.. _program_listing_file_include_franka_active_control.h:

Program Listing for File active_control.h
=========================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_franka_active_control.h>` (``include/franka/active_control.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright (c) 2023 Franka Robotics GmbH
   // Use of this source code is governed by the Apache-2.0 license, see LICENSE
   #pragma once
   
   #include <franka/active_control_base.h>
   #include <franka/exception.h>
   
   #include "robot.h"
   
   namespace franka {
   
   class ActiveControl : public ActiveControlBase {
    public:
     ~ActiveControl() override;
   
     std::pair<RobotState, Duration> readOnce() override;
   
     void writeOnce(const Torques& /* control_input */) override {
       throw franka::ControlException(wrong_write_once_method_called);
     };
   
     void writeOnce(const JointPositions& /* motion_generator_input */,
                    const std::optional<const Torques>& /*control_input*/) override {
       throw franka::ControlException(wrong_write_once_method_called);
     };
   
     void writeOnce(const JointVelocities& /* motion_generator_input */,
                    const std::optional<const Torques>& /* control_input */) override {
       throw franka::ControlException(wrong_write_once_method_called);
     };
   
     void writeOnce(const CartesianPose& /* motion_generator_input */,
                    const std::optional<const Torques>& /* control_input */) override {
       throw franka::ControlException(wrong_write_once_method_called);
     };
   
     void writeOnce(const CartesianVelocities& /* motion_generator_input */,
                    const std::optional<const Torques>& /* control_input */) override {
       throw franka::ControlException(wrong_write_once_method_called);
     };
   
     void writeOnce(const JointPositions& motion_generator_input) override {
       writeOnce(motion_generator_input, std::optional<const Torques>());
     };
   
     void writeOnce(const JointVelocities& motion_generator_input) override {
       writeOnce(motion_generator_input, std::optional<const Torques>());
     };
   
     void writeOnce(const CartesianPose& motion_generator_input) override {
       writeOnce(motion_generator_input, std::optional<const Torques>());
     };
   
     void writeOnce(const CartesianVelocities& motion_generator_input) override {
       writeOnce(motion_generator_input, std::optional<const Torques>());
     };
   
    protected:
     ActiveControl(std::shared_ptr<Robot::Impl> robot_impl,
                   uint32_t motion_id,
                   std::unique_lock<std::mutex> control_lock);
   
     std::shared_ptr<Robot::Impl> robot_impl;
   
     uint32_t motion_id;
   
     std::unique_lock<std::mutex> control_lock;
   
     bool control_finished;
   
     std::optional<Duration> last_read_access;
   
    private:
     const std::string wrong_write_once_method_called{
         "Wrong writeOnce method called for currently active control!"};
   };
   
   }  // namespace franka