franka_example_controllers::ElbowExampleController Class Reference

#include <elbow_example_controller.h>

Inheritance diagram for franka_example_controllers::ElbowExampleController:

Public Member Functions
bool	init (hardware_interface::RobotHW *robot_hardware, 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::FrankaPoseCartesianInterface, franka_hw::FrankaStateInterface >
virtual bool	init (hardware_interface::RobotHW *, ros::NodeHandle &, ros::NodeHandle &)
	MultiInterfaceController (bool allow_optional_interfaces=false)
Public Member Functions inherited from controller_interface::ControllerBase
virtual void	aborting (const ros::Time &)
virtual void	aborting (const ros::Time &)
bool	abortRequest (const ros::Time &time)
bool	abortRequest (const ros::Time &time)
	ControllerBase ()=default
	ControllerBase (const ControllerBase &)=delete
	ControllerBase (ControllerBase &&)=delete
bool	isAborted () const
bool	isAborted () const
bool	isInitialized () const
bool	isInitialized () const
bool	isRunning () const
bool	isRunning () const
bool	isStopped () const
bool	isStopped () const
bool	isWaiting () const
bool	isWaiting () const
ControllerBase &	operator= (const ControllerBase &)=delete
ControllerBase &	operator= (ControllerBase &&)=delete
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 void	waiting (const ros::Time &)
virtual void	waiting (const ros::Time &)
bool	waitRequest (const ros::Time &time)
bool	waitRequest (const ros::Time &time)
virtual	~ControllerBase ()=default

Private Attributes
std::unique_ptr< franka_hw::FrankaCartesianPoseHandle >	cartesian_pose_handle_
franka_hw::FrankaPoseCartesianInterface *	cartesian_pose_interface_
ros::Duration	elapsed_time_
std::array< double, 2 >	initial_elbow_ {}
std::array< double, 16 >	initial_pose_ {}

Additional Inherited Members
Public Types inherited from controller_interface::ControllerBase
typedef std::vector< hardware_interface::InterfaceResources >	ClaimedResources
Public Attributes inherited from controller_interface::ControllerBase
	ABORTED
	CONSTRUCTED
	INITIALIZED
	RUNNING
enum controller_interface::ControllerBase:: { ... }	state_
	STOPPED
	WAITING
Protected Member Functions inherited from controller_interface::MultiInterfaceController< franka_hw::FrankaPoseCartesianInterface, franka_hw::FrankaStateInterface >
bool	initRequest (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh, ClaimedResources &claimed_resources) override
Static Protected Member Functions inherited from controller_interface::MultiInterfaceController< franka_hw::FrankaPoseCartesianInterface, 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::FrankaPoseCartesianInterface, franka_hw::FrankaStateInterface >
bool	allow_optional_interfaces_
hardware_interface::RobotHW	robot_hw_ctrl_

Detailed Description

Definition at line 19 of file elbow_example_controller.h.

Member Function Documentation

init()

bool franka_example_controllers::ElbowExampleController::init ( hardware_interface::RobotHW *  robot_hardware, ros::NodeHandle &  node_handle  )

overridevirtual

Reimplemented from controller_interface::MultiInterfaceController< franka_hw::FrankaPoseCartesianInterface, franka_hw::FrankaStateInterface >.

Definition at line 18 of file elbow_example_controller.cpp.

starting()

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

overridevirtual

Reimplemented from controller_interface::ControllerBase.

Definition at line 67 of file elbow_example_controller.cpp.

update()

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

overridevirtual

Implements controller_interface::ControllerBase.

Definition at line 73 of file elbow_example_controller.cpp.

Member Data Documentation

cartesian_pose_handle_

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

private

Definition at line 29 of file elbow_example_controller.h.

cartesian_pose_interface_

franka_hw::FrankaPoseCartesianInterface* franka_example_controllers::ElbowExampleController::cartesian_pose_interface_

private

Definition at line 28 of file elbow_example_controller.h.

elapsed_time_

ros::Duration franka_example_controllers::ElbowExampleController::elapsed_time_

private

Definition at line 30 of file elbow_example_controller.h.

initial_elbow_

std::array<double, 2> franka_example_controllers::ElbowExampleController::initial_elbow_ {}

private

Definition at line 32 of file elbow_example_controller.h.

initial_pose_

std::array<double, 16> franka_example_controllers::ElbowExampleController::initial_pose_ {}

private

Definition at line 31 of file elbow_example_controller.h.

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

• elbow_example_controller.h
• elbow_example_controller.cpp