#include <force_example_controller.h>

Inheritance diagram for franka_example_controllers::ForceExampleController:

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	desiredMassParamCallback (franka_example_controllers::desired_mass_paramConfig &config, uint32_t level)

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
double	desired_mass_ {0.0}

ros::NodeHandle	dynamic_reconfigure_desired_mass_param_node_

std::unique_ptr< dynamic_reconfigure::Server< franka_example_controllers::desired_mass_paramConfig > >	dynamic_server_desired_mass_param_

double	filter_gain_ {0.001}

std::vector< hardware_interface::JointHandle >	joint_handles_

double	k_i_ {0.0}

double	k_p_ {0.0}

std::unique_ptr< franka_hw::FrankaModelHandle >	model_handle_

std::unique_ptr< franka_hw::FrankaStateHandle >	state_handle_

double	target_k_i_ {0.0}

double	target_k_p_ {0.0}

double	target_mass_ {0.0}

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

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

Static Private Attributes
static constexpr double	kDeltaTauMax {1.0}

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 23 of file force_example_controller.h.

Member Function Documentation

void franka_example_controllers::ForceExampleController::desiredMassParamCallback	(	franka_example_controllers::desired_mass_paramConfig &	config,
		uint32_t	level
	)

private

Definition at line 129 of file force_example_controller.cpp.

bool franka_example_controllers::ForceExampleController::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 16 of file force_example_controller.cpp.

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

private

Definition at line 137 of file force_example_controller.cpp.

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

overridevirtual

Reimplemented from controller_interface::ControllerBase.

Definition at line 88 of file force_example_controller.cpp.

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

overridevirtual

Implements controller_interface::ControllerBase.

Definition at line 98 of file force_example_controller.cpp.

Member Data Documentation

double franka_example_controllers::ForceExampleController::desired_mass_ {0.0}

private

Definition at line 42 of file force_example_controller.h.

ros::NodeHandle franka_example_controllers::ForceExampleController::dynamic_reconfigure_desired_mass_param_node_

private

Definition at line 56 of file force_example_controller.h.

std::unique_ptr<dynamic_reconfigure::Server<franka_example_controllers::desired_mass_paramConfig> > franka_example_controllers::ForceExampleController::dynamic_server_desired_mass_param_

private

Definition at line 55 of file force_example_controller.h.

double franka_example_controllers::ForceExampleController::filter_gain_ {0.001}

private

Definition at line 48 of file force_example_controller.h.

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

private

Definition at line 40 of file force_example_controller.h.

double franka_example_controllers::ForceExampleController::k_i_ {0.0}

private

Definition at line 45 of file force_example_controller.h.

double franka_example_controllers::ForceExampleController::k_p_ {0.0}

private

Definition at line 44 of file force_example_controller.h.

constexpr double franka_example_controllers::ForceExampleController::kDeltaTauMax {1.0}

staticprivate

Definition at line 51 of file force_example_controller.h.

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

private

Definition at line 38 of file force_example_controller.h.

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

private

Definition at line 39 of file force_example_controller.h.

double franka_example_controllers::ForceExampleController::target_k_i_ {0.0}

private

Definition at line 47 of file force_example_controller.h.

double franka_example_controllers::ForceExampleController::target_k_p_ {0.0}

private

Definition at line 46 of file force_example_controller.h.

double franka_example_controllers::ForceExampleController::target_mass_ {0.0}

private

Definition at line 43 of file force_example_controller.h.

Eigen::Matrix<double, 7, 1> franka_example_controllers::ForceExampleController::tau_error_

private

Definition at line 50 of file force_example_controller.h.

Eigen::Matrix<double, 7, 1> franka_example_controllers::ForceExampleController::tau_ext_initial_

private

Definition at line 49 of file force_example_controller.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

Member Data Documentation