franka_example_controllers::CartesianPoseExampleController Class Reference

#include <cartesian_pose_example_controller.h>

Inheritance diagram for franka_example_controllers::CartesianPoseExampleController:

Public Member Functions
bool	init (hardware_interface::RobotHW *robot_hardware, 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::FrankaPoseCartesianInterface, 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 Attributes
std::unique_ptr< franka_hw::FrankaCartesianPoseHandle >	cartesian_pose_handle_
franka_hw::FrankaPoseCartesianInterface *	cartesian_pose_interface_
ros::Duration	elapsed_time_
std::array< double, 16 >	initial_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::FrankaPoseCartesianInterface, 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::FrankaPoseCartesianInterface, 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::FrankaPoseCartesianInterface, franka_hw::FrankaStateInterface >
bool	allow_optional_interfaces_
hardware_interface::RobotHW	robot_hw_ctrl_

Detailed Description

Definition at line 19 of file cartesian_pose_example_controller.h.

Member Function Documentation

bool franka_example_controllers::CartesianPoseExampleController::init ( hardware_interface::RobotHW *  robot_hardware, ros::NodeHandle &  node_handle  )

overridevirtual

Reimplemented from controller_interface::MultiInterfaceController< franka_hw::FrankaPoseCartesianInterface, franka_hw::FrankaStateInterface >.

Definition at line 18 of file cartesian_pose_example_controller.cpp.

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

overridevirtual

Reimplemented from controller_interface::ControllerBase.

Definition at line 71 of file cartesian_pose_example_controller.cpp.

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

overridevirtual

Implements controller_interface::ControllerBase.

Definition at line 76 of file cartesian_pose_example_controller.cpp.

Member Data Documentation

std::unique_ptr<franka_hw::FrankaCartesianPoseHandle> franka_example_controllers::CartesianPoseExampleController::cartesian_pose_handle_

private

Definition at line 29 of file cartesian_pose_example_controller.h.

franka_hw::FrankaPoseCartesianInterface* franka_example_controllers::CartesianPoseExampleController::cartesian_pose_interface_

private

Definition at line 28 of file cartesian_pose_example_controller.h.

ros::Duration franka_example_controllers::CartesianPoseExampleController::elapsed_time_

private

Definition at line 30 of file cartesian_pose_example_controller.h.

std::array<double, 16> franka_example_controllers::CartesianPoseExampleController::initial_pose_ {}

private

Definition at line 31 of file cartesian_pose_example_controller.h.

---

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

• cartesian_pose_example_controller.h
• cartesian_pose_example_controller.cpp