Public Member Functions | Private Attributes | List of all members
franka_example_controllers::CartesianVelocityExampleController Class Reference

#include <cartesian_velocity_example_controller.h>

Inheritance diagram for franka_example_controllers::CartesianVelocityExampleController:
Inheritance graph
[legend]

Public Member Functions

bool init (hardware_interface::RobotHW *robot_hardware, ros::NodeHandle &node_handle) override
 
void starting (const ros::Time &) override
 
void stopping (const ros::Time &) override
 
void update (const ros::Time &, const ros::Duration &period) override
 
- Public Member Functions inherited from controller_interface::MultiInterfaceController< franka_hw::FrankaVelocityCartesianInterface, 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)
 
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

ros::Duration elapsed_time_
 
std::unique_ptr< franka_hw::FrankaCartesianVelocityHandlevelocity_cartesian_handle_
 
franka_hw::FrankaVelocityCartesianInterfacevelocity_cartesian_interface_
 

Additional Inherited Members

- Public Types inherited from controller_interface::ControllerBase
typedef std::vector< hardware_interface::InterfaceResourcesClaimedResources
 
- 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::FrankaVelocityCartesianInterface, 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::FrankaVelocityCartesianInterface, 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::FrankaVelocityCartesianInterface, franka_hw::FrankaStateInterface >
bool allow_optional_interfaces_
 
hardware_interface::RobotHW robot_hw_ctrl_
 

Detailed Description

Definition at line 17 of file cartesian_velocity_example_controller.h.

Member Function Documentation

bool franka_example_controllers::CartesianVelocityExampleController::init ( hardware_interface::RobotHW robot_hardware,
ros::NodeHandle node_handle 
)
overridevirtual
void franka_example_controllers::CartesianVelocityExampleController::starting ( const ros::Time )
overridevirtual
void franka_example_controllers::CartesianVelocityExampleController::stopping ( const ros::Time )
overridevirtual
void franka_example_controllers::CartesianVelocityExampleController::update ( const ros::Time ,
const ros::Duration period 
)
overridevirtual

Member Data Documentation

ros::Duration franka_example_controllers::CartesianVelocityExampleController::elapsed_time_
private

Definition at line 29 of file cartesian_velocity_example_controller.h.

std::unique_ptr<franka_hw::FrankaCartesianVelocityHandle> franka_example_controllers::CartesianVelocityExampleController::velocity_cartesian_handle_
private

Definition at line 28 of file cartesian_velocity_example_controller.h.

franka_hw::FrankaVelocityCartesianInterface* franka_example_controllers::CartesianVelocityExampleController::velocity_cartesian_interface_
private

Definition at line 27 of file cartesian_velocity_example_controller.h.


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


franka_example_controllers
Author(s): Franka Emika GmbH
autogenerated on Fri Oct 23 2020 03:47:17