Public Member Functions | Private Attributes
lwr::VelocityProjector Class Reference

#include <VelocityProjection.h>

Inheritance diagram for lwr::VelocityProjector:
Inheritance graph
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List of all members.

Public Member Functions

virtual void cleanupHook ()
virtual bool configureHook ()
virtual bool startHook ()
virtual void stopHook ()
virtual void updateHook ()
 VelocityProjector (const std::string &name)
virtual ~VelocityProjector ()

Private Attributes

KDL::Twist cart_vel
geometry_msgs::Twist cart_vel_cmd
double dt
KDL::Jacobian jacobian
std::vector< double > jnt_pos_cmd
std::vector< double > jnt_pos_des
std::vector< double > null_vel_cmd
InputPort< geometry_msgs::Twist > port_cartesian_velocity_command
InputPort< double > port_command_period
OutputPort< geometry_msgs::Poseport_desired_cartesian_position
InputPort< KDL::Jacobianport_jacobian
InputPort< std::vector< double > > port_jnt_pos_des
OutputPort< std::vector< double > > port_joint_position_command
InputPort< Matrix77dport_mass_matrix
InputPort< std::vector< double > > port_nullspace_velocity_command
InputPort< geometry_msgs::Poseport_tool_frame
KDL::Frame tool_frame

Detailed Description

Definition at line 31 of file VelocityProjection.h.


Constructor & Destructor Documentation

lwr::VelocityProjector::VelocityProjector ( const std::string &  name)

Definition at line 16 of file VelocityProjection.cpp.

Definition at line 31 of file VelocityProjection.cpp.


Member Function Documentation

Reimplemented from RTT::base::TaskCore.

Definition at line 39 of file VelocityProjection.cpp.

Reimplemented from RTT::base::TaskCore.

Definition at line 35 of file VelocityProjection.cpp.

Reimplemented from RTT::base::TaskCore.

Definition at line 43 of file VelocityProjection.cpp.

Reimplemented from RTT::base::TaskCore.

Definition at line 64 of file VelocityProjection.cpp.

Reimplemented from RTT::base::TaskCore.

Definition at line 68 of file VelocityProjection.cpp.


Member Data Documentation

Definition at line 60 of file VelocityProjection.h.

geometry_msgs::Twist lwr::VelocityProjector::cart_vel_cmd [private]

Definition at line 59 of file VelocityProjection.h.

double lwr::VelocityProjector::dt [private]

Definition at line 55 of file VelocityProjection.h.

Definition at line 61 of file VelocityProjection.h.

std::vector<double> lwr::VelocityProjector::jnt_pos_cmd [private]

Definition at line 57 of file VelocityProjection.h.

std::vector<double> lwr::VelocityProjector::jnt_pos_des [private]

Definition at line 56 of file VelocityProjection.h.

std::vector<double> lwr::VelocityProjector::null_vel_cmd [private]

Definition at line 58 of file VelocityProjection.h.

Definition at line 48 of file VelocityProjection.h.

Definition at line 50 of file VelocityProjection.h.

Definition at line 45 of file VelocityProjection.h.

Definition at line 47 of file VelocityProjection.h.

InputPort<std::vector<double> > lwr::VelocityProjector::port_jnt_pos_des [private]

Definition at line 51 of file VelocityProjection.h.

Definition at line 43 of file VelocityProjection.h.

Definition at line 53 of file VelocityProjection.h.

Definition at line 52 of file VelocityProjection.h.

Definition at line 49 of file VelocityProjection.h.

Definition at line 62 of file VelocityProjection.h.


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


lwr_impedance_controller
Author(s): Konrad Banachowicz
autogenerated on Mon Oct 6 2014 02:01:41