Classes
class	CartesianImpedanceExampleController

class	CartesianPoseExampleController

class	CartesianVelocityExampleController

class	DualArmCartesianImpedanceExampleController
	Controller class for ros_control that renders two decoupled Cartesian impedances for the tracking of two target poses for the two endeffectors. More...

class	ElbowExampleController

class	ForceExampleController

struct	FrankaDataContainer
	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...

class	JointImpedanceExampleController

class	JointPositionExampleController

class	JointVelocityExampleController

class	JointWall
	A class that offers an implementation of a virtual wall for a single joint. More...

class	JointWallContainer
	A class that organizes multiple virtual joint walls. More...

class	ModelExampleController

class	TeleopJointPDExampleController
	Controller class for ros_control that allows force-feedback teleoperation of a follower arm from a leader arm. More...

Enumerations
enum	TeleopStateMachine { ALIGN, TRACK }
	Finite state machine that defines the states of the teleoperation phases. More...

Functions
void	pseudoInverse (const Eigen::MatrixXd &M_, Eigen::MatrixXd &M_pinv_, bool damped=true)

Enumeration Type Documentation

◆ TeleopStateMachine

Finite state machine that defines the states of the teleoperation phases.

ALIGN is the initial phase, when the leader and follower align. During this phase the leader cannot be moved. TRACK is the tracking phase.

Enumerator
ALIGN
TRACK

void franka_example_controllers::pseudoInverse	(	const Eigen::MatrixXd &	M_,
		Eigen::MatrixXd &	M_pinv_,
		bool	damped = `true`
	)

inline

Definition at line 16 of file pseudo_inversion.h.