#include <joint_position_controller.h>

Inheritance diagram for serl_franka_controllers::JointPositionController:

Public Member Functions
bool	init (hardware_interface::RobotHW *robot_hardware, ros::NodeHandle &node_handle) override

void	starting (const ros::Time &) override

void	update (const ros::Time &, const ros::Duration &period) override

Public Member Functions inherited from controller_interface::MultiInterfaceController< hardware_interface::PositionJointInterface >
virtual bool	init (hardware_interface::RobotHW *, ros::NodeHandle &, ros::NodeHandle &)

	MultiInterfaceController (bool allow_optional_interfaces=false)

Public Member Functions inherited from controller_interface::ControllerBase
virtual void	aborting (const ros::Time &)

virtual void	aborting (const ros::Time &)

bool	abortRequest (const ros::Time &time)

bool	abortRequest (const ros::Time &time)

	ControllerBase ()=default

	ControllerBase (const ControllerBase &)=delete

	ControllerBase (ControllerBase &&)=delete

bool	isAborted () const

bool	isAborted () const

bool	isInitialized () const

bool	isInitialized () const

bool	isRunning () const

bool	isRunning () const

bool	isStopped () const

bool	isStopped () const

bool	isWaiting () const

bool	isWaiting () const

ControllerBase &	operator= (const ControllerBase &)=delete

ControllerBase &	operator= (ControllerBase &&)=delete

bool	startRequest (const ros::Time &time)

bool	startRequest (const ros::Time &time)

virtual void	stopping (const ros::Time &)

virtual void	stopping (const ros::Time &)

bool	stopRequest (const ros::Time &time)

bool	stopRequest (const ros::Time &time)

void	updateRequest (const ros::Time &time, const ros::Duration &period)

void	updateRequest (const ros::Time &time, const ros::Duration &period)

virtual void	waiting (const ros::Time &)

virtual void	waiting (const ros::Time &)

bool	waitRequest (const ros::Time &time)

bool	waitRequest (const ros::Time &time)

virtual	~ControllerBase ()=default

Private Member Functions
double	cubicInterpolation (double p0, double p1, double t)

Private Attributes
ros::Duration	elapsed_time_

std::array< double, 7 >	initial_pose_ {}

std::vector< hardware_interface::JointHandle >	position_joint_handles_

hardware_interface::PositionJointInterface *	position_joint_interface_

std::array< double, 7 >	reset_pose_ {}

Additional Inherited Members
Public Types inherited from controller_interface::ControllerBase
typedef std::vector< hardware_interface::InterfaceResources >	ClaimedResources

enum	ControllerState { ControllerState::CONSTRUCTED, ControllerState::INITIALIZED, ControllerState::RUNNING, ControllerState::STOPPED, ControllerState::WAITING, ControllerState::ABORTED }

Public Attributes inherited from controller_interface::ControllerBase
ControllerState	state_

Protected Member Functions inherited from controller_interface::MultiInterfaceController< hardware_interface::PositionJointInterface >
bool	initRequest (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh, ClaimedResources &claimed_resources) override

Static Protected Member Functions inherited from controller_interface::MultiInterfaceController< hardware_interface::PositionJointInterface >
static void	clearClaims (hardware_interface::RobotHW *robot_hw)

static void	extractInterfaceResources (hardware_interface::RobotHW robot_hw_in, hardware_interface::RobotHW robot_hw_out)

static bool	hasRequiredInterfaces (hardware_interface::RobotHW *robot_hw)

static void	populateClaimedResources (hardware_interface::RobotHW *robot_hw, ClaimedResources &claimed_resources)

Protected Attributes inherited from controller_interface::MultiInterfaceController< hardware_interface::PositionJointInterface >
bool	allow_optional_interfaces_

hardware_interface::RobotHW	robot_hw_ctrl_