pr2_controller_interface::CartesianPoseController Class Reference

Cartesian pose controller. More...

#include <cartesian_pose_controller.h>


Detailed Description

Cartesian pose controller.

Author:
Wim Meeussen

Controls the pose of the end effector of a chain of the robot.

ROS

Parameters:
typeMust be "CartesianPoseController"
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.
outputThe name of the CartesianWrenchController which will achieve the desired wrench computed by this controller.
fb_transThe gains for the PID loop around position. See: control_toolbox::Pid
fb_rotThe gains for the PID loop around orientation. See: control_toolbox::Pid

Subscribes to:

Publishes:


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


robot_mechanism_controllers
Author(s): John Hsu, Melonee Wise, Stuart Glaser
autogenerated on Thu Apr 24 2014 15:44:44