lwr::ImpedanceProjector Class Reference

#include <ImpedanceProjection.h>

Inheritance diagram for lwr::ImpedanceProjector:

List of all members.

Public Member Functions
virtual void	cleanupHook ()
virtual bool	configureHook ()
	ImpedanceProjector (const std::string &name)
virtual bool	startHook ()
virtual void	stopHook ()
virtual void	updateHook ()
virtual	~ImpedanceProjector ()
Private Attributes
lwr_impedance_controller::CartesianImpedance	cartesian_impedance_command
double	dt
lwr_fri::FriJointImpedance	imp
KDL::Jacobian	jacobian
std::vector< double >	jnt_pos
std::vector< double >	jnt_pos_cmd
std::vector< double >	jnt_trq_cmd
InputPort< geometry_msgs::Pose >	port_cart_pos_msr
InputPort < lwr_impedance_controller::CartesianImpedance >	port_cartesian_impedance_command
InputPort< double >	port_command_period
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
InputPort< std::vector< double > >	port_joint_position_command
InputPort< geometry_msgs::Pose >	port_tool_frame
KDL::Frame	tool_frame

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Detailed Description

Definition at line 28 of file ImpedanceProjection.h.

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Constructor & Destructor Documentation

lwr::ImpedanceProjector::ImpedanceProjector

(

const std::string &

name

)

Definition at line 19 of file ImpedanceProjection.cpp.

lwr::ImpedanceProjector::~ImpedanceProjector

(

)

[virtual]

Definition at line 34 of file ImpedanceProjection.cpp.

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Member Function Documentation

void lwr::ImpedanceProjector::cleanupHook

(

)

[virtual]

Reimplemented from RTT::base::TaskCore.

Definition at line 42 of file ImpedanceProjection.cpp.

bool lwr::ImpedanceProjector::configureHook

(

)

[virtual]

Reimplemented from RTT::base::TaskCore.

Definition at line 38 of file ImpedanceProjection.cpp.

bool lwr::ImpedanceProjector::startHook

(

)

[virtual]

Reimplemented from RTT::base::TaskCore.

Definition at line 46 of file ImpedanceProjection.cpp.

void lwr::ImpedanceProjector::stopHook

(

)

[virtual]

Reimplemented from RTT::base::TaskCore.

Definition at line 97 of file ImpedanceProjection.cpp.

void lwr::ImpedanceProjector::updateHook

(

)

[virtual]

Reimplemented from RTT::base::TaskCore.

Definition at line 101 of file ImpedanceProjection.cpp.

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Member Data Documentation

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

Definition at line 58 of file ImpedanceProjection.h.

double lwr::ImpedanceProjector::dt [private]

Definition at line 52 of file ImpedanceProjection.h.

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

Definition at line 55 of file ImpedanceProjection.h.

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

Definition at line 56 of file ImpedanceProjection.h.

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

Definition at line 54 of file ImpedanceProjection.h.

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

Definition at line 54 of file ImpedanceProjection.h.

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

Definition at line 53 of file ImpedanceProjection.h.

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

Definition at line 46 of file ImpedanceProjection.h.

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

Definition at line 48 of file ImpedanceProjection.h.

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

Definition at line 49 of file ImpedanceProjection.h.

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

Definition at line 45 of file ImpedanceProjection.h.

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

Definition at line 50 of file ImpedanceProjection.h.

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

Definition at line 41 of file ImpedanceProjection.h.

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

Definition at line 42 of file ImpedanceProjection.h.

InputPort<std::vector<double> > lwr::ImpedanceProjector::port_joint_position_command [private]

Definition at line 43 of file ImpedanceProjection.h.

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

Definition at line 47 of file ImpedanceProjection.h.

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

Definition at line 57 of file ImpedanceProjection.h.

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

• ImpedanceProjection.h
• ImpedanceProjection.cpp