Classes
struct	CartesianState

class	CartesianStateHandle

class	CartesianStateInterface

class	CartesianTrajectory

class	CartesianTrajectorySegment

class	ControlPolicy
	Primary template. More...

class	ControlPolicy< hardware_interface::JointStateInterface >
	Specialization for a read-only controller for trajectory publishing. More...

class	ControlPolicy< hardware_interface::PositionJointInterface >
	Specialization for joint position control. More...

class	ControlPolicy< hardware_interface::VelocityJointInterface >
	Specialization for joint velocity control. More...

class	ControlPolicy< ros_controllers_cartesian::PoseCommandInterface >
	Specialization for Cartesian pose control. More...

class	ControlPolicy< ros_controllers_cartesian::TwistCommandInterface >
	Specialization for Cartesian twist control. More...

class	ExampleIKSolver
	A wrapper around KDL's Levenberg Marquardt solver. More...

class	IKSolver
	Base class for Inverse Kinematics (IK) solvers. More...

class	JointBasedController
	A common base class for joint-based control policies. More...

class	PoseCommandHandle

class	PoseCommandInterface

class	TwistCommandHandle

class	TwistCommandInterface

Typedefs
template<class HWInterface >
using	Controller = controller_interface::MultiInterfaceController< HWInterface, scaled_controllers::SpeedScalingInterface >
	A common control type with optional speed scaling interface. More...

typedef trajectory_interface::QuinticSplineSegment< double >	QuinticSplineSegment

typedef CartesianTrajectorySegment::SplineState	SplineState

typedef CartesianTrajectorySegment::Time	Time

Functions
CartesianTrajectorySegment::SplineState	convert (const CartesianState &state)

CartesianState	convert (const CartesianTrajectorySegment::SplineState &state)

std::ostream &	operator<< (std::ostream &out, const CartesianState &state)

std::ostream &	operator<< (std::ostream &os, const CartesianTrajectorySegment::SplineState &state)

Typedef Documentation

◆ Controller

template<class HWInterface >

A common control type with optional speed scaling interface.

Template Parameters

HWInterface Hardware interface essential for control

Definition at line 58 of file control_policies.h.