Public Attributes
double	contact

double	contact_force_threshold

double	contact_ramp_increase {0.3}

Vector7d	dq

double	f_ext_norm

std::vector< hardware_interface::JointHandle >	joint_handles

Vector7d	q

std::unique_ptr< franka_hw::FrankaStateHandle >	state_handle

Vector7d	tau_target

Vector7d	tau_target_last

std::unique_ptr< JointWallContainer< 7 > >	virtual_joint_wall

Detailed Description

Definition at line 79 of file teleop_joint_pd_example_controller.h.

Member Data Documentation

◆ contact

double franka_example_controllers::TeleopJointPDExampleController::FrankaDataContainer::contact

Definition at line 92 of file teleop_joint_pd_example_controller.h.

◆ contact_force_threshold

double franka_example_controllers::TeleopJointPDExampleController::FrankaDataContainer::contact_force_threshold

Definition at line 94 of file teleop_joint_pd_example_controller.h.

◆ contact_ramp_increase

double franka_example_controllers::TeleopJointPDExampleController::FrankaDataContainer::contact_ramp_increase {0.3}

Definition at line 93 of file teleop_joint_pd_example_controller.h.

◆ dq

Vector7d franka_example_controllers::TeleopJointPDExampleController::FrankaDataContainer::dq

Definition at line 89 of file teleop_joint_pd_example_controller.h.

◆ f_ext_norm

double franka_example_controllers::TeleopJointPDExampleController::FrankaDataContainer::f_ext_norm

Definition at line 91 of file teleop_joint_pd_example_controller.h.

◆ joint_handles

std::vector<hardware_interface::JointHandle> franka_example_controllers::TeleopJointPDExampleController::FrankaDataContainer::joint_handles

Definition at line 81 of file teleop_joint_pd_example_controller.h.

◆ q

Vector7d franka_example_controllers::TeleopJointPDExampleController::FrankaDataContainer::q

Definition at line 88 of file teleop_joint_pd_example_controller.h.

◆ state_handle

std::unique_ptr<franka_hw::FrankaStateHandle> franka_example_controllers::TeleopJointPDExampleController::FrankaDataContainer::state_handle

Definition at line 80 of file teleop_joint_pd_example_controller.h.

◆ tau_target

Vector7d franka_example_controllers::TeleopJointPDExampleController::FrankaDataContainer::tau_target

Definition at line 86 of file teleop_joint_pd_example_controller.h.

◆ tau_target_last

Vector7d franka_example_controllers::TeleopJointPDExampleController::FrankaDataContainer::tau_target_last

Definition at line 87 of file teleop_joint_pd_example_controller.h.

◆ virtual_joint_wall

std::unique_ptr<JointWallContainer<7> > franka_example_controllers::TeleopJointPDExampleController::FrankaDataContainer::virtual_joint_wall

Definition at line 84 of file teleop_joint_pd_example_controller.h.

The documentation for this struct was generated from the following file:

teleop_joint_pd_example_controller.h

Public Attributes