Inheritance diagram for franka_example_controllers::ElbowExampleController:

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, 2 >	initial_elbow_ {}

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 elbow_example_controller.h.

Member Function Documentation

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

overridevirtual

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

overridevirtual

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

overridevirtual

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

private

Definition at line 29 of file elbow_example_controller.h.

franka_hw::FrankaPoseCartesianInterface* franka_example_controllers::ElbowExampleController::cartesian_pose_interface_

private

Definition at line 28 of file elbow_example_controller.h.

ros::Duration franka_example_controllers::ElbowExampleController::elapsed_time_

private

Definition at line 30 of file elbow_example_controller.h.

std::array<double, 2> franka_example_controllers::ElbowExampleController::initial_elbow_ {}

private

Definition at line 32 of file elbow_example_controller.h.

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

private

Definition at line 31 of file elbow_example_controller.h.

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