Class GravityCompensationController

• Defined in File gravity_compensation_controller.hpp

Inheritance Relationships

Base Type

• public controller_interface::ControllerInterface

Class Documentation

class GravityCompensationController : public controller_interface::ControllerInterface

Public Functions

GRAVITY_COMPENSATION_CONTROLLER_PUBLIC GravityCompensationController()

GRAVITY_COMPENSATION_CONTROLLER_PUBLIC controller_interface::InterfaceConfiguration command_interface_configuration () const override

GRAVITY_COMPENSATION_CONTROLLER_PUBLIC controller_interface::InterfaceConfiguration state_interface_configuration () const override

GRAVITY_COMPENSATION_CONTROLLER_PUBLIC controller_interface::return_type update (const rclcpp::Time &time, const rclcpp::Duration &period) override

GRAVITY_COMPENSATION_CONTROLLER_PUBLIC controller_interface::CallbackReturn on_init () override

GRAVITY_COMPENSATION_CONTROLLER_PUBLIC controller_interface::CallbackReturn on_configure (const rclcpp_lifecycle::State &previous_state) override

GRAVITY_COMPENSATION_CONTROLLER_PUBLIC controller_interface::CallbackReturn on_activate (const rclcpp_lifecycle::State &previous_state) override

GRAVITY_COMPENSATION_CONTROLLER_PUBLIC controller_interface::CallbackReturn on_deactivate (const rclcpp_lifecycle::State &previous_state) override

GRAVITY_COMPENSATION_CONTROLLER_PUBLIC controller_interface::CallbackReturn on_cleanup (const rclcpp_lifecycle::State &previous_state) override

GRAVITY_COMPENSATION_CONTROLLER_PUBLIC controller_interface::CallbackReturn on_error (const rclcpp_lifecycle::State &previous_state) override

GRAVITY_COMPENSATION_CONTROLLER_PUBLIC controller_interface::CallbackReturn on_shutdown (const rclcpp_lifecycle::State &previous_state) override

Protected Types

template<typename T>
using InterfaceReferences = std::vector<std::vector<std::reference_wrapper<T>>>

Protected Functions

std::string formatVector(const std::vector<double> &vec)

Protected Attributes

std::shared_ptr<ParamListener> param_listener_

Params params_

KDL::Tree tree_

KDL::JntArray q_ddot_

KDL::WrenchMap f_ext_

bool dither_switch_

std::vector<std::string> state_interface_types_ = {hardware_interface::HW_IF_POSITION, hardware_interface::HW_IF_VELOCITY,}

std::vector<std::string> command_interface_types_ = {hardware_interface::HW_IF_EFFORT}

std::vector<std::string> command_joint_names_

InterfaceReferences<hardware_interface::LoanedCommandInterface> joint_command_interface_

InterfaceReferences<hardware_interface::LoanedStateInterface> joint_state_interface_

std::vector<std::string> joint_names_

size_t n_joints_

std::vector<double> joint_positions_

std::vector<double> joint_velocities_

std::vector<double> previous_velocities_

std::vector<double> tmp_positions_

rclcpp::Subscription<sensor_msgs::msg::JointState>::SharedPtr follower_joint_state_sub_

rclcpp::Subscription<std_msgs::msg::Bool>::SharedPtr collision_flag_sub_

realtime_tools::RealtimeBuffer<bool> collision_flag_buffer_

bool joint_index_initialized_ = false

std::vector<int> joint_name_to_index_

realtime_tools::RealtimeBuffer<std::vector<double>> follower_joint_positions_buffer_

std::atomic<bool> has_follower_data_ = {false}