#include <joint_impedance_example_controller.h>

Inheritance diagram for franka_example_controllers::JointImpedanceExampleController:

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::FrankaPoseCartesianInterface >
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
std::array< double, 7 >	saturateTorqueRate (const std::array< double, 7 > &tau_d_calculated, const std::array< double, 7 > &tau_J_d)

Private Attributes
double	acceleration_time_ {2.0}

double	angle_ {0.0}

std::unique_ptr< franka_hw::FrankaCartesianPoseHandle >	cartesian_pose_handle_

double	coriolis_factor_ {1.0}

std::vector< double >	d_gains_

std::array< double, 7 >	dq_filtered_

std::array< double, 16 >	initial_pose_

std::vector< hardware_interface::JointHandle >	joint_handles_

std::vector< double >	k_gains_

std::array< double, 7 >	last_tau_d_ {}

std::unique_ptr< franka_hw::FrankaModelHandle >	model_handle_

double	radius_ {0.1}

franka_hw::TriggerRate	rate_trigger_ {1.0}

realtime_tools::RealtimePublisher< JointTorqueComparison >	torques_publisher_

double	vel_current_ {0.0}

double	vel_max_ {0.05}

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::FrankaPoseCartesianInterface >
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::FrankaPoseCartesianInterface >
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::FrankaPoseCartesianInterface >
bool	allow_optional_interfaces_

hardware_interface::RobotHW	robot_hw_ctrl_

Detailed Description

Definition at line 23 of file joint_impedance_example_controller.h.

Member Function Documentation

bool franka_example_controllers::JointImpedanceExampleController::init	(	hardware_interface::RobotHW *	robot_hw,
		ros::NodeHandle &	node_handle
	)

overridevirtual

Reimplemented from controller_interface::MultiInterfaceController< franka_hw::FrankaModelInterface, hardware_interface::EffortJointInterface, franka_hw::FrankaPoseCartesianInterface >.

Definition at line 16 of file joint_impedance_example_controller.cpp.

std::array< double, 7 > franka_example_controllers::JointImpedanceExampleController::saturateTorqueRate	(	const std::array< double, 7 > &	tau_d_calculated,
		const std::array< double, 7 > &	tau_J_d
	)

private

Definition at line 200 of file joint_impedance_example_controller.cpp.

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

overridevirtual

Reimplemented from controller_interface::ControllerBase.

Definition at line 130 of file joint_impedance_example_controller.cpp.

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

overridevirtual

Implements controller_interface::ControllerBase.

Definition at line 134 of file joint_impedance_example_controller.cpp.

Member Data Documentation

double franka_example_controllers::JointImpedanceExampleController::acceleration_time_ {2.0}

private

Definition at line 44 of file joint_impedance_example_controller.h.

double franka_example_controllers::JointImpedanceExampleController::angle_ {0.0}

private

Definition at line 46 of file joint_impedance_example_controller.h.

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

private

Definition at line 38 of file joint_impedance_example_controller.h.

double franka_example_controllers::JointImpedanceExampleController::coriolis_factor_ {1.0}

private

Definition at line 51 of file joint_impedance_example_controller.h.

std::vector<double> franka_example_controllers::JointImpedanceExampleController::d_gains_

private

Definition at line 50 of file joint_impedance_example_controller.h.

std::array<double, 7> franka_example_controllers::JointImpedanceExampleController::dq_filtered_

private

Definition at line 52 of file joint_impedance_example_controller.h.

std::array<double, 16> franka_example_controllers::JointImpedanceExampleController::initial_pose_

private

Definition at line 53 of file joint_impedance_example_controller.h.

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

private

Definition at line 40 of file joint_impedance_example_controller.h.

std::vector<double> franka_example_controllers::JointImpedanceExampleController::k_gains_

private

Definition at line 49 of file joint_impedance_example_controller.h.

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

staticprivate

Definition at line 42 of file joint_impedance_example_controller.h.

std::array<double, 7> franka_example_controllers::JointImpedanceExampleController::last_tau_d_ {}

private

Definition at line 56 of file joint_impedance_example_controller.h.

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

private

Definition at line 39 of file joint_impedance_example_controller.h.

double franka_example_controllers::JointImpedanceExampleController::radius_ {0.1}

private

Definition at line 43 of file joint_impedance_example_controller.h.

franka_hw::TriggerRate franka_example_controllers::JointImpedanceExampleController::rate_trigger_ {1.0}

private

Definition at line 55 of file joint_impedance_example_controller.h.

realtime_tools::RealtimePublisher<JointTorqueComparison> franka_example_controllers::JointImpedanceExampleController::torques_publisher_

private

Definition at line 57 of file joint_impedance_example_controller.h.

double franka_example_controllers::JointImpedanceExampleController::vel_current_ {0.0}

private

Definition at line 47 of file joint_impedance_example_controller.h.

double franka_example_controllers::JointImpedanceExampleController::vel_max_ {0.05}

private

Definition at line 45 of file joint_impedance_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