Classes
class	ControllerConflict

class	FrankaCartesianPoseHandle
	Handle to read and command a Cartesian pose. More...

class	FrankaCartesianVelocityHandle
	Handle to read and command a Cartesian velocity. More...

class	FrankaCombinableHW
	A hardware class for a Panda robot based on the ros_control framework. More...

class	FrankaCombinedHW

class	FrankaHW
	This class wraps the functionality of libfranka for controlling Panda robots into the ros_control framework. More...

class	FrankaModelHandle
	Handle to perform calculations using the dynamic model of a robot. More...

class	FrankaModelInterface
	Hardware interface to perform calculations using the dynamic model of a robot. More...

class	FrankaPoseCartesianInterface
	Hardware interface to command Cartesian poses. More...

class	FrankaStateHandle
	Handle to read the complete state of a robot. More...

class	FrankaStateInterface
	Hardware interface to read the complete robot state. More...

class	FrankaVelocityCartesianInterface
	Hardware interface to command Cartesian velocities. More...

class	NoControllerConflict

struct	ResourceClaims

class	ServiceContainer
	This class serves as container that gathers all possible service interfaces to a libfranka robot instance. More...

class	TriggerRate

Typedefs
using	ArmClaimedMap = std::map< std::string, ResourceClaims >

using	ResourceWithClaimsMap = std::map< std::string, std::vector< std::vector< std::string >>>

Enumerations
enum	ControlMode { ControlMode::None = 0, ControlMode::JointTorque = (1 << 0), ControlMode::JointPosition = (1 << 1), ControlMode::JointVelocity = (1 << 2), ControlMode::CartesianVelocity = (1 << 3), ControlMode::CartesianPose = (1 << 4) }

Functions
template<typename T >
ros::ServiceServer	advertiseService (ros::NodeHandle &node_handle, const std::string &name, std::function< void(typename T::Request &, typename T::Response &)> handler)
	Advertises a service that acts according to the handler function which is used in the service callback. More...

string	arm_id2 ("panda2")

string	cp_iface_str ("franka_hw::FrankaPoseCartesianInterface")

string	cv_iface_str ("franka_hw::FrankaVelocityCartesianInterface")

bool	findArmIdInResourceId (const std::string &resource_id, std::string *arm_id)

bool	getArmClaimedMap (ResourceWithClaimsMap &resource_map, ArmClaimedMap &arm_claim_map)

ControlMode	getControlMode (const std::string &arm_id, ArmClaimedMap &arm_claim_map)

ResourceWithClaimsMap	getResourceMap (const std::list< hardware_interface::ControllerInfo > &info)

bool	hasConflictingJointAndCartesianClaim (const ArmClaimedMap &arm_claim_map, const std::string &arm_id)

bool	hasConflictingMultiClaim (const ResourceWithClaimsMap &resource_map)

bool	hasTrajectoryClaim (const ArmClaimedMap &arm_claim_map, const std::string &arm_id)

	INSTANTIATE_TEST_CASE_P (nonAdmissibleRequests, ControllerConflict,::testing::Values(std::list< ControllerInfo >{no_id_info}, std::list< ControllerInfo >{unknown_iface_info}, std::list< ControllerInfo >{jt_jt_info}, std::list< ControllerInfo >{jp_jp_info}, std::list< ControllerInfo >{jp_jv_info}, std::list< ControllerInfo >{jp_cv_info}, std::list< ControllerInfo >{jp_cp_info}, std::list< ControllerInfo >{jv_jv_info}, std::list< ControllerInfo >{jv_cv_info}, std::list< ControllerInfo >{jv_cp_info}, std::list< ControllerInfo >{cv_cv_info}, std::list< ControllerInfo >{cv_cp_info}, std::list< ControllerInfo >{cp_cp_info}, std::list< ControllerInfo >{jp_jp_jp_info}))

	INSTANTIATE_TEST_CASE_P (admissibleRequests, NoControllerConflict,::testing::Values(std::list< ControllerInfo >{jp_info}, std::list< ControllerInfo >{jv_info}, std::list< ControllerInfo >{jt_info}, std::list< ControllerInfo >{cv_info}, std::list< ControllerInfo >{cp_info}, std::list< ControllerInfo >{jt_jp_info}, std::list< ControllerInfo >{jt_jv_info}, std::list< ControllerInfo >{jt_cv_info}, std::list< ControllerInfo >{jt_cp_info}, std::list< ControllerInfo >{cp_info, cp_arm2_info}))

string	jp_iface_str ("hardware_interface::PositionJointInterface")

string	jt_iface_str ("hardware_interface::EffortJointInterface")

string	jv_iface_str ("hardware_interface::VelocityJointInterface")

string	name_str ("some_controller")

hardware_interface::ControllerInfo	newInfo (const std::string &name, const std::string &type, const hardware_interface::InterfaceResources &resource1)

hardware_interface::ControllerInfo	newInfo (const std::string &name, const std::string &type, const hardware_interface::InterfaceResources &resource1, const hardware_interface::InterfaceResources &resource2)

hardware_interface::ControllerInfo	newInfo (const std::string &name, const std::string &type, const hardware_interface::InterfaceResources &resource1, const hardware_interface::InterfaceResources &resource2, const hardware_interface::InterfaceResources &resource3)

constexpr ControlMode	operator& (ControlMode left, ControlMode right)

constexpr ControlMode &	operator&= (ControlMode &left, ControlMode right)

std::ostream &	operator<< (std::ostream &ostream, ControlMode mode)

constexpr ControlMode	operator^ (ControlMode left, ControlMode right)

constexpr ControlMode	operator\| (ControlMode left, ControlMode right)

constexpr ControlMode &	operator\|= (ControlMode &left, ControlMode right)

constexpr ControlMode	operator~ (ControlMode mode)

bool	partiallyClaimsArmJoints (const ArmClaimedMap &arm_claim_map, const std::string &arm_id)

void	setCartesianImpedance (franka::Robot &robot, const franka_msgs::SetCartesianImpedance::Request &req, franka_msgs::SetCartesianImpedance::Response &res)
	Callback for the service interface to franka::robot::setCartesianImpedance. More...

void	setEEFrame (franka::Robot &robot, const franka_msgs::SetEEFrame::Request &req, franka_msgs::SetEEFrame::Response &res)
	Callback for the service interface to franka::robot::setEEFrame. More...

void	setForceTorqueCollisionBehavior (franka::Robot &robot, const franka_msgs::SetForceTorqueCollisionBehavior::Request &req, franka_msgs::SetForceTorqueCollisionBehavior::Response &res)
	Callback for the service interface to franka::robot::setForceTorqueCollisionBehavior. More...

void	setFullCollisionBehavior (franka::Robot &robot, const franka_msgs::SetFullCollisionBehavior::Request &req, franka_msgs::SetFullCollisionBehavior::Response &res)
	Callback for the service interface to franka::robot::setFullCollisionBehavior. More...

void	setJointImpedance (franka::Robot &robot, const franka_msgs::SetJointImpedance::Request &req, franka_msgs::SetJointImpedance::Response &res)
	Callback for the service interface to franka::robot::setJointImpedance. More...

void	setKFrame (franka::Robot &robot, const franka_msgs::SetKFrame::Request &req, franka_msgs::SetKFrame::Response &res)
	Callback for the service interface to franka::robot::setKFrame. More...

void	setLoad (franka::Robot &robot, const franka_msgs::SetLoad::Request &req, franka_msgs::SetLoad::Response &res)
	Callback for the service interface to franka::robot::setLoad. More...

void	setupServices (franka::Robot &robot, ros::NodeHandle &node_handle, ServiceContainer &services)
	Sets up all services relevant for a libfranka robot inside a service container. More...

	TEST (FrankaHWTests, InterfacesWorkForReadAndCommand)

	TEST (FrankaHWTests, JointLimitInterfacesEnforceLimitsOnCommands)

	TEST_P (ControllerConflict, ConflictsForIncompatibleControllers)

	TEST_P (NoControllerConflict, DoesNotConflictForCompatibleControllers)

	TEST_P (NoControllerConflict, CanPrepareSwitchForCompatibleControllers)

string	type_str ("SomeControllerClass")

string	unknown_iface_str ("hardware_interface::UnknownInterface")

Variables
set< string >	cartesian_arm2_set = {arm_id2 + "_robot"}

set< string >	cartesian_set = {arm_id + "_robot"}

ControllerInfo	cp_arm2_info = newInfo(name_str, type_str, cp_arm2_res)

InterfaceResources	cp_arm2_res (cp_iface_str, cartesian_arm2_set)

ControllerInfo	cp_cp_info = newInfo(name_str, type_str, cp_res, cp_res)

ControllerInfo	cp_info = newInfo(name_str, type_str, cp_res)

InterfaceResources	cp_res (cp_iface_str, cartesian_set)

ControllerInfo	cv_cp_info = newInfo(name_str, type_str, cv_res, cp_res)

ControllerInfo	cv_cv_info = newInfo(name_str, type_str, cv_res, cv_res)

ControllerInfo	cv_info = newInfo(name_str, type_str, cv_res)

InterfaceResources	cv_res (cv_iface_str, cartesian_set)

set< string >	joints_set

ControllerInfo	jp_cp_info = newInfo(name_str, type_str, jp_res, cp_res)

ControllerInfo	jp_cv_info = newInfo(name_str, type_str, jp_res, cv_res)

ControllerInfo	jp_info = newInfo(name_str, type_str, jp_res)

ControllerInfo	jp_jp_info = newInfo(name_str, type_str, jp_res, jp_res)

ControllerInfo	jp_jp_jp_info = newInfo(name_str, type_str, jp_res, jp_res, jp_res)

ControllerInfo	jp_jv_info = newInfo(name_str, type_str, jp_res, jv_res)

InterfaceResources	jp_res (jp_iface_str, joints_set)

ControllerInfo	jt_cp_info = newInfo(name_str, type_str, jt_res, cp_res)

ControllerInfo	jt_cv_info = newInfo(name_str, type_str, jt_res, cv_res)

ControllerInfo	jt_info = newInfo(name_str, type_str, jt_res)

ControllerInfo	jt_jp_info = newInfo(name_str, type_str, jt_res, jp_res)

ControllerInfo	jt_jt_info = newInfo(name_str, type_str, jt_res, jt_res)

ControllerInfo	jt_jv_info = newInfo(name_str, type_str, jt_res, jv_res)

InterfaceResources	jt_res (jt_iface_str, joints_set)

ControllerInfo	jv_cp_info = newInfo(name_str, type_str, jv_res, cp_res)

ControllerInfo	jv_cv_info = newInfo(name_str, type_str, jv_res, cv_res)

ControllerInfo	jv_info = newInfo(name_str, type_str, jv_res)

ControllerInfo	jv_jv_info = newInfo(name_str, type_str, jv_res, jv_res)

InterfaceResources	jv_res (jv_iface_str, joints_set)

ControllerInfo	no_id_info = newInfo(name_str, type_str, no_id_res)

InterfaceResources	no_id_res (jp_iface_str, no_id_set)

set< string >	no_id_set = {"joint1"}

ControllerInfo	unknown_iface_info = newInfo(name_str, type_str, unknown_iface_res)

InterfaceResources	unknown_iface_res (unknown_iface_str, joints_set)

Typedef Documentation

using franka_hw::ArmClaimedMap = typedef std::map<std::string, ResourceClaims>

Definition at line 26 of file resource_helpers.h.

using franka_hw::ResourceWithClaimsMap = typedef std::map<std::string, std::vector<std::vector<std::string>>>

Definition at line 16 of file resource_helpers.h.

Enumeration Type Documentation

enum franka_hw::ControlMode

strong

Enumerator
None
JointTorque
JointPosition
JointVelocity
CartesianVelocity
CartesianPose

Definition at line 10 of file control_mode.h.

Function Documentation

template<typename T >

ros::ServiceServer franka_hw::advertiseService	(	ros::NodeHandle &	node_handle,
		const std::string &	name,
		std::function< void(typename T::Request &, typename T::Response &)>	handler
	)

Advertises a service that acts according to the handler function which is used in the service callback.

Parameters

[in]	node_handle	The NodeHandle in the namespace at which to advertise the service.
[in]	name	The name of the service.
[in]	handler	The callback method for the service.

Returns: The service server.

Definition at line 32 of file services.h.

string franka_hw::arm_id2 ( "panda2" )

string franka_hw::cp_iface_str ( "franka_hw::FrankaPoseCartesianInterface" )

string franka_hw::cv_iface_str ( "franka_hw::FrankaVelocityCartesianInterface" )

bool franka_hw::findArmIdInResourceId	(	const std::string &	resource_id,
		std::string *	arm_id
	)

Definition at line 9 of file resource_helpers.cpp.

bool franka_hw::getArmClaimedMap	(	ResourceWithClaimsMap &	resource_map,
		ArmClaimedMap &	arm_claim_map
	)

Definition at line 41 of file resource_helpers.cpp.

ControlMode franka_hw::getControlMode	(	const std::string &	arm_id,
		ArmClaimedMap &	arm_claim_map
	)

Definition at line 78 of file resource_helpers.cpp.

ResourceWithClaimsMap franka_hw::getResourceMap ( const std::list< hardware_interface::ControllerInfo > & info )

Definition at line 23 of file resource_helpers.cpp.

bool franka_hw::hasConflictingJointAndCartesianClaim	(	const ArmClaimedMap &	arm_claim_map,
		const std::string &	arm_id
	)

Definition at line 168 of file resource_helpers.cpp.

bool franka_hw::hasConflictingMultiClaim ( const ResourceWithClaimsMap & resource_map )

Definition at line 138 of file resource_helpers.cpp.

bool franka_hw::hasTrajectoryClaim	(	const ArmClaimedMap &	arm_claim_map,
		const std::string &	arm_id
	)

Definition at line 206 of file resource_helpers.cpp.

franka_hw::INSTANTIATE_TEST_CASE_P	(	nonAdmissibleRequests	,
		ControllerConflict	,
		::testing::Values(std::list< ControllerInfo >{no_id_info}, std::list< ControllerInfo >{unknown_iface_info}, std::list< ControllerInfo >{jt_jt_info}, std::list< ControllerInfo >{jp_jp_info}, std::list< ControllerInfo >{jp_jv_info}, std::list< ControllerInfo >{jp_cv_info}, std::list< ControllerInfo >{jp_cp_info}, std::list< ControllerInfo >{jv_jv_info}, std::list< ControllerInfo >{jv_cv_info}, std::list< ControllerInfo >{jv_cp_info}, std::list< ControllerInfo >{cv_cv_info}, std::list< ControllerInfo >{cv_cp_info}, std::list< ControllerInfo >{cp_cp_info}, std::list< ControllerInfo >{jp_jp_jp_info})
	)

franka_hw::INSTANTIATE_TEST_CASE_P	(	admissibleRequests	,
		NoControllerConflict	,
		::testing::Values(std::list< ControllerInfo >{jp_info}, std::list< ControllerInfo >{jv_info}, std::list< ControllerInfo >{jt_info}, std::list< ControllerInfo >{cv_info}, std::list< ControllerInfo >{cp_info}, std::list< ControllerInfo >{jt_jp_info}, std::list< ControllerInfo >{jt_jv_info}, std::list< ControllerInfo >{jt_cv_info}, std::list< ControllerInfo >{jt_cp_info}, std::list< ControllerInfo >{cp_info, cp_arm2_info})
	)

string franka_hw::jp_iface_str ( "hardware_interface::PositionJointInterface" )

string franka_hw::jt_iface_str ( "hardware_interface::EffortJointInterface" )

string franka_hw::jv_iface_str ( "hardware_interface::VelocityJointInterface" )

string franka_hw::name_str ( "some_controller" )

hardware_interface::ControllerInfo franka_hw::newInfo	(	const std::string &	name,
		const std::string &	type,
		const hardware_interface::InterfaceResources &	resource1
	)

Definition at line 33 of file franka_hw_controller_switching_test.cpp.

hardware_interface::ControllerInfo franka_hw::newInfo	(	const std::string &	name,
		const std::string &	type,
		const hardware_interface::InterfaceResources &	resource1,
		const hardware_interface::InterfaceResources &	resource2
	)

Definition at line 45 of file franka_hw_controller_switching_test.cpp.

hardware_interface::ControllerInfo franka_hw::newInfo	(	const std::string &	name,
		const std::string &	type,
		const hardware_interface::InterfaceResources &	resource1,
		const hardware_interface::InterfaceResources &	resource2,
		const hardware_interface::InterfaceResources &	resource3
	)

Definition at line 55 of file franka_hw_controller_switching_test.cpp.

constexpr ControlMode franka_hw::operator&	(	ControlMode	left,
		ControlMode	right
	)

Definition at line 22 of file control_mode.h.

constexpr ControlMode& franka_hw::operator&=	(	ControlMode &	left,
		ControlMode	right
	)

Definition at line 41 of file control_mode.h.

std::ostream & franka_hw::operator<<	(	std::ostream &	ostream,
		ControlMode	mode
	)

Definition at line 12 of file control_mode.cpp.

constexpr ControlMode franka_hw::operator^	(	ControlMode	left,
		ControlMode	right
	)

Definition at line 32 of file control_mode.h.

constexpr ControlMode franka_hw::operator\|	(	ControlMode	left,
		ControlMode	right
	)

Definition at line 27 of file control_mode.h.

constexpr ControlMode& franka_hw::operator\|=	(	ControlMode &	left,
		ControlMode	right
	)

Definition at line 45 of file control_mode.h.

constexpr ControlMode franka_hw::operator~ ( ControlMode mode )

Definition at line 37 of file control_mode.h.

bool franka_hw::partiallyClaimsArmJoints	(	const ArmClaimedMap &	arm_claim_map,
		const std::string &	arm_id
	)

Definition at line 187 of file resource_helpers.cpp.

void franka_hw::setCartesianImpedance	(	franka::Robot &	robot,
		const franka_msgs::SetCartesianImpedance::Request &	req,
		franka_msgs::SetCartesianImpedance::Response &	res
	)

Callback for the service interface to franka::robot::setCartesianImpedance.

Parameters

[in]	robot	The libfranka robot for which to set up the service.
[in]	req	The service request.
[out]	res	The service response.

Definition at line 40 of file services.cpp.

void franka_hw::setEEFrame	(	franka::Robot &	robot,
		const franka_msgs::SetEEFrame::Request &	req,
		franka_msgs::SetEEFrame::Response &	res
	)

Callback for the service interface to franka::robot::setEEFrame.

Parameters

[in]	robot	The libfranka robot for which to set up the service.
[in]	req	The service request.
[out]	res	The service response.

Definition at line 57 of file services.cpp.

void franka_hw::setForceTorqueCollisionBehavior	(	franka::Robot &	robot,
		const franka_msgs::SetForceTorqueCollisionBehavior::Request &	req,
		franka_msgs::SetForceTorqueCollisionBehavior::Response &	res
	)

Callback for the service interface to franka::robot::setForceTorqueCollisionBehavior.

Parameters

[in]	robot	The libfranka robot for which to set up the service.
[in]	req	The service request.
[out]	res	The service response.

Definition at line 73 of file services.cpp.

void franka_hw::setFullCollisionBehavior	(	franka::Robot &	robot,
		const franka_msgs::SetFullCollisionBehavior::Request &	req,
		franka_msgs::SetFullCollisionBehavior::Response &	res
	)

Callback for the service interface to franka::robot::setFullCollisionBehavior.

Parameters

[in]	robot	The libfranka robot for which to set up the service.
[in]	req	The service request.
[out]	res	The service response.

Definition at line 95 of file services.cpp.

void franka_hw::setJointImpedance	(	franka::Robot &	robot,
		const franka_msgs::SetJointImpedance::Request &	req,
		franka_msgs::SetJointImpedance::Response &	res
	)

Callback for the service interface to franka::robot::setJointImpedance.

Parameters

[in]	robot	The libfranka robot for which to set up the service.
[in]	req	The service request.
[out]	res	The service response.

Definition at line 49 of file services.cpp.

void franka_hw::setKFrame	(	franka::Robot &	robot,
		const franka_msgs::SetKFrame::Request &	req,
		franka_msgs::SetKFrame::Response &	res
	)

Callback for the service interface to franka::robot::setKFrame.

Parameters

[in]	robot	The libfranka robot for which to set up the service.
[in]	req	The service request.
[out]	res	The service response.

Definition at line 65 of file services.cpp.

void franka_hw::setLoad	(	franka::Robot &	robot,
		const franka_msgs::SetLoad::Request &	req,
		franka_msgs::SetLoad::Response &	res
	)

Callback for the service interface to franka::robot::setLoad.

Parameters

[in]	robot	The libfranka robot for which to set up the service.
[in]	req	The service request.
[out]	res	The service response.

Definition at line 133 of file services.cpp.

void franka_hw::setupServices	(	franka::Robot &	robot,
		ros::NodeHandle &	node_handle,
		ServiceContainer &	services
	)

Sets up all services relevant for a libfranka robot inside a service container.

Parameters

[in]	robot	The libfranka robot for which to set up services interfaces.
[in]	node_handle	The NodeHandle in the namespace at which to advertise the services.
[in]	services	The container to store the service servers.

Definition at line 7 of file services.cpp.

franka_hw::TEST	(	FrankaHWTests	,
		InterfacesWorkForReadAndCommand
	)

Definition at line 25 of file franka_hw_interfaces_test.cpp.

franka_hw::TEST	(	FrankaHWTests	,
		JointLimitInterfacesEnforceLimitsOnCommands
	)

Definition at line 75 of file franka_hw_interfaces_test.cpp.

franka_hw::TEST_P	(	ControllerConflict	,
		ConflictsForIncompatibleControllers
	)

Definition at line 184 of file franka_hw_controller_switching_test.cpp.

franka_hw::TEST_P	(	NoControllerConflict	,
		DoesNotConflictForCompatibleControllers
	)

Definition at line 188 of file franka_hw_controller_switching_test.cpp.

franka_hw::TEST_P	(	NoControllerConflict	,
		CanPrepareSwitchForCompatibleControllers
	)

Definition at line 192 of file franka_hw_controller_switching_test.cpp.

string franka_hw::type_str ( "SomeControllerClass" )

string franka_hw::unknown_iface_str ( "hardware_interface::UnknownInterface" )

Variable Documentation

set<string> franka_hw::cartesian_arm2_set = {arm_id2 + "_robot"}

Definition at line 119 of file franka_hw_controller_switching_test.cpp.

set<string> franka_hw::cartesian_set = {arm_id + "_robot"}

Definition at line 118 of file franka_hw_controller_switching_test.cpp.

ControllerInfo franka_hw::cp_arm2_info = newInfo(name_str, type_str, cp_arm2_res)

Definition at line 129 of file franka_hw_controller_switching_test.cpp.

InterfaceResources franka_hw::cp_arm2_res(cp_iface_str, cartesian_arm2_set)

ControllerInfo franka_hw::cp_cp_info = newInfo(name_str, type_str, cp_res, cp_res)

Definition at line 142 of file franka_hw_controller_switching_test.cpp.

ControllerInfo franka_hw::cp_info = newInfo(name_str, type_str, cp_res)

Definition at line 148 of file franka_hw_controller_switching_test.cpp.

InterfaceResources franka_hw::cp_res(cp_iface_str, cartesian_set)

ControllerInfo franka_hw::cv_cp_info = newInfo(name_str, type_str, cv_res, cp_res)

Definition at line 141 of file franka_hw_controller_switching_test.cpp.

ControllerInfo franka_hw::cv_cv_info = newInfo(name_str, type_str, cv_res, cv_res)

Definition at line 140 of file franka_hw_controller_switching_test.cpp.

ControllerInfo franka_hw::cv_info = newInfo(name_str, type_str, cv_res)

Definition at line 147 of file franka_hw_controller_switching_test.cpp.

InterfaceResources franka_hw::cv_res(cv_iface_str, cartesian_set)

set<string> franka_hw::joints_set

Initial value:

= {joint_names[0], joint_names[1], joint_names[2], joint_names[3],

joint_names[4], joint_names[5], joint_names[6]}

joint_names

std::array< std::string, 7 > joint_names

Definition: franka_hw_controller_switching_test.cpp:27

Definition at line 116 of file franka_hw_controller_switching_test.cpp.

ControllerInfo franka_hw::jp_cp_info = newInfo(name_str, type_str, jp_res, cp_res)

Definition at line 136 of file franka_hw_controller_switching_test.cpp.

ControllerInfo franka_hw::jp_cv_info = newInfo(name_str, type_str, jp_res, cv_res)

Definition at line 135 of file franka_hw_controller_switching_test.cpp.

ControllerInfo franka_hw::jp_info = newInfo(name_str, type_str, jp_res)

Definition at line 144 of file franka_hw_controller_switching_test.cpp.

ControllerInfo franka_hw::jp_jp_info = newInfo(name_str, type_str, jp_res, jp_res)

Definition at line 133 of file franka_hw_controller_switching_test.cpp.

ControllerInfo franka_hw::jp_jp_jp_info = newInfo(name_str, type_str, jp_res, jp_res, jp_res)

Definition at line 143 of file franka_hw_controller_switching_test.cpp.

ControllerInfo franka_hw::jp_jv_info = newInfo(name_str, type_str, jp_res, jv_res)

Definition at line 134 of file franka_hw_controller_switching_test.cpp.

InterfaceResources franka_hw::jp_res(jp_iface_str, joints_set)

ControllerInfo franka_hw::jt_cp_info = newInfo(name_str, type_str, jt_res, cp_res)

Definition at line 152 of file franka_hw_controller_switching_test.cpp.

ControllerInfo franka_hw::jt_cv_info = newInfo(name_str, type_str, jt_res, cv_res)

Definition at line 151 of file franka_hw_controller_switching_test.cpp.

ControllerInfo franka_hw::jt_info = newInfo(name_str, type_str, jt_res)

Definition at line 146 of file franka_hw_controller_switching_test.cpp.

ControllerInfo franka_hw::jt_jp_info = newInfo(name_str, type_str, jt_res, jp_res)

Definition at line 149 of file franka_hw_controller_switching_test.cpp.

ControllerInfo franka_hw::jt_jt_info = newInfo(name_str, type_str, jt_res, jt_res)

Definition at line 132 of file franka_hw_controller_switching_test.cpp.

ControllerInfo franka_hw::jt_jv_info = newInfo(name_str, type_str, jt_res, jv_res)

Definition at line 150 of file franka_hw_controller_switching_test.cpp.

InterfaceResources franka_hw::jt_res(jt_iface_str, joints_set)

ControllerInfo franka_hw::jv_cp_info = newInfo(name_str, type_str, jv_res, cp_res)

Definition at line 139 of file franka_hw_controller_switching_test.cpp.

ControllerInfo franka_hw::jv_cv_info = newInfo(name_str, type_str, jv_res, cv_res)

Definition at line 138 of file franka_hw_controller_switching_test.cpp.

ControllerInfo franka_hw::jv_info = newInfo(name_str, type_str, jv_res)

Definition at line 145 of file franka_hw_controller_switching_test.cpp.

ControllerInfo franka_hw::jv_jv_info = newInfo(name_str, type_str, jv_res, jv_res)

Definition at line 137 of file franka_hw_controller_switching_test.cpp.

InterfaceResources franka_hw::jv_res(jv_iface_str, joints_set)

ControllerInfo franka_hw::no_id_info = newInfo(name_str, type_str, no_id_res)

Definition at line 130 of file franka_hw_controller_switching_test.cpp.

InterfaceResources franka_hw::no_id_res(jp_iface_str, no_id_set)

set<string> franka_hw::no_id_set = {"joint1"}

Definition at line 120 of file franka_hw_controller_switching_test.cpp.

ControllerInfo franka_hw::unknown_iface_info = newInfo(name_str, type_str, unknown_iface_res)

Definition at line 131 of file franka_hw_controller_switching_test.cpp.

InterfaceResources franka_hw::unknown_iface_res(unknown_iface_str, joints_set)

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