lwr::CartWrench Class Reference

#include <CartWrench.h>

Inheritance diagram for lwr::CartWrench:

List of all members.

Public Member Functions
	CartWrench (const std::string &name)
virtual void	cleanupHook ()
virtual bool	configureHook ()
virtual bool	startHook ()
virtual void	stopHook ()
virtual void	updateHook ()
virtual	~CartWrench ()
Private Attributes
geometry_msgs::Pose	cart_pos_cmd
geometry_msgs::Pose	cart_pos_msr
KDL::Frame	cart_pos_old
KDL::Frame	cart_pos_ref
lwr_impedance_controller::CartesianImpedance	cartesian_impedance_command
geometry_msgs::Wrench	cartesian_wrench_command
double	dt
Eigen::GeneralizedSelfAdjointEigenSolver < Matrix66d >	es
lwr_fri::FriJointImpedance	imp
KDL::Jacobian	jacobian
std::vector< double >	jnt_pos
std::vector< double >	jnt_trq_cmd
std::vector< double >	null_trq_cmd
InputPort< geometry_msgs::Pose >	port_cart_pos_msr
InputPort < lwr_impedance_controller::CartesianImpedance >	port_cartesian_impedance_command
InputPort< geometry_msgs::Pose >	port_cartesian_position_command
InputPort< geometry_msgs::Wrench >	port_cartesian_wrench_command
InputPort< double >	port_command_period
OutputPort< geometry_msgs::Pose >	port_desired_cartesian_position
InputPort< KDL::Jacobian >	port_jacobian
InputPort< std::vector< double > >	port_jnt_pos_msr
OutputPort< std::vector< double > >	port_jnt_trq_cmd
OutputPort < lwr_fri::FriJointImpedance >	port_joint_impedance_command
OutputPort< std::vector< double > >	port_joint_position_command
InputPort< Matrix77d >	port_mass_matrix
InputPort< std::vector< double > >	port_nullspace_torque_command
InputPort< geometry_msgs::Pose >	port_tool_frame
KDL::Frame	tool_frame

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Detailed Description

Definition at line 39 of file CartWrench.h.

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Constructor & Destructor Documentation

lwr::CartWrench::CartWrench

(

const std::string &

name

)

Definition at line 15 of file CartWrench.cpp.

lwr::CartWrench::~CartWrench

(

)

[virtual]

Definition at line 40 of file CartWrench.cpp.

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Member Function Documentation

void lwr::CartWrench::cleanupHook

(

)

[virtual]

Reimplemented from RTT::base::TaskCore.

Definition at line 48 of file CartWrench.cpp.

bool lwr::CartWrench::configureHook

(

)

[virtual]

Reimplemented from RTT::base::TaskCore.

Definition at line 44 of file CartWrench.cpp.

bool lwr::CartWrench::startHook

(

)

[virtual]

Reimplemented from RTT::base::TaskCore.

Definition at line 52 of file CartWrench.cpp.

void lwr::CartWrench::stopHook

(

)

[virtual]

Reimplemented from RTT::base::TaskCore.

Definition at line 113 of file CartWrench.cpp.

void lwr::CartWrench::updateHook

(

)

[virtual]

Reimplemented from RTT::base::TaskCore.

Definition at line 138 of file CartWrench.cpp.

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Member Data Documentation

geometry_msgs::Pose lwr::CartWrench::cart_pos_cmd [private]

Definition at line 79 of file CartWrench.h.

geometry_msgs::Pose lwr::CartWrench::cart_pos_msr [private]

Definition at line 79 of file CartWrench.h.

KDL::Frame lwr::CartWrench::cart_pos_old [private]

Definition at line 81 of file CartWrench.h.

KDL::Frame lwr::CartWrench::cart_pos_ref [private]

Definition at line 80 of file CartWrench.h.

lwr_impedance_controller::CartesianImpedance lwr::CartWrench::cartesian_impedance_command [private]

Definition at line 76 of file CartWrench.h.

geometry_msgs::Wrench lwr::CartWrench::cartesian_wrench_command [private]

Definition at line 77 of file CartWrench.h.

double lwr::CartWrench::dt [private]

Definition at line 69 of file CartWrench.h.

Eigen::GeneralizedSelfAdjointEigenSolver<Matrix66d> lwr::CartWrench::es [private]

Definition at line 83 of file CartWrench.h.

lwr_fri::FriJointImpedance lwr::CartWrench::imp [private]

Definition at line 73 of file CartWrench.h.

KDL::Jacobian lwr::CartWrench::jacobian [private]

Definition at line 74 of file CartWrench.h.

std::vector<double> lwr::CartWrench::jnt_pos [private]

Definition at line 71 of file CartWrench.h.

std::vector<double> lwr::CartWrench::jnt_trq_cmd [private]

Definition at line 70 of file CartWrench.h.

std::vector<double> lwr::CartWrench::null_trq_cmd [private]

Definition at line 72 of file CartWrench.h.

InputPort<geometry_msgs::Pose> lwr::CartWrench::port_cart_pos_msr [private]

Definition at line 59 of file CartWrench.h.

InputPort<lwr_impedance_controller::CartesianImpedance> lwr::CartWrench::port_cartesian_impedance_command [private]

Definition at line 62 of file CartWrench.h.

InputPort<geometry_msgs::Pose> lwr::CartWrench::port_cartesian_position_command [private]

Definition at line 60 of file CartWrench.h.

InputPort<geometry_msgs::Wrench> lwr::CartWrench::port_cartesian_wrench_command [private]

Definition at line 63 of file CartWrench.h.

InputPort<double> lwr::CartWrench::port_command_period [private]

Definition at line 64 of file CartWrench.h.

OutputPort<geometry_msgs::Pose> lwr::CartWrench::port_desired_cartesian_position [private]

Definition at line 56 of file CartWrench.h.

InputPort<KDL::Jacobian> lwr::CartWrench::port_jacobian [private]

Definition at line 58 of file CartWrench.h.

InputPort<std::vector<double> > lwr::CartWrench::port_jnt_pos_msr [private]

Definition at line 65 of file CartWrench.h.

OutputPort<std::vector<double> > lwr::CartWrench::port_jnt_trq_cmd [private]

Definition at line 52 of file CartWrench.h.

OutputPort<lwr_fri::FriJointImpedance> lwr::CartWrench::port_joint_impedance_command [private]

Definition at line 53 of file CartWrench.h.

OutputPort<std::vector<double> > lwr::CartWrench::port_joint_position_command [private]

Definition at line 54 of file CartWrench.h.

InputPort<Matrix77d> lwr::CartWrench::port_mass_matrix [private]

Definition at line 67 of file CartWrench.h.

InputPort<std::vector<double> > lwr::CartWrench::port_nullspace_torque_command [private]

Definition at line 66 of file CartWrench.h.

InputPort<geometry_msgs::Pose> lwr::CartWrench::port_tool_frame [private]

Definition at line 61 of file CartWrench.h.

KDL::Frame lwr::CartWrench::tool_frame [private]

Definition at line 75 of file CartWrench.h.

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

• CartWrench.h
• CartWrench.cpp