Class JointImpedanceExampleController
Defined in File joint_impedance_example_controller.hpp
Inheritance Relationships
Base Type
public controller_interface::ControllerInterface
Class Documentation
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class JointImpedanceExampleController : public controller_interface::ControllerInterface
The joint impedance example controller moves joint 4 and 5 in a very compliant periodic movement.
Public Types
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using Vector7d = Eigen::Matrix<double, 7, 1>
Public Functions
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controller_interface::InterfaceConfiguration command_interface_configuration() const override
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controller_interface::InterfaceConfiguration state_interface_configuration() const override
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controller_interface::return_type update(const rclcpp::Time &time, const rclcpp::Duration &period) override
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CallbackReturn on_init() override
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CallbackReturn on_configure(const rclcpp_lifecycle::State &previous_state) override
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CallbackReturn on_activate(const rclcpp_lifecycle::State &previous_state) override
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using Vector7d = Eigen::Matrix<double, 7, 1>