#include <force_example_controller.h>

Inheritance diagram for franka_example_controllers::ForceExampleController:

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::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 Member Functions
void	desiredMassParamCallback (franka_example_controllers::desired_mass_paramConfig &config, uint32_t level)

Eigen::Matrix< double, 7, 1 >	saturateTorqueRate (const Eigen::Matrix< double, 7, 1 > &tau_d_calculated, const Eigen::Matrix< double, 7, 1 > &tau_J_d)

Private Attributes
double	desired_mass_ {0.0}

ros::NodeHandle	dynamic_reconfigure_desired_mass_param_node_

std::unique_ptr< dynamic_reconfigure::Server< franka_example_controllers::desired_mass_paramConfig > >	dynamic_server_desired_mass_param_

double	filter_gain_ {0.001}

std::vector< hardware_interface::JointHandle >	joint_handles_

double	k_i_ {0.0}

double	k_p_ {0.0}

std::unique_ptr< franka_hw::FrankaModelHandle >	model_handle_

std::unique_ptr< franka_hw::FrankaStateHandle >	state_handle_

double	target_k_i_ {0.0}

double	target_k_p_ {0.0}

double	target_mass_ {0.0}

Eigen::Matrix< double, 7, 1 >	tau_error_

Eigen::Matrix< double, 7, 1 >	tau_ext_initial_

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
	ABORTED

	CONSTRUCTED

	INITIALIZED

	RUNNING

enum controller_interface::ControllerBase:: { ... }	state_

	STOPPED

	WAITING

Protected Member Functions inherited from controller_interface::MultiInterfaceController< franka_hw::FrankaModelInterface, hardware_interface::EffortJointInterface, 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::FrankaModelInterface, hardware_interface::EffortJointInterface, 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::FrankaModelInterface, hardware_interface::EffortJointInterface, franka_hw::FrankaStateInterface >
bool	allow_optional_interfaces_

hardware_interface::RobotHW	robot_hw_ctrl_

Detailed Description

Definition at line 23 of file force_example_controller.h.

Member Function Documentation

◆ desiredMassParamCallback()

void franka_example_controllers::ForceExampleController::desiredMassParamCallback	(	franka_example_controllers::desired_mass_paramConfig &	config,
		uint32_t	level
	)

private

Definition at line 130 of file force_example_controller.cpp.

◆ init()

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

overridevirtual

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

Definition at line 16 of file force_example_controller.cpp.

◆ saturateTorqueRate()

Eigen::Matrix< double, 7, 1 > franka_example_controllers::ForceExampleController::saturateTorqueRate	(	const Eigen::Matrix< double, 7, 1 > &	tau_d_calculated,
		const Eigen::Matrix< double, 7, 1 > &	tau_J_d
	)

private

Definition at line 138 of file force_example_controller.cpp.

◆ starting()

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

overridevirtual

Reimplemented from controller_interface::ControllerBase.

Definition at line 88 of file force_example_controller.cpp.

◆ update()

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

overridevirtual

Implements controller_interface::ControllerBase.

Definition at line 98 of file force_example_controller.cpp.

Member Data Documentation

◆ desired_mass_

double franka_example_controllers::ForceExampleController::desired_mass_ {0.0}

private

Definition at line 42 of file force_example_controller.h.

◆ dynamic_reconfigure_desired_mass_param_node_

ros::NodeHandle franka_example_controllers::ForceExampleController::dynamic_reconfigure_desired_mass_param_node_

private

Definition at line 56 of file force_example_controller.h.

◆ dynamic_server_desired_mass_param_

std::unique_ptr<dynamic_reconfigure::Server<franka_example_controllers::desired_mass_paramConfig> > franka_example_controllers::ForceExampleController::dynamic_server_desired_mass_param_

private

Definition at line 55 of file force_example_controller.h.

◆ filter_gain_

double franka_example_controllers::ForceExampleController::filter_gain_ {0.001}

private

Definition at line 48 of file force_example_controller.h.

◆ joint_handles_

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

private

Definition at line 40 of file force_example_controller.h.

◆ k_i_

double franka_example_controllers::ForceExampleController::k_i_ {0.0}

private

Definition at line 45 of file force_example_controller.h.

◆ k_p_

double franka_example_controllers::ForceExampleController::k_p_ {0.0}

private

Definition at line 44 of file force_example_controller.h.

◆ kDeltaTauMax

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

staticprivate

Definition at line 51 of file force_example_controller.h.

◆ model_handle_

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

private

Definition at line 38 of file force_example_controller.h.

◆ state_handle_

std::unique_ptr<franka_hw::FrankaStateHandle> franka_example_controllers::ForceExampleController::state_handle_

private

Definition at line 39 of file force_example_controller.h.

◆ target_k_i_

double franka_example_controllers::ForceExampleController::target_k_i_ {0.0}

private

Definition at line 47 of file force_example_controller.h.

◆ target_k_p_

double franka_example_controllers::ForceExampleController::target_k_p_ {0.0}

private

Definition at line 46 of file force_example_controller.h.

◆ target_mass_

double franka_example_controllers::ForceExampleController::target_mass_ {0.0}

private

Definition at line 43 of file force_example_controller.h.

◆ tau_error_

Eigen::Matrix<double, 7, 1> franka_example_controllers::ForceExampleController::tau_error_

private

Definition at line 50 of file force_example_controller.h.

◆ tau_ext_initial_

Eigen::Matrix<double, 7, 1> franka_example_controllers::ForceExampleController::tau_ext_initial_

private

Definition at line 49 of file force_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

◆ desiredMassParamCallback()

◆ init()

◆ saturateTorqueRate()

◆ starting()

◆ update()

Member Data Documentation

◆ desired_mass_

◆ dynamic_reconfigure_desired_mass_param_node_

◆ dynamic_server_desired_mass_param_

◆ filter_gain_

◆ joint_handles_

◆ k_i_

◆ k_p_

◆ kDeltaTauMax

◆ model_handle_

◆ state_handle_

◆ target_k_i_

◆ target_k_p_

◆ target_mass_

◆ tau_error_

◆ tau_ext_initial_