C++ API

Class Hierarchy

• • Namespace ur_controllers
    • Namespace ur_controllers::friction_model
      • Enum CommandInterfaces
    • Struct ForceModeParameters
    • Struct FrictionModelParameters
    • Struct VersionInformation
    • Class ForceModeController
    • Class FreedriveModeController
    • Class FrictionModelController
    • Class GPIOController
    • Class PassthroughTrajectoryController
    • Class SpeedScalingStateBroadcaster
    • Class ToolContactController
    • Class URConfigurationController
    • Enum CommandInterfaces
    • Enum CommandInterfaces
    • Enum CommandInterfaces
    • Enum StateInterfaces
    • Enum StateInterfaces
    • Enum StateInterfaces

File Hierarchy

• • Directory include
    • Directory ur_controllers
      • File force_mode_controller.hpp
      • File freedrive_mode_controller.hpp
      • File friction_model_controller.hpp
      • File gpio_controller.hpp
      • File passthrough_trajectory_controller.hpp
      • File speed_scaling_state_broadcaster.hpp
      • File tool_contact_controller.hpp
      • File ur_configuration_controller.hpp

Full C++ API

Namespaces

• Namespace controller_interface

• Namespace std::chrono_literals

• Namespace ur_controllers

• Namespace ur_controllers::friction_model

Classes and Structs

• Struct ForceModeParameters

• Struct FrictionModelParameters

• Struct VersionInformation

• Class ForceModeController

• Class FreedriveModeController

• Class FrictionModelController

• Class GPIOController

• Class PassthroughTrajectoryController

• Class SpeedScalingStateBroadcaster

• Class ToolContactController

• Class URConfigurationController

Enums

• Enum CommandInterfaces

• Enum CommandInterfaces

• Enum CommandInterfaces

• Enum CommandInterfaces

• Enum StateInterfaces

• Enum StateInterfaces

• Enum StateInterfaces

Variables

• Variable ur_controllers::TRANSFER_STATE_DONE

• Variable ur_controllers::TRANSFER_STATE_IDLE

• Variable ur_controllers::TRANSFER_STATE_IN_MOTION

• Variable ur_controllers::TRANSFER_STATE_NEW_TRAJECTORY

• Variable ur_controllers::TRANSFER_STATE_TRANSFER_DONE

• Variable ur_controllers::TRANSFER_STATE_TRANSFERRING

• Variable ur_controllers::TRANSFER_STATE_WAITING_FOR_POINT

Directories

• Directory include

• Directory ur_controllers

Files

• File force_mode_controller.hpp

• File freedrive_mode_controller.hpp

• File friction_model_controller.hpp

• File gpio_controller.hpp

• File passthrough_trajectory_controller.hpp

• File speed_scaling_state_broadcaster.hpp

• File tool_contact_controller.hpp

• File ur_configuration_controller.hpp