4 == q_{elbow-flip} \)</li>
+<li>-1 if \(q_4 &lt; q_{elbow-flip} \)</li>
+</ul>
+</li>
+</ul>
+<p>with \(q_{elbow-flip}\) as specified in the robot interface specification page in the FCI Documentation. </p>
+
+</div>
+</div>
+<a id="a705b85049fef747008b0eba8284c8057"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a705b85049fef747008b0eba8284c8057">&#9670;&nbsp;</a></span>F_T_EE</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::array&lt;double, 16&gt; franka::RobotState::F_T_EE {}</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>\(^{F}T_{EE}\) End effector frame pose in flange frame. </p>
+<p>Pose is represented as a 4x4 matrix in column-major format.</p>
+<dl class="section see"><dt>See also</dt><dd><a class="el" href="structfranka_1_1RobotState.html#a88142795c453775c360e18d8a6570d15" title="Nominal end effector frame pose in flange frame.">F_T_NE</a> </dd>
+<dd>
+<a class="el" href="structfranka_1_1RobotState.html#ac53f1046fe758cfdda438a8e3ba08fff" title="End effector frame pose in nominal end effector frame.">NE_T_EE</a> </dd>
+<dd>
+<a class="el" href="classfranka_1_1Robot.html" title="Maintains a network connection to the robot, provides the current robot state, gives access to the mo...">Robot</a> for an explanation of the F, NE and EE frames. </dd></dl>
+
+</div>
+</div>
+<a id="a88142795c453775c360e18d8a6570d15"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a88142795c453775c360e18d8a6570d15">&#9670;&nbsp;</a></span>F_T_NE</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::array&lt;double, 16&gt; franka::RobotState::F_T_NE {}</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>\(^{F}T_{NE}\) Nominal end effector frame pose in flange frame. </p>
+<p>Pose is represented as a 4x4 matrix in column-major format.</p>
+<dl class="section see"><dt>See also</dt><dd><a class="el" href="structfranka_1_1RobotState.html#a705b85049fef747008b0eba8284c8057" title="End effector frame pose in flange frame.">F_T_EE</a> </dd>
+<dd>
+<a class="el" href="structfranka_1_1RobotState.html#ac53f1046fe758cfdda438a8e3ba08fff" title="End effector frame pose in nominal end effector frame.">NE_T_EE</a> </dd>
+<dd>
+<a class="el" href="classfranka_1_1Robot.html" title="Maintains a network connection to the robot, provides the current robot state, gives access to the mo...">Robot</a> for an explanation of the F, NE and EE frames. </dd></dl>
+
+</div>
+</div>
+<a id="a38757bafd4dd8e138410de1dca0c36f8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a38757bafd4dd8e138410de1dca0c36f8">&#9670;&nbsp;</a></span>joint_collision</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::array&lt;double, 7&gt; franka::RobotState::joint_collision {}</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Indicates which contact level is activated in which joint. </p>
+<p>After contact disappears, the value stays the same until a reset command is sent.</p>
+<dl class="section see"><dt>See also</dt><dd><a class="el" href="classfranka_1_1Robot.html#a168e1214ac36d74ac64f894332b84534" title="Changes the collision behavior.">Robot::setCollisionBehavior</a> for setting sensitivity values. </dd>
+<dd>
+<a class="el" href="classfranka_1_1Robot.html#af682aa673415718715bd859116bc2fed" title="Runs automatic error recovery on the robot.">Robot::automaticErrorRecovery</a> for performing a reset after a collision. </dd></dl>
+
+</div>
+</div>
+<a id="a7243c652a8efe58c343a0d1252302fa4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7243c652a8efe58c343a0d1252302fa4">&#9670;&nbsp;</a></span>joint_contact</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::array&lt;double, 7&gt; franka::RobotState::joint_contact {}</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Indicates which contact level is activated in which joint. </p>
+<p>After contact disappears, value turns to zero.</p>
+<dl class="section see"><dt>See also</dt><dd><a class="el" href="classfranka_1_1Robot.html#a168e1214ac36d74ac64f894332b84534" title="Changes the collision behavior.">Robot::setCollisionBehavior</a> for setting sensitivity values. </dd></dl>
+
+</div>
+</div>
+<a id="a96267d443c05fcc58d7ac32f63912649"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a96267d443c05fcc58d7ac32f63912649">&#9670;&nbsp;</a></span>K_F_ext_hat_K</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::array&lt;double, 6&gt; franka::RobotState::K_F_ext_hat_K {}</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>\(^{K}F_{K,\text{ext}}\) Estimated external wrench (force, torque) acting on stiffness frame, expressed relative to the stiffness frame. </p>
+<p>Forces applied by the robot to the environment are positive, while forces applied by the environment on the robot are negative. Becomes \([0,0,0,0,0,0]\) when near or in a singularity. See also <a class="el" href="classfranka_1_1Robot.html#k-frame">Stiffness frame K</a>. Unit: \([N,N,N,Nm,Nm,Nm]\). </p>
+
+</div>
+</div>
+<a id="ac53f1046fe758cfdda438a8e3ba08fff"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac53f1046fe758cfdda438a8e3ba08fff">&#9670;&nbsp;</a></span>NE_T_EE</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::array&lt;double, 16&gt; franka::RobotState::NE_T_EE {}</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>\(^{NE}T_{EE}\) End effector frame pose in nominal end effector frame. </p>
+<p>Pose is represented as a 4x4 matrix in column-major format.</p>
+<dl class="section see"><dt>See also</dt><dd><a class="el" href="classfranka_1_1Robot.html#aec4abdefbc0f9a7400a36bfa0a6068af" title="Sets the transformation  from nominal end effector to end effector frame.">Robot::setEE</a> to change this frame. </dd>
+<dd>
+<a class="el" href="structfranka_1_1RobotState.html#a705b85049fef747008b0eba8284c8057" title="End effector frame pose in flange frame.">F_T_EE</a> </dd>
+<dd>
+<a class="el" href="structfranka_1_1RobotState.html#a88142795c453775c360e18d8a6570d15" title="Nominal end effector frame pose in flange frame.">F_T_NE</a> </dd>
+<dd>
+<a class="el" href="classfranka_1_1Robot.html" title="Maintains a network connection to the robot, provides the current robot state, gives access to the mo...">Robot</a> for an explanation of the F, NE and EE frames. </dd></dl>
+
+</div>
+</div>
+<a id="ac8dfcf78ddbb27852484e921d6d66ca1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac8dfcf78ddbb27852484e921d6d66ca1">&#9670;&nbsp;</a></span>O_ddP_EE_c</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::array&lt;double, 6&gt; franka::RobotState::O_ddP_EE_c {}</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>\({^OddP_{EE}}_{c}\) Last commanded end effector acceleration in <a class="el" href="classfranka_1_1Robot.html#o-frame">base frame</a>. </p>
+<p>Unit: \([\frac{m}{s^2},\frac{m}{s^2},\frac{m}{s^2},\frac{rad}{s^2},\frac{rad}{s^2},\frac{rad}{s^2}]\). </p>
+
+</div>
+</div>
+<a id="ab24d7982942d316459fc35337dc38ecd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab24d7982942d316459fc35337dc38ecd">&#9670;&nbsp;</a></span>O_ddP_O</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::array&lt;double, 3&gt; franka::RobotState::O_ddP_O {}</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>\({^OddP}_O\) Linear component of the acceleration of the robot's base, expressed in frame parallel to the <a class="el" href="classfranka_1_1Robot.html#o-frame">base frame</a>, i.e. </p>
+<p>the base's translational acceleration. If the base is resting this shows the direction of the gravity vector. It is harcoded for now to <code>{0, 0, -9.81}</code>. </p>
+
+</div>
+</div>
+<a id="a4be112bd1a9a7d777a67aea4a18a8dcc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4be112bd1a9a7d777a67aea4a18a8dcc">&#9670;&nbsp;</a></span>O_dP_EE_c</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::array&lt;double, 6&gt; franka::RobotState::O_dP_EE_c {}</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>\({^OdP_{EE}}_{c}\) Last commanded end effector twist in <a class="el" href="classfranka_1_1Robot.html#o-frame">base frame</a>. </p>
+<p>Unit: \([\frac{m}{s},\frac{m}{s},\frac{m}{s},\frac{rad}{s},\frac{rad}{s},\frac{rad}{s}]\). </p>
+
+</div>
+</div>
+<a id="a1e0a82b98534929c3061295d5761d607"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1e0a82b98534929c3061295d5761d607">&#9670;&nbsp;</a></span>O_dP_EE_d</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::array&lt;double, 6&gt; franka::RobotState::O_dP_EE_d {}</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>\({^OdP_{EE}}_{d}\) Desired end effector twist in <a class="el" href="classfranka_1_1Robot.html#o-frame">base frame</a>. </p>
+<p>Unit: \([\frac{m}{s},\frac{m}{s},\frac{m}{s},\frac{rad}{s},\frac{rad}{s},\frac{rad}{s}]\). </p>
+
+</div>
+</div>
+<a id="a5a830b4f9d6a3c2dc92e4a9cc6050493"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5a830b4f9d6a3c2dc92e4a9cc6050493">&#9670;&nbsp;</a></span>O_F_ext_hat_K</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::array&lt;double, 6&gt; franka::RobotState::O_F_ext_hat_K {}</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>\(^OF_{K,\text{ext}}\) Estimated external wrench (force, torque) acting on stiffness frame, expressed relative to the <a class="el" href="classfranka_1_1Robot.html#o-frame">base frame</a>. </p>
+<p>Forces applied by the robot to the environment are positive, while forces applied by the environment on the robot are negative. Becomes \([0,0,0,0,0,0]\) when near or in a singularity. See also <a class="el" href="classfranka_1_1Robot.html#k-frame">Stiffness frame K</a>. Unit: \([N,N,N,Nm,Nm,Nm]\). </p>
+
+</div>
+</div>
+<a id="a193781d47722b32925e0ea7ac415f442"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a193781d47722b32925e0ea7ac415f442">&#9670;&nbsp;</a></span>O_T_EE</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::array&lt;double, 16&gt; franka::RobotState::O_T_EE {}</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>\(^{O}T_{EE}\) Measured end effector pose in <a class="el" href="classfranka_1_1Robot.html#o-frame">base frame</a>. </p>
+<p>Pose is represented as a 4x4 matrix in column-major format. </p>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="cartesian_impedance_control_8cpp-example.html#a6">cartesian_impedance_control.cpp</a>.</dd>
+</dl>
+
+</div>
+</div>
+<a id="a395c48eff099419ea5d42eaf0870fc18"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a395c48eff099419ea5d42eaf0870fc18">&#9670;&nbsp;</a></span>O_T_EE_c</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::array&lt;double, 16&gt; franka::RobotState::O_T_EE_c {}</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>\({^OT_{EE}}_{c}\) Last commanded end effector pose of motion generation in <a class="el" href="classfranka_1_1Robot.html#o-frame">base frame</a>. </p>
+<p>Pose is represented as a 4x4 matrix in column-major format. </p>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="generate_cartesian_pose_motion_8cpp-example.html#a9">generate_cartesian_pose_motion.cpp</a>, and <a class="el" href="generate_elbow_motion_8cpp-example.html#a9">generate_elbow_motion.cpp</a>.</dd>
+</dl>
+
+</div>
+</div>
+<a id="a3e5b4b7687856e92d826044be7d15733"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3e5b4b7687856e92d826044be7d15733">&#9670;&nbsp;</a></span>O_T_EE_d</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::array&lt;double, 16&gt; franka::RobotState::O_T_EE_d {}</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>\({^OT_{EE}}_{d}\) Last desired end effector pose of motion generation in <a class="el" href="classfranka_1_1Robot.html#o-frame">base frame</a>. </p>
+<p>Pose is represented as a 4x4 matrix in column-major format. </p>
+
+</div>
+</div>
+<a id="ade3335d1ac2f6c44741a916d565f7091"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ade3335d1ac2f6c44741a916d565f7091">&#9670;&nbsp;</a></span>q</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::array&lt;double, 7&gt; franka::RobotState::q {}</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>\(q\) Measured joint position. </p>
+<p>Unit: \([rad]\) </p>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="cartesian_impedance_control_8cpp-example.html#a12">cartesian_impedance_control.cpp</a>, <a class="el" href="motion_with_control_8cpp-example.html#a3">motion_with_control.cpp</a>, and <a class="el" href="motion_with_control_external_control_loop_8cpp-example.html#a3">motion_with_control_external_control_loop.cpp</a>.</dd>
+</dl>
+
+</div>
+</div>
+<a id="a706045af1b176049e9e56df755325bd2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a706045af1b176049e9e56df755325bd2">&#9670;&nbsp;</a></span>q_d</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::array&lt;double, 7&gt; franka::RobotState::q_d {}</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>\(q_d\) Desired joint position. </p>
+<p>Unit: \([rad]\) </p>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="generate_joint_position_motion_8cpp-example.html#a9">generate_joint_position_motion.cpp</a>, <a class="el" href="motion_with_control_8cpp-example.html#a2">motion_with_control.cpp</a>, and <a class="el" href="motion_with_control_external_control_loop_8cpp-example.html#a2">motion_with_control_external_control_loop.cpp</a>.</dd>
+</dl>
+
+</div>
+</div>
+<a id="acdef8005828d193e45b128085a9e363b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acdef8005828d193e45b128085a9e363b">&#9670;&nbsp;</a></span>tau_ext_hat_filtered</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::array&lt;double, 7&gt; franka::RobotState::tau_ext_hat_filtered {}</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>\(\hat{\tau}_{\text{ext}}\) Low-pass filtered torques generated by external forces on the joints. </p>
+<p>It does not include configured end-effector and load nor the mass and dynamics of the robot. tau_ext_hat_filtered is the error between tau_J and the expected torques given by the robot model. Unit: \([Nm]\). </p>
+
+</div>
+</div>
+<a id="ad90e2518d661da0d8fa4c864bae210e5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad90e2518d661da0d8fa4c864bae210e5">&#9670;&nbsp;</a></span>tau_J</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::array&lt;double, 7&gt; franka::RobotState::tau_J {}</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>\(\tau_{J}\) Measured link-side joint torque sensor signals. </p>
+<p>Unit: \([Nm]\) </p>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="force_control_8cpp-example.html#a8">force_control.cpp</a>.</dd>
+</dl>
+
+</div>
+</div>
+<a id="a7086a89a2705810f93a3a95d43df2d9d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7086a89a2705810f93a3a95d43df2d9d">&#9670;&nbsp;</a></span>tau_J_d</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::array&lt;double, 7&gt; franka::RobotState::tau_J_d {}</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>\({\tau_J}_d\) Desired link-side joint torque sensor signals without gravity. </p>
+<p>Unit: \([Nm]\) </p>
+
+</div>
+</div>
+<a id="aa34145d77dd411d7ca578c355f0ba2b4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa34145d77dd411d7ca578c355f0ba2b4">&#9670;&nbsp;</a></span>theta</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::array&lt;double, 7&gt; franka::RobotState::theta {}</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>\(\theta\) Motor position. </p>
+<p>Unit: \([rad]\) </p>
+
+</div>
+</div>
+<a id="aabfdabeaef8c1858c52dd32344bdd039"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aabfdabeaef8c1858c52dd32344bdd039">&#9670;&nbsp;</a></span>time</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classfranka_1_1Duration.html">Duration</a> franka::RobotState::time {}</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Strictly monotonically increasing timestamp since robot start. </p>
+<p>Inside of control loops <a class="el" href="classfranka_1_1Robot.html#callback-docs">time_step</a> parameter of <a class="el" href="classfranka_1_1Robot.html#a0d5effba5daff2fee123802bbd5f95d1" title="Starts a control loop for sending joint-level torque commands.">Robot::control</a> can be used instead. </p>
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/franka/<a class="el" href="robot__state_8h_source.html">robot_state.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
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+  <ul>
+<li class="navelem"><b>franka</b></li><li class="navelem"><a class="el" href="structfranka_1_1VacuumGripperState.html">VacuumGripperState</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">franka::VacuumGripperState Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structfranka_1_1VacuumGripperState.html">franka::VacuumGripperState</a>, including all inherited members.</p>
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+  <tr class="even"><td class="entry"><a class="el" href="structfranka_1_1VacuumGripperState.html#a4230c68698cdbf6c1c560e181133bdc3">actual_power</a></td><td class="entry"><a class="el" href="structfranka_1_1VacuumGripperState.html">franka::VacuumGripperState</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structfranka_1_1VacuumGripperState.html#ab44560b09c4a959c06ddafbd7f21da02">device_status</a></td><td class="entry"><a class="el" href="structfranka_1_1VacuumGripperState.html">franka::VacuumGripperState</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structfranka_1_1VacuumGripperState.html#a70c1b14b10c2a79511fcada258c7e0ba">in_control_range</a></td><td class="entry"><a class="el" href="structfranka_1_1VacuumGripperState.html">franka::VacuumGripperState</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structfranka_1_1VacuumGripperState.html#aa27a2b4b9d19bdcb059995a8121ba309">part_detached</a></td><td class="entry"><a class="el" href="structfranka_1_1VacuumGripperState.html">franka::VacuumGripperState</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structfranka_1_1VacuumGripperState.html#aeb5664ab2a9784c9e31ce5f67c914107">part_present</a></td><td class="entry"><a class="el" href="structfranka_1_1VacuumGripperState.html">franka::VacuumGripperState</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structfranka_1_1VacuumGripperState.html#aaa98eb6e1888094aace2014121a468ab">time</a></td><td class="entry"><a class="el" href="structfranka_1_1VacuumGripperState.html">franka::VacuumGripperState</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structfranka_1_1VacuumGripperState.html#ae94720737193caa696a47563a8efe6a8">vacuum</a></td><td class="entry"><a class="el" href="structfranka_1_1VacuumGripperState.html">franka::VacuumGripperState</a></td><td class="entry"></td></tr>
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structfranka_1_1VacuumGripperState-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">franka::VacuumGripperState Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Describes the vacuum gripper state.  
+ <a href="structfranka_1_1VacuumGripperState.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="vacuum__gripper__state_8h_source.html">vacuum_gripper_state.h</a>&gt;</code></p>
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+<tr class="separator:aa27a2b4b9d19bdcb059995a8121ba309"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aeb5664ab2a9784c9e31ce5f67c914107"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1VacuumGripperState.html#aeb5664ab2a9784c9e31ce5f67c914107">part_present</a> {}</td></tr>
+<tr class="memdesc:aeb5664ab2a9784c9e31ce5f67c914107"><td class="mdescLeft">&#160;</td><td class="mdescRight">Vacuum is over H2 and not yet under H2-h2.  <a href="structfranka_1_1VacuumGripperState.html#aeb5664ab2a9784c9e31ce5f67c914107">More...</a><br /></td></tr>
+<tr class="separator:aeb5664ab2a9784c9e31ce5f67c914107"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:ab44560b09c4a959c06ddafbd7f21da02"><td class="mdescLeft">&#160;</td><td class="mdescRight">Current vacuum gripper device status. <br /></td></tr>
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+<tr class="memitem:a4230c68698cdbf6c1c560e181133bdc3"><td class="memItemLeft" align="right" valign="top">uint16_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1VacuumGripperState.html#a4230c68698cdbf6c1c560e181133bdc3">actual_power</a> {}</td></tr>
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+<tr class="separator:a4230c68698cdbf6c1c560e181133bdc3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae94720737193caa696a47563a8efe6a8"><td class="memItemLeft" align="right" valign="top">uint16_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1VacuumGripperState.html#ae94720737193caa696a47563a8efe6a8">vacuum</a> {}</td></tr>
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+<tr class="separator:ae94720737193caa696a47563a8efe6a8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aaa98eb6e1888094aace2014121a468ab"><td class="memItemLeft" align="right" valign="top"><a id="aaa98eb6e1888094aace2014121a468ab"></a>
+<a class="el" href="classfranka_1_1Duration.html">Duration</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1VacuumGripperState.html#aaa98eb6e1888094aace2014121a468ab">time</a> {}</td></tr>
+<tr class="memdesc:aaa98eb6e1888094aace2014121a468ab"><td class="mdescLeft">&#160;</td><td class="mdescRight">Strictly monotonically increasing timestamp since robot start. <br /></td></tr>
+<tr class="separator:aaa98eb6e1888094aace2014121a468ab"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Describes the vacuum gripper state. </p>
+<p>For more information check the cobot-pump manual. </p>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="vacuum_object_8cpp-example.html#_a1">vacuum_object.cpp</a>.</dd>
+</dl>
+</div><h2 class="groupheader">Member Data Documentation</h2>
+<a id="a4230c68698cdbf6c1c560e181133bdc3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4230c68698cdbf6c1c560e181133bdc3">&#9670;&nbsp;</a></span>actual_power</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint16_t franka::VacuumGripperState::actual_power {}</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Current vacuum gripper actual power. </p>
+<p>Unit: \([%]\). </p>
+
+</div>
+</div>
+<a id="aeb5664ab2a9784c9e31ce5f67c914107"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aeb5664ab2a9784c9e31ce5f67c914107">&#9670;&nbsp;</a></span>part_present</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool franka::VacuumGripperState::part_present {}</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Vacuum is over H2 and not yet under H2-h2. </p>
+<p>For more information check the cobot-pump manual. </p>
+
+</div>
+</div>
+<a id="ae94720737193caa696a47563a8efe6a8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae94720737193caa696a47563a8efe6a8">&#9670;&nbsp;</a></span>vacuum</h2>
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+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint16_t franka::VacuumGripperState::vacuum {}</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Current system vacuum. </p>
+<p>Unit: \([mbar]\). </p>
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/franka/<a class="el" href="vacuum__gripper__state_8h_source.html">vacuum_gripper_state.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
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+  <td id="projectlogo"><img alt="Logo" src="Logo_FRANKA_EMIKA_dark.png"/></td>
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+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
+  </td>
+ </tr>
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_5f30c89189ebb3336d6b33aa932838ba.html">franka</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a>  </div>
+  <div class="headertitle">
+<div class="title">vacuum_gripper.h File Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Contains the <a class="el" href="classfranka_1_1VacuumGripper.html" title="Maintains a network connection to the vacuum gripper, provides the current vacuum gripper state,...">franka::VacuumGripper</a> type.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &lt;chrono&gt;</code><br />
+<code>#include &lt;cstdint&gt;</code><br />
+<code>#include &lt;memory&gt;</code><br />
+<code>#include &lt;string&gt;</code><br />
+<code>#include &lt;<a class="el" href="vacuum__gripper__state_8h_source.html">franka/vacuum_gripper_state.h</a>&gt;</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for vacuum_gripper.h:</div>
+<div class="dyncontent">
+<div class="center"><img src="vacuum__gripper_8h__incl.png" border="0" usemap="#ainclude_2franka_2vacuum__gripper_8h" alt=""/></div>
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+<area shape="rect" href="duration_8h.html" title="Contains the franka::Duration type." alt="" coords="65,184,199,211"/>
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+</map>
+</div>
+</div>
+<p><a href="vacuum__gripper_8h_source.html">Go to the source code of this file.</a></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfranka_1_1VacuumGripper.html">franka::VacuumGripper</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Maintains a network connection to the vacuum gripper, provides the current vacuum gripper state, and allows the execution of commands.  <a href="classfranka_1_1VacuumGripper.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Contains the <a class="el" href="classfranka_1_1VacuumGripper.html" title="Maintains a network connection to the vacuum gripper, provides the current vacuum gripper state,...">franka::VacuumGripper</a> type. </p>
+</div></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/0.13.6/vacuum__gripper_8h__incl.map b/0.13.6/vacuum__gripper_8h__incl.map
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+<area shape="rect" id="node9" title=" " alt="" coords="106,259,158,285"/>
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diff --git a/0.13.6/vacuum__gripper_8h__incl.md5 b/0.13.6/vacuum__gripper_8h__incl.md5
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+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_5f30c89189ebb3336d6b33aa932838ba.html">franka</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">vacuum_gripper.h</div>  </div>
+</div><!--header-->
+<div class="contents">
+<a href="vacuum__gripper_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// Copyright (c) 2023 Franka Robotics GmbH</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Use of this source code is governed by the Apache-2.0 license, see LICENSE</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160; </div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;chrono&gt;</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;cstdint&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;memory&gt;</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;string&gt;</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="vacuum__gripper__state_8h.html">franka/vacuum_gripper_state.h</a>&gt;</span></div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160; </div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="keyword">namespace </span>franka {</div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160; </div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="keyword">class </span>Network;</div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160; </div>
+<div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="classfranka_1_1VacuumGripper.html">   28</a></span>&#160;<span class="keyword">class </span><a class="code" href="classfranka_1_1VacuumGripper.html">VacuumGripper</a> {</div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160; <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="classfranka_1_1VacuumGripper.html#a7b1d752680134e2a9df347002c6ace61">   33</a></span>&#160;  <span class="keyword">using</span> <a class="code" href="classfranka_1_1VacuumGripper.html#a7b1d752680134e2a9df347002c6ace61">ServerVersion</a> = uint16_t;</div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160; </div>
+<div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="classfranka_1_1VacuumGripper.html#a0c81171a75c385780a82ff8dc36ef51e">   38</a></span>&#160;  <span class="keyword">enum class</span> <a class="code" href="classfranka_1_1VacuumGripper.html#a0c81171a75c385780a82ff8dc36ef51e">ProductionSetupProfile</a> { kP0, kP1, kP2, kP3 };</div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
+<div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="classfranka_1_1VacuumGripper.html#ab5d8483a0bb16136da684cfac721eae1">   48</a></span>&#160;  <span class="keyword">explicit</span> <a class="code" href="classfranka_1_1VacuumGripper.html#ab5d8483a0bb16136da684cfac721eae1">VacuumGripper</a>(<span class="keyword">const</span> std::string&amp; franka_address);</div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
+<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="classfranka_1_1VacuumGripper.html#ab80730b14b5948eea37395e87800ce5f">   55</a></span>&#160;  <a class="code" href="classfranka_1_1VacuumGripper.html#ab80730b14b5948eea37395e87800ce5f">VacuumGripper</a>(<a class="code" href="classfranka_1_1VacuumGripper.html">VacuumGripper</a>&amp;&amp; vacuum_gripper) noexcept;</div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
+<div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="classfranka_1_1VacuumGripper.html#a21d59603ac4deb8d9de5e074a57d080d">   64</a></span>&#160;  <a class="code" href="classfranka_1_1VacuumGripper.html">VacuumGripper</a>&amp; <a class="code" href="classfranka_1_1VacuumGripper.html#a21d59603ac4deb8d9de5e074a57d080d">operator=</a>(<a class="code" href="classfranka_1_1VacuumGripper.html">VacuumGripper</a>&amp;&amp; vacuum_gripper) noexcept;</div>
+<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
+<div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="classfranka_1_1VacuumGripper.html#af43f640f3cb9ca873b02bb464d3c279b">   69</a></span>&#160;  <a class="code" href="classfranka_1_1VacuumGripper.html#af43f640f3cb9ca873b02bb464d3c279b">~VacuumGripper</a>() noexcept;</div>
+<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
+<div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="classfranka_1_1VacuumGripper.html#a517d95d9800990ca1a5892473c2def89">   83</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classfranka_1_1VacuumGripper.html#a517d95d9800990ca1a5892473c2def89">vacuum</a>(uint8_t <a class="code" href="classfranka_1_1VacuumGripper.html#a517d95d9800990ca1a5892473c2def89">vacuum</a>,</div>
+<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;              std::chrono::milliseconds timeout,</div>
+<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;              <a class="code" href="classfranka_1_1VacuumGripper.html#a0c81171a75c385780a82ff8dc36ef51e">ProductionSetupProfile</a> profile = <a class="code" href="classfranka_1_1VacuumGripper.html#a0c81171a75c385780a82ff8dc36ef51e">ProductionSetupProfile</a>::kP0) const;</div>
+<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
+<div class="line"><a name="l00097"></a><span class="lineno"><a class="line" href="classfranka_1_1VacuumGripper.html#a04645348e97b946a788205c8b1168cac">   97</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classfranka_1_1VacuumGripper.html#a04645348e97b946a788205c8b1168cac">dropOff</a>(std::chrono::milliseconds timeout) const;</div>
+<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160; </div>
+<div class="line"><a name="l00107"></a><span class="lineno"><a class="line" href="classfranka_1_1VacuumGripper.html#a3722fe5488c516b4082c878a083cc865">  107</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classfranka_1_1VacuumGripper.html#a3722fe5488c516b4082c878a083cc865">stop</a>() const;</div>
+<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
+<div class="line"><a name="l00117"></a><span class="lineno"><a class="line" href="classfranka_1_1VacuumGripper.html#aaa61bfd1027cf5dc2eb9e96536a9fabf">  117</a></span>&#160;  <a class="code" href="structfranka_1_1VacuumGripperState.html">VacuumGripperState</a> <a class="code" href="classfranka_1_1VacuumGripper.html#aaa61bfd1027cf5dc2eb9e96536a9fabf">readOnce</a>() const;</div>
+<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
+<div class="line"><a name="l00124"></a><span class="lineno"><a class="line" href="classfranka_1_1VacuumGripper.html#a19abac44be2fc6df7f54fa11078a13ca">  124</a></span>&#160;  <a class="code" href="classfranka_1_1VacuumGripper.html#a7b1d752680134e2a9df347002c6ace61">ServerVersion</a> <a class="code" href="classfranka_1_1VacuumGripper.html#a19abac44be2fc6df7f54fa11078a13ca">serverVersion</a>() const noexcept;</div>
+<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160; </div>
+<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  <a class="code" href="classfranka_1_1VacuumGripper.html">VacuumGripper</a>(const <a class="code" href="classfranka_1_1VacuumGripper.html">VacuumGripper</a>&amp;) = delete;</div>
+<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;  <a class="code" href="classfranka_1_1VacuumGripper.html">VacuumGripper</a>&amp; operator=(const <a class="code" href="classfranka_1_1VacuumGripper.html">VacuumGripper</a>&amp;) = delete;</div>
+<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
+<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; private:</div>
+<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  std::unique_ptr&lt;Network&gt; network_;</div>
+<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160; </div>
+<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  uint16_t ri_version_;</div>
+<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;};</div>
+<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160; </div>
+<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;}  <span class="comment">// namespace franka</span></div>
+<div class="ttc" id="aclassfranka_1_1VacuumGripper_html"><div class="ttname"><a href="classfranka_1_1VacuumGripper.html">franka::VacuumGripper</a></div><div class="ttdoc">Maintains a network connection to the vacuum gripper, provides the current vacuum gripper state,...</div><div class="ttdef"><b>Definition:</b> vacuum_gripper.h:28</div></div>
+<div class="ttc" id="aclassfranka_1_1VacuumGripper_html_a04645348e97b946a788205c8b1168cac"><div class="ttname"><a href="classfranka_1_1VacuumGripper.html#a04645348e97b946a788205c8b1168cac">franka::VacuumGripper::dropOff</a></div><div class="ttdeci">bool dropOff(std::chrono::milliseconds timeout) const</div><div class="ttdoc">Drops the grasped object off.</div></div>
+<div class="ttc" id="aclassfranka_1_1VacuumGripper_html_a0c81171a75c385780a82ff8dc36ef51e"><div class="ttname"><a href="classfranka_1_1VacuumGripper.html#a0c81171a75c385780a82ff8dc36ef51e">franka::VacuumGripper::ProductionSetupProfile</a></div><div class="ttdeci">ProductionSetupProfile</div><div class="ttdoc">Vacuum production setup profile.</div><div class="ttdef"><b>Definition:</b> vacuum_gripper.h:38</div></div>
+<div class="ttc" id="aclassfranka_1_1VacuumGripper_html_a19abac44be2fc6df7f54fa11078a13ca"><div class="ttname"><a href="classfranka_1_1VacuumGripper.html#a19abac44be2fc6df7f54fa11078a13ca">franka::VacuumGripper::serverVersion</a></div><div class="ttdeci">ServerVersion serverVersion() const noexcept</div><div class="ttdoc">Returns the software version reported by the connected server.</div></div>
+<div class="ttc" id="aclassfranka_1_1VacuumGripper_html_a21d59603ac4deb8d9de5e074a57d080d"><div class="ttname"><a href="classfranka_1_1VacuumGripper.html#a21d59603ac4deb8d9de5e074a57d080d">franka::VacuumGripper::operator=</a></div><div class="ttdeci">VacuumGripper &amp; operator=(VacuumGripper &amp;&amp;vacuum_gripper) noexcept</div><div class="ttdoc">Move-assigns this VacuumGripper from another VacuumGripper instance.</div></div>
+<div class="ttc" id="aclassfranka_1_1VacuumGripper_html_a3722fe5488c516b4082c878a083cc865"><div class="ttname"><a href="classfranka_1_1VacuumGripper.html#a3722fe5488c516b4082c878a083cc865">franka::VacuumGripper::stop</a></div><div class="ttdeci">bool stop() const</div><div class="ttdoc">Stops a currently running vacuum gripper vacuum or drop off operation.</div></div>
+<div class="ttc" id="aclassfranka_1_1VacuumGripper_html_a517d95d9800990ca1a5892473c2def89"><div class="ttname"><a href="classfranka_1_1VacuumGripper.html#a517d95d9800990ca1a5892473c2def89">franka::VacuumGripper::vacuum</a></div><div class="ttdeci">bool vacuum(uint8_t vacuum, std::chrono::milliseconds timeout, ProductionSetupProfile profile=ProductionSetupProfile::kP0) const</div><div class="ttdoc">Vacuums an object.</div></div>
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+<div class="ttc" id="astructfranka_1_1VacuumGripperState_html"><div class="ttname"><a href="structfranka_1_1VacuumGripperState.html">franka::VacuumGripperState</a></div><div class="ttdoc">Describes the vacuum gripper state.</div><div class="ttdef"><b>Definition:</b> vacuum_gripper_state.h:31</div></div>
+<div class="ttc" id="avacuum__gripper__state_8h_html"><div class="ttname"><a href="vacuum__gripper__state_8h.html">vacuum_gripper_state.h</a></div><div class="ttdoc">Contains the franka::VacuumGripperState type.</div></div>
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+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
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+<a href="#nested-classes">Classes</a> &#124;
+<a href="#enum-members">Enumerations</a> &#124;
+<a href="#func-members">Functions</a>  </div>
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+<div class="title">vacuum_gripper_state.h File Reference</div>  </div>
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+<div class="contents">
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+<p>Contains the <a class="el" href="structfranka_1_1VacuumGripperState.html" title="Describes the vacuum gripper state.">franka::VacuumGripperState</a> type.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &lt;cstdint&gt;</code><br />
+<code>#include &lt;ostream&gt;</code><br />
+<code>#include &lt;string&gt;</code><br />
+<code>#include &lt;<a class="el" href="duration_8h_source.html">franka/duration.h</a>&gt;</code><br />
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+<p><a href="vacuum__gripper__state_8h_source.html">Go to the source code of this file.</a></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfranka_1_1VacuumGripperState.html">franka::VacuumGripperState</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Describes the vacuum gripper state.  <a href="structfranka_1_1VacuumGripperState.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="enum-members"></a>
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+<tr class="memitem:a423e2ce5f95933b9897c6e308d91b611"><td class="memItemLeft" align="right" valign="top">enum class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="vacuum__gripper__state_8h.html#a423e2ce5f95933b9897c6e308d91b611">franka::VacuumGripperDeviceStatus</a> : uint8_t { <a class="el" href="vacuum__gripper__state_8h.html#a423e2ce5f95933b9897c6e308d91b611a1299e6e2ec6371a79385cd3a862f7cc9">kGreen</a>
+, <a class="el" href="vacuum__gripper__state_8h.html#a423e2ce5f95933b9897c6e308d91b611a4c6c30a3642462190739bb7f13af9c7b">kYellow</a>
+, <a class="el" href="vacuum__gripper__state_8h.html#a423e2ce5f95933b9897c6e308d91b611a11e1aa07606f098e5025e37830a1b22e">kOrange</a>
+, <a class="el" href="vacuum__gripper__state_8h.html#a423e2ce5f95933b9897c6e308d91b611afb0136b923af8c04b31a9d1b5e989acf">kRed</a>
+ }</td></tr>
+<tr class="memdesc:a423e2ce5f95933b9897c6e308d91b611"><td class="mdescLeft">&#160;</td><td class="mdescRight">Vacuum gripper device status.  <a href="vacuum__gripper__state_8h.html#a423e2ce5f95933b9897c6e308d91b611">More...</a><br /></td></tr>
+<tr class="separator:a423e2ce5f95933b9897c6e308d91b611"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
+Functions</h2></td></tr>
+<tr class="memitem:aa2caece6baf774e998b6dec6e803cf24"><td class="memItemLeft" align="right" valign="top">std::ostream &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="vacuum__gripper__state_8h.html#aa2caece6baf774e998b6dec6e803cf24">franka::operator&lt;&lt;</a> (std::ostream &amp;ostream, const <a class="el" href="structfranka_1_1VacuumGripperState.html">franka::VacuumGripperState</a> &amp;vacuum_gripper_state)</td></tr>
+<tr class="memdesc:aa2caece6baf774e998b6dec6e803cf24"><td class="mdescLeft">&#160;</td><td class="mdescRight">Streams the vacuum gripper state as JSON object: {"field_name_1": value, "field_name_2": value, ...}.  <a href="vacuum__gripper__state_8h.html#aa2caece6baf774e998b6dec6e803cf24">More...</a><br /></td></tr>
+<tr class="separator:aa2caece6baf774e998b6dec6e803cf24"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Contains the <a class="el" href="structfranka_1_1VacuumGripperState.html" title="Describes the vacuum gripper state.">franka::VacuumGripperState</a> type. </p>
+</div><h2 class="groupheader">Enumeration Type Documentation</h2>
+<a id="a423e2ce5f95933b9897c6e308d91b611"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a423e2ce5f95933b9897c6e308d91b611">&#9670;&nbsp;</a></span>VacuumGripperDeviceStatus</h2>
+
+<div class="memitem">
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+        <tr>
+          <td class="memname">enum <a class="el" href="vacuum__gripper__state_8h.html#a423e2ce5f95933b9897c6e308d91b611">franka::VacuumGripperDeviceStatus</a> : uint8_t</td>
+        </tr>
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+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">strong</span></span>  </td>
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+</div><div class="memdoc">
+
+<p>Vacuum gripper device status. </p>
+<table class="fieldtable">
+<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="a423e2ce5f95933b9897c6e308d91b611a1299e6e2ec6371a79385cd3a862f7cc9"></a>kGreen&#160;</td><td class="fielddoc"><p>Device is working optimally. </p>
+</td></tr>
+<tr><td class="fieldname"><a id="a423e2ce5f95933b9897c6e308d91b611a4c6c30a3642462190739bb7f13af9c7b"></a>kYellow&#160;</td><td class="fielddoc"><p>Device is working but there are warnings. </p>
+</td></tr>
+<tr><td class="fieldname"><a id="a423e2ce5f95933b9897c6e308d91b611a11e1aa07606f098e5025e37830a1b22e"></a>kOrange&#160;</td><td class="fielddoc"><p>Device is working but there are severe warnings. </p>
+</td></tr>
+<tr><td class="fieldname"><a id="a423e2ce5f95933b9897c6e308d91b611afb0136b923af8c04b31a9d1b5e989acf"></a>kRed&#160;</td><td class="fielddoc"><p>Device is not working properly. </p>
+</td></tr>
+</table>
+
+</div>
+</div>
+<h2 class="groupheader">Function Documentation</h2>
+<a id="aa2caece6baf774e998b6dec6e803cf24"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa2caece6baf774e998b6dec6e803cf24">&#9670;&nbsp;</a></span>operator&lt;&lt;()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::ostream&amp; franka::operator&lt;&lt; </td>
+          <td>(</td>
+          <td class="paramtype">std::ostream &amp;&#160;</td>
+          <td class="paramname"><em>ostream</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="structfranka_1_1VacuumGripperState.html">franka::VacuumGripperState</a> &amp;&#160;</td>
+          <td class="paramname"><em>vacuum_gripper_state</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Streams the vacuum gripper state as JSON object: {"field_name_1": value, "field_name_2": value, ...}. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">ostream</td><td>Ostream instance </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">vacuum_gripper_state</td><td>VacuumGripperState struct instance to stream</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Ostream instance </dd></dl>
+
+</div>
+</div>
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new file mode 100644
index 00000000..7f248e57
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new file mode 100644
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+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
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+</div><!-- top -->
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+<div class="title">vacuum_gripper_state.h</div>  </div>
+</div><!--header-->
+<div class="contents">
+<a href="vacuum__gripper__state_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// Copyright (c) 2023 Franka Robotics GmbH</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Use of this source code is governed by the Apache-2.0 license, see LICENSE</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160; </div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;cstdint&gt;</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;ostream&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;string&gt;</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160; </div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="duration_8h.html">franka/duration.h</a>&gt;</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="keyword">namespace </span>franka {</div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160; </div>
+<div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="vacuum__gripper__state_8h.html#a423e2ce5f95933b9897c6e308d91b611">   21</a></span>&#160;<span class="keyword">enum class</span> <a class="code" href="vacuum__gripper__state_8h.html#a423e2ce5f95933b9897c6e308d91b611">VacuumGripperDeviceStatus</a> : uint8_t {</div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;  <a class="code" href="vacuum__gripper__state_8h.html#a423e2ce5f95933b9897c6e308d91b611a1299e6e2ec6371a79385cd3a862f7cc9">kGreen</a>,  </div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  <a class="code" href="vacuum__gripper__state_8h.html#a423e2ce5f95933b9897c6e308d91b611a4c6c30a3642462190739bb7f13af9c7b">kYellow</a>, </div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  <a class="code" href="vacuum__gripper__state_8h.html#a423e2ce5f95933b9897c6e308d91b611a11e1aa07606f098e5025e37830a1b22e">kOrange</a>, </div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;  <a class="code" href="vacuum__gripper__state_8h.html#a423e2ce5f95933b9897c6e308d91b611afb0136b923af8c04b31a9d1b5e989acf">kRed</a>     </div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;};</div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160; </div>
+<div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="structfranka_1_1VacuumGripperState.html">   31</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structfranka_1_1VacuumGripperState.html">VacuumGripperState</a> {</div>
+<div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="structfranka_1_1VacuumGripperState.html#a70c1b14b10c2a79511fcada258c7e0ba">   35</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="structfranka_1_1VacuumGripperState.html#a70c1b14b10c2a79511fcada258c7e0ba">in_control_range</a>{};</div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160; </div>
+<div class="line"><a name="l00040"></a><span class="lineno"><a class="line" href="structfranka_1_1VacuumGripperState.html#aa27a2b4b9d19bdcb059995a8121ba309">   40</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="structfranka_1_1VacuumGripperState.html#aa27a2b4b9d19bdcb059995a8121ba309">part_detached</a>{};</div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
+<div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="structfranka_1_1VacuumGripperState.html#aeb5664ab2a9784c9e31ce5f67c914107">   45</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="structfranka_1_1VacuumGripperState.html#aeb5664ab2a9784c9e31ce5f67c914107">part_present</a>{};</div>
+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
+<div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="structfranka_1_1VacuumGripperState.html#ab44560b09c4a959c06ddafbd7f21da02">   50</a></span>&#160;  <a class="code" href="vacuum__gripper__state_8h.html#a423e2ce5f95933b9897c6e308d91b611">VacuumGripperDeviceStatus</a> <a class="code" href="structfranka_1_1VacuumGripperState.html#ab44560b09c4a959c06ddafbd7f21da02">device_status</a>{};</div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
+<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="structfranka_1_1VacuumGripperState.html#a4230c68698cdbf6c1c560e181133bdc3">   55</a></span>&#160;  uint16_t <a class="code" href="structfranka_1_1VacuumGripperState.html#a4230c68698cdbf6c1c560e181133bdc3">actual_power</a>{};</div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
+<div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="structfranka_1_1VacuumGripperState.html#ae94720737193caa696a47563a8efe6a8">   60</a></span>&#160;  uint16_t <a class="code" href="structfranka_1_1VacuumGripperState.html#ae94720737193caa696a47563a8efe6a8">vacuum</a>{};</div>
+<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160; </div>
+<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="structfranka_1_1VacuumGripperState.html#aaa98eb6e1888094aace2014121a468ab">   65</a></span>&#160;  <a class="code" href="classfranka_1_1Duration.html">Duration</a> <a class="code" href="structfranka_1_1VacuumGripperState.html#aaa98eb6e1888094aace2014121a468ab">time</a>{};</div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;};</div>
+<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
+<div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="vacuum__gripper__state_8h.html#aa2caece6baf774e998b6dec6e803cf24">   77</a></span>&#160;std::ostream&amp; <a class="code" href="errors_8h.html#ad1027058086c3c154f4bbc9cade1f197">operator&lt;&lt;</a>(std::ostream&amp; ostream,</div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;                         <span class="keyword">const</span> <a class="code" href="structfranka_1_1VacuumGripperState.html">franka::VacuumGripperState</a>&amp; vacuum_gripper_state);</div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
+<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;}  <span class="comment">// namespace franka</span></div>
+<div class="ttc" id="aclassfranka_1_1Duration_html"><div class="ttname"><a href="classfranka_1_1Duration.html">franka::Duration</a></div><div class="ttdoc">Represents a duration with millisecond resolution.</div><div class="ttdef"><b>Definition:</b> duration.h:19</div></div>
+<div class="ttc" id="aduration_8h_html"><div class="ttname"><a href="duration_8h.html">duration.h</a></div><div class="ttdoc">Contains the franka::Duration type.</div></div>
+<div class="ttc" id="aerrors_8h_html_ad1027058086c3c154f4bbc9cade1f197"><div class="ttname"><a href="errors_8h.html#ad1027058086c3c154f4bbc9cade1f197">franka::operator&lt;&lt;</a></div><div class="ttdeci">std::ostream &amp; operator&lt;&lt;(std::ostream &amp;ostream, const Errors &amp;errors)</div><div class="ttdoc">Streams the errors as JSON array.</div></div>
+<div class="ttc" id="astructfranka_1_1VacuumGripperState_html"><div class="ttname"><a href="structfranka_1_1VacuumGripperState.html">franka::VacuumGripperState</a></div><div class="ttdoc">Describes the vacuum gripper state.</div><div class="ttdef"><b>Definition:</b> vacuum_gripper_state.h:31</div></div>
+<div class="ttc" id="astructfranka_1_1VacuumGripperState_html_a4230c68698cdbf6c1c560e181133bdc3"><div class="ttname"><a href="structfranka_1_1VacuumGripperState.html#a4230c68698cdbf6c1c560e181133bdc3">franka::VacuumGripperState::actual_power</a></div><div class="ttdeci">uint16_t actual_power</div><div class="ttdoc">Current vacuum gripper actual power.</div><div class="ttdef"><b>Definition:</b> vacuum_gripper_state.h:55</div></div>
+<div class="ttc" id="astructfranka_1_1VacuumGripperState_html_a70c1b14b10c2a79511fcada258c7e0ba"><div class="ttname"><a href="structfranka_1_1VacuumGripperState.html#a70c1b14b10c2a79511fcada258c7e0ba">franka::VacuumGripperState::in_control_range</a></div><div class="ttdeci">bool in_control_range</div><div class="ttdoc">Vacuum value within in setpoint area.</div><div class="ttdef"><b>Definition:</b> vacuum_gripper_state.h:35</div></div>
+<div class="ttc" id="astructfranka_1_1VacuumGripperState_html_aa27a2b4b9d19bdcb059995a8121ba309"><div class="ttname"><a href="structfranka_1_1VacuumGripperState.html#aa27a2b4b9d19bdcb059995a8121ba309">franka::VacuumGripperState::part_detached</a></div><div class="ttdeci">bool part_detached</div><div class="ttdoc">The part has been detached after a suction cycle.</div><div class="ttdef"><b>Definition:</b> vacuum_gripper_state.h:40</div></div>
+<div class="ttc" id="astructfranka_1_1VacuumGripperState_html_aaa98eb6e1888094aace2014121a468ab"><div class="ttname"><a href="structfranka_1_1VacuumGripperState.html#aaa98eb6e1888094aace2014121a468ab">franka::VacuumGripperState::time</a></div><div class="ttdeci">Duration time</div><div class="ttdoc">Strictly monotonically increasing timestamp since robot start.</div><div class="ttdef"><b>Definition:</b> vacuum_gripper_state.h:65</div></div>
+<div class="ttc" id="astructfranka_1_1VacuumGripperState_html_ab44560b09c4a959c06ddafbd7f21da02"><div class="ttname"><a href="structfranka_1_1VacuumGripperState.html#ab44560b09c4a959c06ddafbd7f21da02">franka::VacuumGripperState::device_status</a></div><div class="ttdeci">VacuumGripperDeviceStatus device_status</div><div class="ttdoc">Current vacuum gripper device status.</div><div class="ttdef"><b>Definition:</b> vacuum_gripper_state.h:50</div></div>
+<div class="ttc" id="astructfranka_1_1VacuumGripperState_html_ae94720737193caa696a47563a8efe6a8"><div class="ttname"><a href="structfranka_1_1VacuumGripperState.html#ae94720737193caa696a47563a8efe6a8">franka::VacuumGripperState::vacuum</a></div><div class="ttdeci">uint16_t vacuum</div><div class="ttdoc">Current system vacuum.</div><div class="ttdef"><b>Definition:</b> vacuum_gripper_state.h:60</div></div>
+<div class="ttc" id="astructfranka_1_1VacuumGripperState_html_aeb5664ab2a9784c9e31ce5f67c914107"><div class="ttname"><a href="structfranka_1_1VacuumGripperState.html#aeb5664ab2a9784c9e31ce5f67c914107">franka::VacuumGripperState::part_present</a></div><div class="ttdeci">bool part_present</div><div class="ttdoc">Vacuum is over H2 and not yet under H2-h2.</div><div class="ttdef"><b>Definition:</b> vacuum_gripper_state.h:45</div></div>
+<div class="ttc" id="avacuum__gripper__state_8h_html_a423e2ce5f95933b9897c6e308d91b611"><div class="ttname"><a href="vacuum__gripper__state_8h.html#a423e2ce5f95933b9897c6e308d91b611">franka::VacuumGripperDeviceStatus</a></div><div class="ttdeci">VacuumGripperDeviceStatus</div><div class="ttdoc">Vacuum gripper device status.</div><div class="ttdef"><b>Definition:</b> vacuum_gripper_state.h:21</div></div>
+<div class="ttc" id="avacuum__gripper__state_8h_html_a423e2ce5f95933b9897c6e308d91b611a11e1aa07606f098e5025e37830a1b22e"><div class="ttname"><a href="vacuum__gripper__state_8h.html#a423e2ce5f95933b9897c6e308d91b611a11e1aa07606f098e5025e37830a1b22e">franka::VacuumGripperDeviceStatus::kOrange</a></div><div class="ttdeci">@ kOrange</div><div class="ttdoc">Device is working but there are severe warnings.</div></div>
+<div class="ttc" id="avacuum__gripper__state_8h_html_a423e2ce5f95933b9897c6e308d91b611a1299e6e2ec6371a79385cd3a862f7cc9"><div class="ttname"><a href="vacuum__gripper__state_8h.html#a423e2ce5f95933b9897c6e308d91b611a1299e6e2ec6371a79385cd3a862f7cc9">franka::VacuumGripperDeviceStatus::kGreen</a></div><div class="ttdeci">@ kGreen</div><div class="ttdoc">Device is working optimally.</div></div>
+<div class="ttc" id="avacuum__gripper__state_8h_html_a423e2ce5f95933b9897c6e308d91b611a4c6c30a3642462190739bb7f13af9c7b"><div class="ttname"><a href="vacuum__gripper__state_8h.html#a423e2ce5f95933b9897c6e308d91b611a4c6c30a3642462190739bb7f13af9c7b">franka::VacuumGripperDeviceStatus::kYellow</a></div><div class="ttdeci">@ kYellow</div><div class="ttdoc">Device is working but there are warnings.</div></div>
+<div class="ttc" id="avacuum__gripper__state_8h_html_a423e2ce5f95933b9897c6e308d91b611afb0136b923af8c04b31a9d1b5e989acf"><div class="ttname"><a href="vacuum__gripper__state_8h.html#a423e2ce5f95933b9897c6e308d91b611afb0136b923af8c04b31a9d1b5e989acf">franka::VacuumGripperDeviceStatus::kRed</a></div><div class="ttdeci">@ kRed</div><div class="ttdoc">Device is not working properly.</div></div>
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">libfranka
+   &#160;<span id="projectnumber">0.13.6</span>
+   </div>
+   <div id="projectbrief">FCI C++ API</div>
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+<div class="title">vacuum_object.cpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<p>An example showing how to control FRANKA's vacuum gripper.</p>
+<div class="fragment"><div class="line"><span class="comment">// Copyright (c) 2019 Franka Robotics GmbH</span></div>
+<div class="line"><span class="comment">// Use of this source code is governed by the Apache-2.0 license, see LICENSE</span></div>
+<div class="line"><span class="preprocessor">#include &lt;iostream&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;thread&gt;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="exception_8h.html">franka/exception.h</a>&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="vacuum__gripper_8h.html">franka/vacuum_gripper.h</a>&gt;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="keywordtype">int</span> main(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span>** argv) {</div>
+<div class="line">  <span class="keywordflow">if</span> (argc != 2) {</div>
+<div class="line">    std::cerr &lt;&lt; <span class="stringliteral">&quot;Usage: ./vacuum_object &lt;vacuum-gripper-hostname&gt;&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">    <span class="keywordflow">return</span> -1;</div>
+<div class="line">  }</div>
+<div class="line"> </div>
+<div class="line">  <a name="_a0"></a><a class="code" href="classfranka_1_1VacuumGripper.html">franka::VacuumGripper</a> vacuum_gripper(argv[1]);</div>
+<div class="line">  <span class="keywordflow">try</span> {</div>
+<div class="line">    <span class="comment">// Print a vacuum gripper state.</span></div>
+<div class="line">    <a name="_a1"></a><a class="code" href="structfranka_1_1VacuumGripperState.html">franka::VacuumGripperState</a> vacuum_gripper_state = vacuum_gripper.<a name="a2"></a><a class="code" href="classfranka_1_1VacuumGripper.html#aaa61bfd1027cf5dc2eb9e96536a9fabf">readOnce</a>();</div>
+<div class="line">    std::cout &lt;&lt; <span class="stringliteral">&quot;Initial vacuum gripper state: &quot;</span> &lt;&lt; vacuum_gripper_state &lt;&lt; std::endl;</div>
+<div class="line"> </div>
+<div class="line">    <span class="comment">// Vacuum the object.</span></div>
+<div class="line">    <span class="keywordflow">if</span> (!vacuum_gripper.<a name="a3"></a><a class="code" href="classfranka_1_1VacuumGripper.html#a517d95d9800990ca1a5892473c2def89">vacuum</a>(100, std::chrono::milliseconds(1000))) {</div>
+<div class="line">      std::cout &lt;&lt; <span class="stringliteral">&quot;Failed to vacuum the object.&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">      <span class="keywordflow">return</span> -1;</div>
+<div class="line">    }</div>
+<div class="line"> </div>
+<div class="line">    vacuum_gripper_state = vacuum_gripper.<a class="code" href="classfranka_1_1VacuumGripper.html#aaa61bfd1027cf5dc2eb9e96536a9fabf">readOnce</a>();</div>
+<div class="line">    std::cout &lt;&lt; <span class="stringliteral">&quot;Vacuum gripper state after applying vacuum: &quot;</span> &lt;&lt; vacuum_gripper_state</div>
+<div class="line">              &lt;&lt; std::endl;</div>
+<div class="line"> </div>
+<div class="line">    <span class="comment">// Wait 3s and check afterwards, if the object is still grasped.</span></div>
+<div class="line">    std::this_thread::sleep_for(std::chrono::duration&lt;double, std::milli&gt;(3000));</div>
+<div class="line"> </div>
+<div class="line">    vacuum_gripper_state = vacuum_gripper.<a class="code" href="classfranka_1_1VacuumGripper.html#aaa61bfd1027cf5dc2eb9e96536a9fabf">readOnce</a>();</div>
+<div class="line">    <span class="keywordflow">if</span> (!vacuum_gripper_state.<a name="a4"></a><a class="code" href="structfranka_1_1VacuumGripperState.html#a70c1b14b10c2a79511fcada258c7e0ba">in_control_range</a>) {</div>
+<div class="line">      std::cout &lt;&lt; <span class="stringliteral">&quot;Object lost.&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">      <span class="keywordflow">return</span> -1;</div>
+<div class="line">    }</div>
+<div class="line"> </div>
+<div class="line">    std::cout &lt;&lt; <span class="stringliteral">&quot;Vacuumed object, will release it now.&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">    vacuum_gripper.<a name="a5"></a><a class="code" href="classfranka_1_1VacuumGripper.html#a04645348e97b946a788205c8b1168cac">dropOff</a>(std::chrono::milliseconds(1000));</div>
+<div class="line">  } <span class="keywordflow">catch</span> (<a name="_a6"></a><a class="code" href="structfranka_1_1Exception.html">franka::Exception</a> <span class="keyword">const</span>&amp; e) {</div>
+<div class="line">    vacuum_gripper.<a name="a7"></a><a class="code" href="classfranka_1_1VacuumGripper.html#a3722fe5488c516b4082c878a083cc865">stop</a>();</div>
+<div class="line">    std::cout &lt;&lt; e.what() &lt;&lt; std::endl;</div>
+<div class="line">    <span class="keywordflow">return</span> -1;</div>
+<div class="line">  }</div>
+<div class="line"> </div>
+<div class="line">  <span class="keywordflow">return</span> 0;</div>
+<div class="line">}</div>
+<div class="ttc" id="aclassfranka_1_1VacuumGripper_html"><div class="ttname"><a href="classfranka_1_1VacuumGripper.html">franka::VacuumGripper</a></div><div class="ttdoc">Maintains a network connection to the vacuum gripper, provides the current vacuum gripper state,...</div><div class="ttdef"><b>Definition:</b> vacuum_gripper.h:28</div></div>
+<div class="ttc" id="aclassfranka_1_1VacuumGripper_html_a04645348e97b946a788205c8b1168cac"><div class="ttname"><a href="classfranka_1_1VacuumGripper.html#a04645348e97b946a788205c8b1168cac">franka::VacuumGripper::dropOff</a></div><div class="ttdeci">bool dropOff(std::chrono::milliseconds timeout) const</div><div class="ttdoc">Drops the grasped object off.</div></div>
+<div class="ttc" id="aclassfranka_1_1VacuumGripper_html_a3722fe5488c516b4082c878a083cc865"><div class="ttname"><a href="classfranka_1_1VacuumGripper.html#a3722fe5488c516b4082c878a083cc865">franka::VacuumGripper::stop</a></div><div class="ttdeci">bool stop() const</div><div class="ttdoc">Stops a currently running vacuum gripper vacuum or drop off operation.</div></div>
+<div class="ttc" id="aclassfranka_1_1VacuumGripper_html_a517d95d9800990ca1a5892473c2def89"><div class="ttname"><a href="classfranka_1_1VacuumGripper.html#a517d95d9800990ca1a5892473c2def89">franka::VacuumGripper::vacuum</a></div><div class="ttdeci">bool vacuum(uint8_t vacuum, std::chrono::milliseconds timeout, ProductionSetupProfile profile=ProductionSetupProfile::kP0) const</div><div class="ttdoc">Vacuums an object.</div></div>
+<div class="ttc" id="aclassfranka_1_1VacuumGripper_html_aaa61bfd1027cf5dc2eb9e96536a9fabf"><div class="ttname"><a href="classfranka_1_1VacuumGripper.html#aaa61bfd1027cf5dc2eb9e96536a9fabf">franka::VacuumGripper::readOnce</a></div><div class="ttdeci">VacuumGripperState readOnce() const</div><div class="ttdoc">Waits for a vacuum gripper state update and returns it.</div></div>
+<div class="ttc" id="aexception_8h_html"><div class="ttname"><a href="exception_8h.html">exception.h</a></div><div class="ttdoc">Contains exception definitions.</div></div>
+<div class="ttc" id="astructfranka_1_1Exception_html"><div class="ttname"><a href="structfranka_1_1Exception.html">franka::Exception</a></div><div class="ttdoc">Base class for all exceptions used by libfranka.</div><div class="ttdef"><b>Definition:</b> exception.h:20</div></div>
+<div class="ttc" id="astructfranka_1_1VacuumGripperState_html"><div class="ttname"><a href="structfranka_1_1VacuumGripperState.html">franka::VacuumGripperState</a></div><div class="ttdoc">Describes the vacuum gripper state.</div><div class="ttdef"><b>Definition:</b> vacuum_gripper_state.h:31</div></div>
+<div class="ttc" id="astructfranka_1_1VacuumGripperState_html_a70c1b14b10c2a79511fcada258c7e0ba"><div class="ttname"><a href="structfranka_1_1VacuumGripperState.html#a70c1b14b10c2a79511fcada258c7e0ba">franka::VacuumGripperState::in_control_range</a></div><div class="ttdeci">bool in_control_range</div><div class="ttdoc">Vacuum value within in setpoint area.</div><div class="ttdef"><b>Definition:</b> vacuum_gripper_state.h:35</div></div>
+<div class="ttc" id="avacuum__gripper_8h_html"><div class="ttname"><a href="vacuum__gripper_8h.html">vacuum_gripper.h</a></div><div class="ttdoc">Contains the franka::VacuumGripper type.</div></div>
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