#include <cartesian_impedance_example_controller.h>
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Eigen::Matrix< double, 6, 6 > | cartesian_damping_ |
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Eigen::Matrix< double, 6, 6 > | cartesian_damping_target_ |
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Eigen::Matrix< double, 6, 6 > | cartesian_stiffness_ |
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Eigen::Matrix< double, 6, 6 > | cartesian_stiffness_target_ |
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const double | delta_tau_max_ {1.0} |
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ros::NodeHandle | dynamic_reconfigure_compliance_param_node_ |
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std::unique_ptr< dynamic_reconfigure::Server< franka_example_controllers::compliance_paramConfig > > | dynamic_server_compliance_param_ |
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double | filter_params_ {0.005} |
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std::vector< hardware_interface::JointHandle > | joint_handles_ |
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std::unique_ptr< franka_hw::FrankaModelHandle > | model_handle_ |
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double | nullspace_stiffness_ {20.0} |
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double | nullspace_stiffness_target_ {20.0} |
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Eigen::Quaterniond | orientation_d_ |
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Eigen::Quaterniond | orientation_d_target_ |
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Eigen::Vector3d | position_d_ |
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Eigen::Vector3d | position_d_target_ |
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Eigen::Matrix< double, 7, 1 > | q_d_nullspace_ |
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std::unique_ptr< franka_hw::FrankaStateHandle > | state_handle_ |
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ros::Subscriber | sub_equilibrium_pose_ |
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void franka_example_controllers::CartesianImpedanceExampleController::complianceParamCallback |
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franka_example_controllers::compliance_paramConfig & |
config, |
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uint32_t |
level |
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) |
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void franka_example_controllers::CartesianImpedanceExampleController::equilibriumPoseCallback |
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const geometry_msgs::PoseStampedConstPtr & |
msg | ) |
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Eigen::Matrix< double, 7, 1 > franka_example_controllers::CartesianImpedanceExampleController::saturateTorqueRate |
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const Eigen::Matrix< double, 7, 1 > & |
tau_d_calculated, |
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const Eigen::Matrix< double, 7, 1 > & |
tau_J_d |
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) |
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void franka_example_controllers::CartesianImpedanceExampleController::starting |
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const ros::Time & |
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overridevirtual |
void franka_example_controllers::CartesianImpedanceExampleController::update |
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const ros::Time & |
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const ros::Duration & |
period |
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) |
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overridevirtual |
Eigen::Matrix<double, 6, 6> franka_example_controllers::CartesianImpedanceExampleController::cartesian_damping_ |
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Eigen::Matrix<double, 6, 6> franka_example_controllers::CartesianImpedanceExampleController::cartesian_damping_target_ |
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Eigen::Matrix<double, 6, 6> franka_example_controllers::CartesianImpedanceExampleController::cartesian_stiffness_ |
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Eigen::Matrix<double, 6, 6> franka_example_controllers::CartesianImpedanceExampleController::cartesian_stiffness_target_ |
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const double franka_example_controllers::CartesianImpedanceExampleController::delta_tau_max_ {1.0} |
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ros::NodeHandle franka_example_controllers::CartesianImpedanceExampleController::dynamic_reconfigure_compliance_param_node_ |
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std::unique_ptr<dynamic_reconfigure::Server<franka_example_controllers::compliance_paramConfig> > franka_example_controllers::CartesianImpedanceExampleController::dynamic_server_compliance_param_ |
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double franka_example_controllers::CartesianImpedanceExampleController::filter_params_ {0.005} |
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double franka_example_controllers::CartesianImpedanceExampleController::nullspace_stiffness_ {20.0} |
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double franka_example_controllers::CartesianImpedanceExampleController::nullspace_stiffness_target_ {20.0} |
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Eigen::Quaterniond franka_example_controllers::CartesianImpedanceExampleController::orientation_d_ |
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Eigen::Quaterniond franka_example_controllers::CartesianImpedanceExampleController::orientation_d_target_ |
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Eigen::Vector3d franka_example_controllers::CartesianImpedanceExampleController::position_d_ |
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Eigen::Vector3d franka_example_controllers::CartesianImpedanceExampleController::position_d_target_ |
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Eigen::Matrix<double, 7, 1> franka_example_controllers::CartesianImpedanceExampleController::q_d_nullspace_ |
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ros::Subscriber franka_example_controllers::CartesianImpedanceExampleController::sub_equilibrium_pose_ |
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The documentation for this class was generated from the following files: