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Admittance Class

Declaration​

class moveit_pro_controllers::Admittance { ... }

Included Headers​

#include <admittance.hpp>

Public Constructors Index​

Admittance (const size_t num_joints, const size_t num_tips, const std::vector< AdmittanceParameters > &parameters, const Eigen::VectorNd &joint_damping, const AdmittanceKinematics &kinematics)

Public Member Functions Index​

AdmittanceResultupdate (const TimedJointState &current_joint_state, const std::vector< Eigen::Vector6d > &measured_wrenches, const TimedJointState &reference_joint_state, const Duration &period, TimedJointState &desired_joint_state)
const AdmittanceState &getAdmittanceState () const
AdmittanceState &getAdmittanceState ()

Private Member Attributes Index​

AdmittanceStatestate_
std::vector< AdmittanceParameters >parameters_
Eigen::VectorNdjoint_damping_
AdmittanceKinematicskinematics_

Definition at line 132 of file admittance.hpp.

Public Constructors​

Admittance()​

moveit_pro_controllers::Admittance::Admittance (const size_t num_joints, const size_t num_tips, const std::vector< AdmittanceParameters > & parameters, const Eigen::VectorNd & joint_damping, const AdmittanceKinematics & kinematics)
 inline explicit

Definition at line 135 of file admittance.hpp.

Public Member Functions​

getAdmittanceState()​

const AdmittanceState & moveit_pro_controllers::Admittance::getAdmittanceState ()
 inline

Definition at line 159 of file admittance.hpp.

getAdmittanceState()​

AdmittanceState & moveit_pro_controllers::Admittance::getAdmittanceState ()
 inline

Definition at line 165 of file admittance.hpp.

update()​

AdmittanceResult moveit_pro_controllers::Admittance::update (const TimedJointState & current_joint_state, const std::vector< Eigen::Vector6d > & measured_wrenches, const TimedJointState & reference_joint_state, const Duration & period, TimedJointState & desired_joint_state)

Calculate 'desired joint states' based on the 'measured force', 'reference joint state', and 'current_joint_state'.

Parameters
[in] current_joint_state

current joint state of the robot.

[in] measured_wrenches

most recent measured wrenches from force torque sensors.

[in] reference_joint_state

input joint state reference.

[in] period

the control loop period.

[out] desired_joint_state

joint state reference after the admittance offset is applied to the input reference.

Declaration at line 153 of file admittance.hpp, definition at line 109 of file admittance.cpp.

Private Member Attributes​

joint_damping_​

Eigen::VectorNd moveit_pro_controllers::Admittance::joint_damping_

Definition at line 173 of file admittance.hpp.

kinematics_​

AdmittanceKinematics moveit_pro_controllers::Admittance::kinematics_

Definition at line 174 of file admittance.hpp.

parameters_​

std::vector<AdmittanceParameters> moveit_pro_controllers::Admittance::parameters_

Definition at line 172 of file admittance.hpp.

state_​

AdmittanceState moveit_pro_controllers::Admittance::state_

Definition at line 171 of file admittance.hpp.

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

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