#include <joint_impedance_example_controller.h>

Inheritance diagram for franka_example_controllers::JointImpedanceExampleController:

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::FrankaPoseCartesianInterface >
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
std::array< double, 7 >	saturateTorqueRate (const std::array< double, 7 > &tau_d_calculated, const std::array< double, 7 > &tau_J_d)

Private Attributes
double	acceleration_time_ {2.0}

double	angle_ {0.0}

std::unique_ptr< franka_hw::FrankaCartesianPoseHandle >	cartesian_pose_handle_

double	coriolis_factor_ {1.0}

std::vector< double >	d_gains_

std::array< double, 7 >	dq_filtered_

std::array< double, 16 >	initial_pose_

std::vector< hardware_interface::JointHandle >	joint_handles_

std::vector< double >	k_gains_

std::array< double, 7 >	last_tau_d_ {}

std::unique_ptr< franka_hw::FrankaModelHandle >	model_handle_

double	radius_ {0.1}

franka_hw::TriggerRate	rate_trigger_ {1.0}

realtime_tools::RealtimePublisher< JointTorqueComparison >	torques_publisher_

double	vel_current_ {0.0}

double	vel_max_ {0.05}

Static Private Attributes
static constexpr double	kDeltaTauMax {1.0}

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::FrankaPoseCartesianInterface >
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::FrankaPoseCartesianInterface >
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::FrankaPoseCartesianInterface >
bool	allow_optional_interfaces_

hardware_interface::RobotHW	robot_hw_ctrl_

Detailed Description

Definition at line 23 of file joint_impedance_example_controller.h.

Member Function Documentation

◆ init()

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

overridevirtual

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

Definition at line 16 of file joint_impedance_example_controller.cpp.

◆ saturateTorqueRate()

std::array< double, 7 > franka_example_controllers::JointImpedanceExampleController::saturateTorqueRate	(	const std::array< double, 7 > &	tau_d_calculated,
		const std::array< double, 7 > &	tau_J_d
	)

private

Definition at line 200 of file joint_impedance_example_controller.cpp.

◆ starting()

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

overridevirtual

Reimplemented from controller_interface::ControllerBase.

Definition at line 130 of file joint_impedance_example_controller.cpp.

◆ update()

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

overridevirtual

Implements controller_interface::ControllerBase.

Definition at line 134 of file joint_impedance_example_controller.cpp.

Member Data Documentation

◆ acceleration_time_

double franka_example_controllers::JointImpedanceExampleController::acceleration_time_ {2.0}

private

Definition at line 44 of file joint_impedance_example_controller.h.

◆ angle_

double franka_example_controllers::JointImpedanceExampleController::angle_ {0.0}

private

Definition at line 46 of file joint_impedance_example_controller.h.

◆ cartesian_pose_handle_

std::unique_ptr<franka_hw::FrankaCartesianPoseHandle> franka_example_controllers::JointImpedanceExampleController::cartesian_pose_handle_

private

Definition at line 38 of file joint_impedance_example_controller.h.

◆ coriolis_factor_

double franka_example_controllers::JointImpedanceExampleController::coriolis_factor_ {1.0}

private

Definition at line 51 of file joint_impedance_example_controller.h.

◆ d_gains_

std::vector<double> franka_example_controllers::JointImpedanceExampleController::d_gains_

private

Definition at line 50 of file joint_impedance_example_controller.h.

◆ dq_filtered_

std::array<double, 7> franka_example_controllers::JointImpedanceExampleController::dq_filtered_

private

Definition at line 52 of file joint_impedance_example_controller.h.

◆ initial_pose_

std::array<double, 16> franka_example_controllers::JointImpedanceExampleController::initial_pose_

private

Definition at line 53 of file joint_impedance_example_controller.h.

◆ joint_handles_

std::vector<hardware_interface::JointHandle> franka_example_controllers::JointImpedanceExampleController::joint_handles_

private

Definition at line 40 of file joint_impedance_example_controller.h.

◆ k_gains_

std::vector<double> franka_example_controllers::JointImpedanceExampleController::k_gains_

private

Definition at line 49 of file joint_impedance_example_controller.h.

◆ kDeltaTauMax

constexpr double franka_example_controllers::JointImpedanceExampleController::kDeltaTauMax {1.0}

staticconstexprprivate

Definition at line 42 of file joint_impedance_example_controller.h.

◆ last_tau_d_

std::array<double, 7> franka_example_controllers::JointImpedanceExampleController::last_tau_d_ {}

private

Definition at line 56 of file joint_impedance_example_controller.h.

◆ model_handle_

std::unique_ptr<franka_hw::FrankaModelHandle> franka_example_controllers::JointImpedanceExampleController::model_handle_

private

Definition at line 39 of file joint_impedance_example_controller.h.

◆ radius_

double franka_example_controllers::JointImpedanceExampleController::radius_ {0.1}

private

Definition at line 43 of file joint_impedance_example_controller.h.

◆ rate_trigger_

franka_hw::TriggerRate franka_example_controllers::JointImpedanceExampleController::rate_trigger_ {1.0}

private

Definition at line 55 of file joint_impedance_example_controller.h.

◆ torques_publisher_

realtime_tools::RealtimePublisher<JointTorqueComparison> franka_example_controllers::JointImpedanceExampleController::torques_publisher_

private

Definition at line 57 of file joint_impedance_example_controller.h.

◆ vel_current_

double franka_example_controllers::JointImpedanceExampleController::vel_current_ {0.0}

private

Definition at line 47 of file joint_impedance_example_controller.h.

◆ vel_max_

double franka_example_controllers::JointImpedanceExampleController::vel_max_ {0.05}

private

Definition at line 45 of file joint_impedance_example_controller.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ init()

◆ saturateTorqueRate()

◆ starting()

◆ update()

Member Data Documentation

◆ acceleration_time_

◆ angle_

◆ cartesian_pose_handle_

◆ coriolis_factor_

◆ d_gains_

◆ dq_filtered_

◆ initial_pose_

◆ joint_handles_

◆ k_gains_

◆ kDeltaTauMax

◆ last_tau_d_

◆ model_handle_

◆ radius_

◆ rate_trigger_

◆ torques_publisher_

◆ vel_current_

◆ vel_max_