Inheritance diagram for hrl_pr2_force_ctrl::HybridForceController:

Public Member Functions
void	commandForce (const geometry_msgs::WrenchStamped::ConstPtr &msg)
void	commandMaxForce (const geometry_msgs::WrenchStamped::ConstPtr &msg)
void	commandPose (const geometry_msgs::PoseStamped::ConstPtr &command)
void	commandPosture (const std_msgs::Float64MultiArray::ConstPtr &msg)
	HybridForceController ()
bool	init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
void	setFTSensorParams (const std_msgs::Float64MultiArray::ConstPtr &msg)
void	setGains (const hrl_pr2_force_ctrl::HybridCartesianGains::ConstPtr &msg)
void	starting ()
void	update ()
void	zeroFTSensor (const std_msgs::Bool::ConstPtr &msg)
	~HybridForceController ()
Public Attributes
pr2_hardware_interface::AnalogIn *	analog_in_
pr2_mechanism_model::Chain	chain_
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW
CartVec	F_des_
CartVec	F_err_last_
CartVec	F_integ_
CartVec	F_max_
CartVec	F_sensor_zero_
std::vector< boost::shared_ptr < filters::FilterChain< double > > >	force_filter_
Eigen::Matrix< double, 6, 1 >	force_selector
std::string	force_torque_frame_
Eigen::Affine3d	ft_transform_
Eigen::Vector3d	gripper_com_
double	gripper_mass_
double	jacobian_inverse_damping_
JointVec	joint_dd_ff_
double	joint_vel_filter_
CartVec	K_effective_
double	k_posture_
Eigen::Matrix< double, 6, 1 >	Kd
Eigen::Matrix< double, 6, 1 >	Kfi
Eigen::Matrix< double, 6, 1 >	Kfi_max
Eigen::Matrix< double, 6, 1 >	Kfp
boost::scoped_ptr< Kin< Joints > >	kin_
Eigen::Matrix< double, 6, 1 >	Kp
double	last_compliance_
double	last_Df_
double	last_Dx_
Eigen::Affine3d	last_pose_
double	last_stiffness_
ros::Time	last_time_
CartVec	last_wrench_
int	loop_count_
Eigen::Matrix< double, 6, 1 >	motion_selector
ros::NodeHandle	node_
double	pose_command_filter_
rosrt::Publisher < geometry_msgs::WrenchStamped >	pub_f_cmd_
rosrt::Publisher < geometry_msgs::WrenchStamped >	pub_f_err_
rosrt::Publisher < geometry_msgs::WrenchStamped >	pub_k_effective_
rosrt::Publisher < std_msgs::Float64MultiArray >	pub_qdot_
rosrt::Publisher < geometry_msgs::WrenchStamped >	pub_sensor_ft_
rosrt::Publisher < geometry_msgs::WrenchStamped >	pub_sensor_raw_ft_
rosrt::Publisher< StateMsg >	pub_state_
rosrt::Publisher < std_msgs::Float64MultiArray >	pub_tau_
rosrt::Publisher < geometry_msgs::Twist >	pub_wrench_
rosrt::Publisher < geometry_msgs::PoseStamped >	pub_x_
rosrt::Publisher < geometry_msgs::PoseStamped >	pub_x_desi_
rosrt::Publisher < geometry_msgs::Twist >	pub_x_err_
rosrt::Publisher < geometry_msgs::Twist >	pub_xd_
rosrt::Publisher < geometry_msgs::Twist >	pub_xd_desi_
JointVec	q_posture_
std::vector< boost::shared_ptr < filters::FilterChain< double > > >	qdot_filter_
JointVec	qdot_filtered_
double	res_force_
double	res_orientation_
double	res_position_
double	res_torque_
pr2_mechanism_model::RobotState *	robot_state_
std::string	root_name_
JointVec	saturation_
Eigen::Matrix< double, 6, 6 >	St
ros::Subscriber	sub_force_
ros::Subscriber	sub_ft_params_
ros::Subscriber	sub_ft_zero_
ros::Subscriber	sub_gains_
ros::Subscriber	sub_max_force_
ros::Subscriber	sub_pose_
ros::Subscriber	sub_posture_
tf::TransformListener	tf_
std::string	tip_name_
bool	use_posture_
bool	use_tip_frame_
double	vel_saturation_rot_
double	vel_saturation_trans_
CartVec	wrench_desi_
Eigen::Affine3d	x_desi_
Eigen::Affine3d	x_desi_filtered_
std::vector< boost::shared_ptr < filters::FilterChain< double > > >	xdot_filter_
bool	zero_wrench_
Private Types
enum	{ Joints = 7 }
typedef Eigen::Matrix< double, 6, 1 >	CartVec
typedef Eigen::Matrix< double, 6, Joints >	Jacobian
typedef Eigen::Matrix< double, Joints, 1 >	JointVec
typedef pr2_manipulation_controllers::JTTaskControllerState	StateMsg