pr2_controller_interface::CartesianTwistController Class Reference

Cartesian twist controller. More...

#include <cartesian_twist_controller.h>


Detailed Description

Cartesian twist controller.

Author:
Wim Meeussen

Controls the twist at the end effector of a chain of the robot.

ROS

Parameters:
typeMust be "CartesianTwistController"
root_nameThe name of the root link of the chain of links that you wish to control.
tip_nameThe name of the tip link (end effector) of the chain of links that you wish to control.
fb_transThe gains for the PID loop around linear velocity. See: control_toolbox::Pid
fb_rotThe gains for the PID loop around angular velocity. See: control_toolbox::Pid

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The documentation for this class was generated from the following file:


robot_mechanism_controllers
Author(s): John Hsu, Melonee Wise, Stuart Glaser
autogenerated on Fri Jan 3 2014 11:41:37