Helper base class template for closed loop HardwareInterfaceAdapter implementations. More...

#include <hardware_interface_adapter.h>

Inheritance diagram for ur_controllers::ClosedLoopHardwareInterfaceAdapter< State >:

Public Member Functions
	ClosedLoopHardwareInterfaceAdapter ()

bool	init (std::vector< ur_controllers::ScaledJointHandle > &joint_handles, ros::NodeHandle &controller_nh)

void	starting (const ros::Time &)

void	stopping (const ros::Time &)

void	updateCommand (const ros::Time &, const ros::Duration &period, const State &desired_state, const State &state_error)

Private Types
typedef std::shared_ptr< control_toolbox::Pid >	PidPtr

Private Attributes
std::vector< ur_controllers::ScaledJointHandle > *	joint_handles_ptr_

std::vector< PidPtr >	pids_

std::vector< double >	velocity_ff_

Detailed Description

template<class State>
class ur_controllers::ClosedLoopHardwareInterfaceAdapter< State >

Helper base class template for closed loop HardwareInterfaceAdapter implementations.

Adapters leveraging (specializing) this class will generate a command given the desired state and state error using a velocity feedforward term plus a corrective PID term.

Use one of the available template specializations of this class (or create your own) to adapt the ScaledJointTrajectoryController to a specific hardware interface.

Definition at line 115 of file hardware_interface_adapter.h.

Member Typedef Documentation

◆ PidPtr

template<class State >

typedef std::shared_ptr<control_toolbox::Pid> ur_controllers::ClosedLoopHardwareInterfaceAdapter< State >::PidPtr

private

Definition at line 193 of file hardware_interface_adapter.h.

Constructor & Destructor Documentation

◆ ClosedLoopHardwareInterfaceAdapter()

template<class State >

ur_controllers::ClosedLoopHardwareInterfaceAdapter< State >::ClosedLoopHardwareInterfaceAdapter ( )

inline

Definition at line 118 of file hardware_interface_adapter.h.

Member Function Documentation

◆ init()

template<class State >

bool ur_controllers::ClosedLoopHardwareInterfaceAdapter< State >::init	(	std::vector< ur_controllers::ScaledJointHandle > &	joint_handles,
		ros::NodeHandle &	controller_nh
	)

inline

Definition at line 122 of file hardware_interface_adapter.h.

◆ starting()

template<class State >

void ur_controllers::ClosedLoopHardwareInterfaceAdapter< State >::starting ( const ros::Time & )

inline

Definition at line 153 of file hardware_interface_adapter.h.

◆ stopping()

template<class State >

void ur_controllers::ClosedLoopHardwareInterfaceAdapter< State >::stopping ( const ros::Time & )

inline

Definition at line 168 of file hardware_interface_adapter.h.

◆ updateCommand()

template<class State >

void ur_controllers::ClosedLoopHardwareInterfaceAdapter< State >::updateCommand	(	const ros::Time &	,
		const ros::Duration &	period,
		const State &	desired_state,
		const State &	state_error
	)