#include <cartesian_impedance_example_controller.h>

Inheritance diagram for franka_example_controllers::CartesianImpedanceExampleController:

Public Member Functions
bool	init (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &node_handle) override

void	starting (const ros::Time &) override

void	update (const ros::Time &, const ros::Duration &period) override

Public Member Functions inherited from controller_interface::MultiInterfaceController< franka_hw::FrankaModelInterface, hardware_interface::EffortJointInterface, franka_hw::FrankaStateInterface >
virtual bool	init (hardware_interface::RobotHW *, ros::NodeHandle &, ros::NodeHandle &)

	MultiInterfaceController (bool allow_optional_interfaces=false)

virtual	~MultiInterfaceController ()

Public Member Functions inherited from controller_interface::ControllerBase
	ControllerBase ()

bool	isRunning ()

bool	isRunning ()

bool	startRequest (const ros::Time &time)

bool	startRequest (const ros::Time &time)

virtual void	stopping (const ros::Time &)

virtual void	stopping (const ros::Time &)

bool	stopRequest (const ros::Time &time)

bool	stopRequest (const ros::Time &time)

void	updateRequest (const ros::Time &time, const ros::Duration &period)

void	updateRequest (const ros::Time &time, const ros::Duration &period)

virtual	~ControllerBase ()

Private Member Functions
void	complianceParamCallback (franka_example_controllers::compliance_paramConfig &config, uint32_t level)

void	equilibriumPoseCallback (const geometry_msgs::PoseStampedConstPtr &msg)

Eigen::Matrix< double, 7, 1 >	saturateTorqueRate (const Eigen::Matrix< double, 7, 1 > &tau_d_calculated, const Eigen::Matrix< double, 7, 1 > &tau_J_d)

Private Attributes
Eigen::Matrix< double, 6, 6 >	cartesian_damping_

Eigen::Matrix< double, 6, 6 >	cartesian_damping_target_

Eigen::Matrix< double, 6, 6 >	cartesian_stiffness_

Eigen::Matrix< double, 6, 6 >	cartesian_stiffness_target_

const double	delta_tau_max_ {1.0}

ros::NodeHandle	dynamic_reconfigure_compliance_param_node_

std::unique_ptr< dynamic_reconfigure::Server< franka_example_controllers::compliance_paramConfig > >	dynamic_server_compliance_param_

double	filter_params_ {0.005}

std::vector< hardware_interface::JointHandle >	joint_handles_

std::unique_ptr< franka_hw::FrankaModelHandle >	model_handle_

double	nullspace_stiffness_ {20.0}

double	nullspace_stiffness_target_ {20.0}

Eigen::Quaterniond	orientation_d_

Eigen::Quaterniond	orientation_d_target_

Eigen::Vector3d	position_d_

Eigen::Vector3d	position_d_target_

Eigen::Matrix< double, 7, 1 >	q_d_nullspace_

std::unique_ptr< franka_hw::FrankaStateHandle >	state_handle_

ros::Subscriber	sub_equilibrium_pose_

Additional Inherited Members
Public Types inherited from controller_interface::ControllerBase
typedef std::vector< hardware_interface::InterfaceResources >	ClaimedResources

Public Attributes inherited from controller_interface::ControllerBase
	CONSTRUCTED

	INITIALIZED

	RUNNING

enum controller_interface::ControllerBase:: { ... }	state_

Protected Member Functions inherited from controller_interface::MultiInterfaceController< franka_hw::FrankaModelInterface, hardware_interface::EffortJointInterface, franka_hw::FrankaStateInterface >
virtual bool	initRequest (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh, ClaimedResources &claimed_resources)

Static Protected Member Functions inherited from controller_interface::MultiInterfaceController< franka_hw::FrankaModelInterface, hardware_interface::EffortJointInterface, franka_hw::FrankaStateInterface >
static void	clearClaims (hardware_interface::RobotHW *robot_hw)

static void	extractInterfaceResources (hardware_interface::RobotHW robot_hw_in, hardware_interface::RobotHW robot_hw_out)

static bool	hasRequiredInterfaces (hardware_interface::RobotHW *robot_hw)

static void	populateClaimedResources (hardware_interface::RobotHW *robot_hw, ClaimedResources &claimed_resources)

Protected Attributes inherited from controller_interface::MultiInterfaceController< franka_hw::FrankaModelInterface, hardware_interface::EffortJointInterface, franka_hw::FrankaStateInterface >
bool	allow_optional_interfaces_

hardware_interface::RobotHW	robot_hw_ctrl_

Detailed Description

Definition at line 24 of file cartesian_impedance_example_controller.h.

Member Function Documentation

void franka_example_controllers::CartesianImpedanceExampleController::complianceParamCallback	(	franka_example_controllers::compliance_paramConfig &	config,
		uint32_t	level
	)

private

Definition at line 212 of file cartesian_impedance_example_controller.cpp.

void franka_example_controllers::CartesianImpedanceExampleController::equilibriumPoseCallback ( const geometry_msgs::PoseStampedConstPtr & msg )

private

Definition at line 229 of file cartesian_impedance_example_controller.cpp.

bool franka_example_controllers::CartesianImpedanceExampleController::init	(	hardware_interface::RobotHW *	robot_hw,
		ros::NodeHandle &	node_handle
	)

overridevirtual

Reimplemented from controller_interface::MultiInterfaceController< franka_hw::FrankaModelInterface, hardware_interface::EffortJointInterface, franka_hw::FrankaStateInterface >.

Definition at line 17 of file cartesian_impedance_example_controller.cpp.

Eigen::Matrix< double, 7, 1 > franka_example_controllers::CartesianImpedanceExampleController::saturateTorqueRate	(	const Eigen::Matrix< double, 7, 1 > &	tau_d_calculated,
		const Eigen::Matrix< double, 7, 1 > &	tau_J_d
	)

private

Definition at line 200 of file cartesian_impedance_example_controller.cpp.

void franka_example_controllers::CartesianImpedanceExampleController::starting ( const ros::Time & )

overridevirtual

Reimplemented from controller_interface::ControllerBase.

Definition at line 108 of file cartesian_impedance_example_controller.cpp.

void franka_example_controllers::CartesianImpedanceExampleController::update	(	const ros::Time &	,
		const ros::Duration &	period
	)

overridevirtual

Implements controller_interface::ControllerBase.

Definition at line 129 of file cartesian_impedance_example_controller.cpp.

Member Data Documentation

Eigen::Matrix<double, 6, 6> franka_example_controllers::CartesianImpedanceExampleController::cartesian_damping_

private

Definition at line 49 of file cartesian_impedance_example_controller.h.

Eigen::Matrix<double, 6, 6> franka_example_controllers::CartesianImpedanceExampleController::cartesian_damping_target_

private

Definition at line 50 of file cartesian_impedance_example_controller.h.

Eigen::Matrix<double, 6, 6> franka_example_controllers::CartesianImpedanceExampleController::cartesian_stiffness_

private

Definition at line 47 of file cartesian_impedance_example_controller.h.

Eigen::Matrix<double, 6, 6> franka_example_controllers::CartesianImpedanceExampleController::cartesian_stiffness_target_

private

Definition at line 48 of file cartesian_impedance_example_controller.h.

const double franka_example_controllers::CartesianImpedanceExampleController::delta_tau_max_ {1.0}

private

Definition at line 46 of file cartesian_impedance_example_controller.h.

ros::NodeHandle franka_example_controllers::CartesianImpedanceExampleController::dynamic_reconfigure_compliance_param_node_

private

Definition at line 60 of file cartesian_impedance_example_controller.h.

std::unique_ptr<dynamic_reconfigure::Server<franka_example_controllers::compliance_paramConfig> > franka_example_controllers::CartesianImpedanceExampleController::dynamic_server_compliance_param_

private

Definition at line 59 of file cartesian_impedance_example_controller.h.

double franka_example_controllers::CartesianImpedanceExampleController::filter_params_ {0.005}

private

Definition at line 43 of file cartesian_impedance_example_controller.h.

std::vector<hardware_interface::JointHandle> franka_example_controllers::CartesianImpedanceExampleController::joint_handles_

private

Definition at line 41 of file cartesian_impedance_example_controller.h.

std::unique_ptr<franka_hw::FrankaModelHandle> franka_example_controllers::CartesianImpedanceExampleController::model_handle_

private

Definition at line 40 of file cartesian_impedance_example_controller.h.

double franka_example_controllers::CartesianImpedanceExampleController::nullspace_stiffness_ {20.0}

private

Definition at line 44 of file cartesian_impedance_example_controller.h.

double franka_example_controllers::CartesianImpedanceExampleController::nullspace_stiffness_target_ {20.0}

private

Definition at line 45 of file cartesian_impedance_example_controller.h.

Eigen::Quaterniond franka_example_controllers::CartesianImpedanceExampleController::orientation_d_

private

Definition at line 53 of file cartesian_impedance_example_controller.h.

Eigen::Quaterniond franka_example_controllers::CartesianImpedanceExampleController::orientation_d_target_

private

Definition at line 55 of file cartesian_impedance_example_controller.h.

Eigen::Vector3d franka_example_controllers::CartesianImpedanceExampleController::position_d_

private

Definition at line 52 of file cartesian_impedance_example_controller.h.

Eigen::Vector3d franka_example_controllers::CartesianImpedanceExampleController::position_d_target_

private

Definition at line 54 of file cartesian_impedance_example_controller.h.

Eigen::Matrix<double, 7, 1> franka_example_controllers::CartesianImpedanceExampleController::q_d_nullspace_

private

Definition at line 51 of file cartesian_impedance_example_controller.h.

std::unique_ptr<franka_hw::FrankaStateHandle> franka_example_controllers::CartesianImpedanceExampleController::state_handle_

private

Definition at line 39 of file cartesian_impedance_example_controller.h.

ros::Subscriber franka_example_controllers::CartesianImpedanceExampleController::sub_equilibrium_pose_

private

Definition at line 65 of file cartesian_impedance_example_controller.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

Member Data Documentation