Class JointImpedanceWithIKExampleController

Inheritance Relationships

Base Type

  • public controller_interface::ControllerInterface

Class Documentation

class JointImpedanceWithIKExampleController : public controller_interface::ControllerInterface

joint impedance example controller get desired pose and use inverse kinematics LMA (Levenberg-Marquardt) from Orocos KDL. IK returns the desired joint positions from the desired pose. Desired joint positions are fed to the impedance control law together with the current joint velocities to calculate the desired joint torques.

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
CallbackReturn on_deactivate(const rclcpp_lifecycle::State &previous_state) override