This container holds all data and parameters used to control one panda arm with a Cartesian impedance control law tracking a desired target pose. More...
#include <dual_arm_cartesian_impedance_example_controller.h>
Public Attributes | |
| Eigen::Matrix< double, 6, 6 > | cartesian_damping_ |
| To damp cartesian motions. More... | |
| Eigen::Matrix< double, 6, 6 > | cartesian_damping_target_ |
| Unfiltered raw value. More... | |
| Eigen::Matrix< double, 6, 6 > | cartesian_stiffness_ |
| To track the target pose. More... | |
| Eigen::Matrix< double, 6, 6 > | cartesian_stiffness_target_ |
| Unfiltered raw value. More... | |
| const double | delta_tau_max_ {1.0} |
| [Nm/ms] Maximum difference in joint-torque per timestep. More... | |
| double | filter_params_ {0.005} |
| [-] PT1-Filter constant to smooth target values set by dynamic reconfigure servers (stiffness/damping) or interactive markers for the target poses. More... | |
| std::vector< hardware_interface::JointHandle > | joint_handles_ |
| To command joint torques. More... | |
| std::unique_ptr< franka_hw::FrankaModelHandle > | model_handle_ |
| To have access to e.g. jacobians. More... | |
| double | nullspace_stiffness_ {20.0} |
| [Nm/rad] To track the initial joint configuration in the nullspace of the Cartesian motion. More... | |
| double | nullspace_stiffness_target_ {20.0} |
| [Nm/rad] Unfiltered raw value. More... | |
| Eigen::Quaterniond | orientation_d_ |
| Target orientation of the end effector. More... | |
| Eigen::Quaterniond | orientation_d_target_ |
| Unfiltered raw value. More... | |
| Eigen::Vector3d | position_d_ |
| Target position of the end effector. More... | |
| Eigen::Vector3d | position_d_target_ |
| Unfiltered raw value. More... | |
| Eigen::Matrix< double, 7, 1 > | q_d_nullspace_ |
| Target joint pose for nullspace motion. More... | |
| std::unique_ptr< franka_hw::FrankaStateHandle > | state_handle_ |
| To read to complete robot state. More... | |
This container holds all data and parameters used to control one panda arm with a Cartesian impedance control law tracking a desired target pose.
Definition at line 30 of file dual_arm_cartesian_impedance_example_controller.h.
| Eigen::Matrix<double, 6, 6> franka_example_controllers::FrankaDataContainer::cartesian_damping_ |
To damp cartesian motions.
Definition at line 47 of file dual_arm_cartesian_impedance_example_controller.h.
| Eigen::Matrix<double, 6, 6> franka_example_controllers::FrankaDataContainer::cartesian_damping_target_ |
Unfiltered raw value.
Definition at line 48 of file dual_arm_cartesian_impedance_example_controller.h.
| Eigen::Matrix<double, 6, 6> franka_example_controllers::FrankaDataContainer::cartesian_stiffness_ |
To track the target pose.
Definition at line 45 of file dual_arm_cartesian_impedance_example_controller.h.
| Eigen::Matrix<double, 6, 6> franka_example_controllers::FrankaDataContainer::cartesian_stiffness_target_ |
Unfiltered raw value.
Definition at line 46 of file dual_arm_cartesian_impedance_example_controller.h.
| const double franka_example_controllers::FrankaDataContainer::delta_tau_max_ {1.0} |
[Nm/ms] Maximum difference in joint-torque per timestep.
Used to saturated torque rates to ensure feasible commands.
Definition at line 42 of file dual_arm_cartesian_impedance_example_controller.h.
| double franka_example_controllers::FrankaDataContainer::filter_params_ {0.005} |
[-] PT1-Filter constant to smooth target values set by dynamic reconfigure servers (stiffness/damping) or interactive markers for the target poses.
Definition at line 36 of file dual_arm_cartesian_impedance_example_controller.h.
| std::vector<hardware_interface::JointHandle> franka_example_controllers::FrankaDataContainer::joint_handles_ |
To command joint torques.
Definition at line 35 of file dual_arm_cartesian_impedance_example_controller.h.
| std::unique_ptr<franka_hw::FrankaModelHandle> franka_example_controllers::FrankaDataContainer::model_handle_ |
To have access to e.g. jacobians.
Definition at line 34 of file dual_arm_cartesian_impedance_example_controller.h.
| double franka_example_controllers::FrankaDataContainer::nullspace_stiffness_ {20.0} |
[Nm/rad] To track the initial joint configuration in the nullspace of the Cartesian motion.
Definition at line 39 of file dual_arm_cartesian_impedance_example_controller.h.
| double franka_example_controllers::FrankaDataContainer::nullspace_stiffness_target_ {20.0} |
[Nm/rad] Unfiltered raw value.
Definition at line 41 of file dual_arm_cartesian_impedance_example_controller.h.
| Eigen::Quaterniond franka_example_controllers::FrankaDataContainer::orientation_d_ |
Target orientation of the end effector.
Definition at line 53 of file dual_arm_cartesian_impedance_example_controller.h.
| Eigen::Quaterniond franka_example_controllers::FrankaDataContainer::orientation_d_target_ |
Unfiltered raw value.
Definition at line 55 of file dual_arm_cartesian_impedance_example_controller.h.
| Eigen::Vector3d franka_example_controllers::FrankaDataContainer::position_d_ |
Target position of the end effector.
Definition at line 52 of file dual_arm_cartesian_impedance_example_controller.h.
| Eigen::Vector3d franka_example_controllers::FrankaDataContainer::position_d_target_ |
Unfiltered raw value.
Definition at line 54 of file dual_arm_cartesian_impedance_example_controller.h.
| Eigen::Matrix<double, 7, 1> franka_example_controllers::FrankaDataContainer::q_d_nullspace_ |
Target joint pose for nullspace motion.
For now we track the initial joint pose.
Definition at line 49 of file dual_arm_cartesian_impedance_example_controller.h.
| std::unique_ptr<franka_hw::FrankaStateHandle> franka_example_controllers::FrankaDataContainer::state_handle_ |
To read to complete robot state.
Definition at line 32 of file dual_arm_cartesian_impedance_example_controller.h.