Class JointImpedanceExampleController

Inheritance Relationships

Base Type

  • public controller_interface::ControllerInterface

Class Documentation

class JointImpedanceExampleController : public controller_interface::ControllerInterface

The joint impedance example controller moves joint 4 and 5 in a very compliant periodic movement.

Public Types

using Vector7d = Eigen::Matrix<double, 7, 1>

Public Functions

controller_interface::InterfaceConfiguration command_interface_configuration() const override
controller_interface::InterfaceConfiguration state_interface_configuration() const override
controller_interface::return_type update(const rclcpp::Time &time, const rclcpp::Duration &period) override
CallbackReturn on_init() override
CallbackReturn on_configure(const rclcpp_lifecycle::State &previous_state) override
CallbackReturn on_activate(const rclcpp_lifecycle::State &previous_state) override