#include <cartesian_impedance_example_controller.h>

Inheritance diagram for franka_example_controllers::CartesianImpedanceExampleController:

Public Member Functions
bool	init (hardware_interface::RobotHW *robot_hw, 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< franka_hw::FrankaModelInterface, hardware_interface::EffortJointInterface, franka_hw::FrankaStateInterface >
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
void	complianceParamCallback (franka_example_controllers::compliance_paramConfig &config, uint32_t level)

void	equilibriumPoseCallback (const geometry_msgs::PoseStampedConstPtr &msg)

Eigen::Matrix< double, 7, 1 >	saturateTorqueRate (const Eigen::Matrix< double, 7, 1 > &tau_d_calculated, const Eigen::Matrix< double, 7, 1 > &tau_J_d)

Private Attributes
Eigen::Matrix< double, 6, 6 >	cartesian_damping_

Eigen::Matrix< double, 6, 6 >	cartesian_damping_target_

Eigen::Matrix< double, 6, 6 >	cartesian_stiffness_

Eigen::Matrix< double, 6, 6 >	cartesian_stiffness_target_

const double	delta_tau_max_ {1.0}

ros::NodeHandle	dynamic_reconfigure_compliance_param_node_

std::unique_ptr< dynamic_reconfigure::Server< franka_example_controllers::compliance_paramConfig > >	dynamic_server_compliance_param_

double	filter_params_ {0.005}

std::vector< hardware_interface::JointHandle >	joint_handles_

std::unique_ptr< franka_hw::FrankaModelHandle >	model_handle_

double	nullspace_stiffness_ {20.0}

double	nullspace_stiffness_target_ {20.0}

Eigen::Quaterniond	orientation_d_

Eigen::Quaterniond	orientation_d_target_

std::mutex	position_and_orientation_d_target_mutex_

Eigen::Vector3d	position_d_

Eigen::Vector3d	position_d_target_

Eigen::Matrix< double, 7, 1 >	q_d_nullspace_

std::unique_ptr< franka_hw::FrankaStateHandle >	state_handle_

ros::Subscriber	sub_equilibrium_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< franka_hw::FrankaModelInterface, hardware_interface::EffortJointInterface, franka_hw::FrankaStateInterface >
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< franka_hw::FrankaModelInterface, hardware_interface::EffortJointInterface, franka_hw::FrankaStateInterface >
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< franka_hw::FrankaModelInterface, hardware_interface::EffortJointInterface, franka_hw::FrankaStateInterface >
bool	allow_optional_interfaces_

hardware_interface::RobotHW	robot_hw_ctrl_

Detailed Description

Definition at line 25 of file cartesian_impedance_example_controller.h.

Member Function Documentation

◆ complianceParamCallback()

void franka_example_controllers::CartesianImpedanceExampleController::complianceParamCallback	(	franka_example_controllers::compliance_paramConfig &	config,
		uint32_t	level
	)

private

Definition at line 214 of file cartesian_impedance_example_controller.cpp.

◆ equilibriumPoseCallback()

void franka_example_controllers::CartesianImpedanceExampleController::equilibriumPoseCallback ( const geometry_msgs::PoseStampedConstPtr & msg )

private

Definition at line 231 of file cartesian_impedance_example_controller.cpp.

◆ init()

bool franka_example_controllers::CartesianImpedanceExampleController::init	(	hardware_interface::RobotHW *	robot_hw,
		ros::NodeHandle &	node_handle
	)

overridevirtual

Reimplemented from controller_interface::MultiInterfaceController< franka_hw::FrankaModelInterface, hardware_interface::EffortJointInterface, franka_hw::FrankaStateInterface >.

Definition at line 17 of file cartesian_impedance_example_controller.cpp.

◆ saturateTorqueRate()

Eigen::Matrix< double, 7, 1 > franka_example_controllers::CartesianImpedanceExampleController::saturateTorqueRate	(	const Eigen::Matrix< double, 7, 1 > &	tau_d_calculated,
		const Eigen::Matrix< double, 7, 1 > &	tau_J_d
	)

private

Definition at line 202 of file cartesian_impedance_example_controller.cpp.

◆ starting()

void franka_example_controllers::CartesianImpedanceExampleController::starting ( const ros::Time & )

overridevirtual

Reimplemented from controller_interface::ControllerBase.

Definition at line 108 of file cartesian_impedance_example_controller.cpp.

◆ update()

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

overridevirtual

Implements controller_interface::ControllerBase.

Definition at line 129 of file cartesian_impedance_example_controller.cpp.

Member Data Documentation

◆ cartesian_damping_

Eigen::Matrix<double, 6, 6> franka_example_controllers::CartesianImpedanceExampleController::cartesian_damping_

private

Definition at line 50 of file cartesian_impedance_example_controller.h.

◆ cartesian_damping_target_

Eigen::Matrix<double, 6, 6> franka_example_controllers::CartesianImpedanceExampleController::cartesian_damping_target_

private

Definition at line 51 of file cartesian_impedance_example_controller.h.

◆ cartesian_stiffness_

Eigen::Matrix<double, 6, 6> franka_example_controllers::CartesianImpedanceExampleController::cartesian_stiffness_

private

Definition at line 48 of file cartesian_impedance_example_controller.h.

◆ cartesian_stiffness_target_

Eigen::Matrix<double, 6, 6> franka_example_controllers::CartesianImpedanceExampleController::cartesian_stiffness_target_

private

Definition at line 49 of file cartesian_impedance_example_controller.h.

◆ delta_tau_max_

const double franka_example_controllers::CartesianImpedanceExampleController::delta_tau_max_ {1.0}

private

Definition at line 47 of file cartesian_impedance_example_controller.h.

◆ dynamic_reconfigure_compliance_param_node_

ros::NodeHandle franka_example_controllers::CartesianImpedanceExampleController::dynamic_reconfigure_compliance_param_node_

private

Definition at line 62 of file cartesian_impedance_example_controller.h.

◆ dynamic_server_compliance_param_

std::unique_ptr<dynamic_reconfigure::Server<franka_example_controllers::compliance_paramConfig> > franka_example_controllers::CartesianImpedanceExampleController::dynamic_server_compliance_param_

private

Definition at line 61 of file cartesian_impedance_example_controller.h.