JointTrajectoryAdmittanceController Class

Declaration

class moveit_pro_controllers::JointTrajectoryAdmittanceController { ... }

Included Headers

#include <joint_trajectory_admittance_controller.hpp>

Base classes

class	controller_interface::ControllerInterface
class	ControllerWithRobotModel

Public Member Typedefs Index

using	JointTrajectoryPoint = trajectory_msgs::msg::JointTrajectoryPoint

Private Member Typedefs Index

using	StatePublisher = realtime_tools::RealtimePublisher< ControllerStateMsg >
using	StatePublisherPtr = std::unique_ptr< StatePublisher >
using	WrenchMsg = geometry_msgs::msg::WrenchStamped
using	RTWrenchPublisher = realtime_tools::RealtimePublisher< WrenchMsg >
using	FollowJointTrajectory = moveit_pro_controllers_msgs::action::FollowJointTrajectoryWithAdmittance
using	RealtimeGoalHandle = realtime_tools::RealtimeServerGoalHandle< FollowJointTrajectory >
using	RealtimeGoalHandlePtr = std::shared_ptr< RealtimeGoalHandle >
using	RealtimeGoalHandleBuffer = realtime_tools::RealtimeBuffer< RealtimeGoalHandlePtr >
using	ActionGoalHandlePtr = std::shared_ptr< rclcpp_action::ServerGoalHandle< FollowJointTrajectory > >

Enumerations Index

enum class	State { ... }

Public Constructors Index

	JointTrajectoryAdmittanceController ()

Public Member Functions Index

controller_interface::InterfaceConfiguration	command_interface_configuration () const override
controller_interface::InterfaceConfiguration	state_interface_configuration () const 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
controller_interface::return_type	update (const rclcpp::Time &time, const rclcpp::Duration &period) override
const JointTrajectoryPoint &	getStateFeedback () const
const JointTrajectoryPoint &	getStateReference () const
const JointTrajectoryPoint &	getStateError () const
const path_ik::TipJointMap &	getTipJointMap () const
joint_trajectory_admittance_controller::Params &	getParams ()

Private Member Functions Index

void	initializePublisher ()
rclcpp_action::GoalResponse	goal_received_callback (const rclcpp_action::GoalUUID &uuid, std::shared_ptr< const FollowJointTrajectory::Goal > goal) const
void	goal_accepted_callback (ActionGoalHandlePtr goal_handle)
rclcpp_action::CancelResponse	goal_cancelled_callback (const ActionGoalHandlePtr goal_handle) const
void	publish_state (const TimedJointState &state_desired, const TimedJointState &state_current, const TimedJointState &state_error)
bool	handleStopIfNecessary (RealtimeGoalHandlePtr active_goal_handle, const rclcpp::Time &time, const rclcpp::Duration &period)
void	applyAdmittanceIfConfigured (const RealtimeGoalHandlePtr &active_goal_handle, const std::shared_ptr< JointTrajectoryAdmittanceControllerCommand > &active_command, const TimedJointState &state_desired, const rclcpp::Time &time, const rclcpp::Duration &period)
void	publishFilteredWrench (size_t sensor_index, const rclcpp::Time &time)
void	updateTares ()
void	resetTares ()
void	removeActiveCommand ()
bool	initTrajectorySamplerOrAbort (const RealtimeGoalHandlePtr &active_goal_handle, const std::shared_ptr< JointTrajectoryAdmittanceControllerCommand > &active_command)
bool	forwardKinematics (const Eigen::VectorNd &reference_joint_values, const Eigen::VectorNd &current_joint_values, AdmittanceState &state)
bool	differentialForwardKinematics (const Eigen::VectorNd &joint_values, const Eigen::VectorNd &joint_delta, std::vector< Eigen::Vector6d > &cartesian_deltas)
bool	differentialInverseKinematics (const Eigen::VectorNd &joint_values, const std::vector< Eigen::Vector6d > &cartesian_deltas, Eigen::VectorNd &joint_deltas)
double	firstOrderLagFilter (const double filter_input, double time_step_seconds)

Private Member Attributes Index

realtime_tools::RealtimeBuffer< State >	goal_state_
rclcpp::Subscription< std_msgs::msg::String >::SharedPtr	robot_description_subscription_
std::string	robot_description_
std::mutex	robot_description_mutex_
rclcpp::Publisher< ControllerStateMsg >::SharedPtr	controller_state_publisher_
StatePublisherPtr	rt_controller_state_publisher_
rclcpp::Time	last_state_publish_time_
InterfaceReferences< hardware_interface::LoanedCommandInterface >	joint_command_interfaces_
InterfaceReferences< hardware_interface::LoanedStateInterface >	joint_state_interfaces_
UtilizedInterfaces	utilized_state_interfaces_
UtilizedInterfaces	utilized_command_interfaces_
std::atomic< bool >	trajectory_updated_ { false }
moveit_pro_controllers::Time	start_time_
realtime_tools::RealtimeBuffer< RealtimeGoalHandlePtr >	rt_active_goal_handle_
realtime_tools::RealtimeBuffer< std::shared_ptr< JointTrajectoryAdmittanceControllerCommand > >	rt_active_command_
realtime_tools::RealtimeBuffer< bool >	rt_has_pending_goal_
std::shared_ptr< rclcpp::TimerBase >	goal_monitor_timer_
std::optional< TrajectorySampler >	rt_trajectory_sampler_
realtime_tools::RealtimeBuffer< std::shared_ptr< Admittance > >	rt_admittance_
std::vector< std::unique_ptr< semantic_components::ForceTorqueSensor > >	force_torque_sensors_
std::vector< std::unique_ptr< SecondOrderButterworthFilter > >	ft_filters_
std::vector< Eigen::Vector6d >	filtered_wrenches_
std::vector< WrenchTareAccumulator >	tare_accumulators_
std::vector< rclcpp::Publisher< WrenchMsg >::SharedPtr >	wrench_publishers_
std::vector< std::unique_ptr< RTWrenchPublisher > >	rt_wrench_publishers_
Eigen::VectorNb	is_continuous_joint_
TimedJointState	last_commanded_state_
Eigen::VectorNd	command_offset_
bool	has_command_reference_ = false
std::atomic< double >	last_command_time_ { 0.0 }
TimedJointState	admittance_output_state_
std::vector< Eigen::Vector3d >	tip_offsets_
rclcpp_action::Server< FollowJointTrajectory >::SharedPtr	action_server_
std::vector< std::unique_ptr< RealtimeTriggerServiceMonitor > >	tare_services_
std::shared_ptr< joint_trajectory_admittance_controller::ParamListener >	param_listener_
joint_trajectory_admittance_controller::Params	params_
std::atomic< uint8_t >	cached_lifecycle_id_ = lifecycle_msgs::msg::State::PRIMARY_STATE_UNKNOWN
StopTrajectory	stop_trajectory_
rclcpp::Time	stop_requested_time_
Eigen::VectorNd	acceleration_limits_
rclcpp::Time	scaled_time_
double	folag_state_ = 100.0
double	folag_tau_ = 0.2
double	folag_max_change_rate_ = 180.0
path_ik::TipJointMap	tip_joint_map_

Definition at line 87 of file joint_trajectory_admittance_controller.hpp.

Public Member Typedefs

JointTrajectoryPoint

using moveit_pro_controllers::JointTrajectoryAdmittanceController::JointTrajectoryPoint = trajectory_msgs::msg::JointTrajectoryPoint

Definition at line 91 of file joint_trajectory_admittance_controller.hpp.

Private Member Typedefs

ActionGoalHandlePtr

using moveit_pro_controllers::JointTrajectoryAdmittanceController::ActionGoalHandlePtr = std::shared_ptr<rclcpp_action::ServerGoalHandle<FollowJointTrajectory> >

Definition at line 130 of file joint_trajectory_admittance_controller.hpp.

FollowJointTrajectory

using moveit_pro_controllers::JointTrajectoryAdmittanceController::FollowJointTrajectory = moveit_pro_controllers_msgs::action::FollowJointTrajectoryWithAdmittance

Definition at line 126 of file joint_trajectory_admittance_controller.hpp.

RealtimeGoalHandle

using moveit_pro_controllers::JointTrajectoryAdmittanceController::RealtimeGoalHandle = realtime_tools::RealtimeServerGoalHandle<FollowJointTrajectory>

Definition at line 127 of file joint_trajectory_admittance_controller.hpp.

RealtimeGoalHandleBuffer

using moveit_pro_controllers::JointTrajectoryAdmittanceController::RealtimeGoalHandleBuffer = realtime_tools::RealtimeBuffer<RealtimeGoalHandlePtr>

Definition at line 129 of file joint_trajectory_admittance_controller.hpp.

RealtimeGoalHandlePtr

using moveit_pro_controllers::JointTrajectoryAdmittanceController::RealtimeGoalHandlePtr = std::shared_ptr<RealtimeGoalHandle>

Definition at line 128 of file joint_trajectory_admittance_controller.hpp.

RTWrenchPublisher

using moveit_pro_controllers::JointTrajectoryAdmittanceController::RTWrenchPublisher = realtime_tools::RealtimePublisher<WrenchMsg>

Definition at line 125 of file joint_trajectory_admittance_controller.hpp.

StatePublisher

using moveit_pro_controllers::JointTrajectoryAdmittanceController::StatePublisher = realtime_tools::RealtimePublisher<ControllerStateMsg>

Definition at line 122 of file joint_trajectory_admittance_controller.hpp.

StatePublisherPtr

using moveit_pro_controllers::JointTrajectoryAdmittanceController::StatePublisherPtr = std::unique_ptr<StatePublisher>

Definition at line 123 of file joint_trajectory_admittance_controller.hpp.

WrenchMsg

using moveit_pro_controllers::JointTrajectoryAdmittanceController::WrenchMsg = geometry_msgs::msg::WrenchStamped

Definition at line 124 of file joint_trajectory_admittance_controller.hpp.

Enumerations

State

enum class moveit_pro_controllers::JointTrajectoryAdmittanceController::State

strong

Enumeration values

IDLE
GOAL_RUNNING
STOP_REQUESTED
STOPPING
STOPPED

Definition at line 132 of file joint_trajectory_admittance_controller.hpp.

Public Constructors

JointTrajectoryAdmittanceController()

moveit_pro_controllers::JointTrajectoryAdmittanceController::JointTrajectoryAdmittanceController ()

Declaration at line 93 of file joint_trajectory_admittance_controller.hpp, definition at line 680 of file joint_trajectory_admittance_controller.cpp.

Public Member Functions

command_interface_configuration()

controller_interface::InterfaceConfiguration moveit_pro_controllers::JointTrajectoryAdmittanceController::command_interface_configuration ()

Declaration at line 95 of file joint_trajectory_admittance_controller.hpp, definition at line 684 of file joint_trajectory_admittance_controller.cpp.

getParams()

joint_trajectory_admittance_controller::Params & moveit_pro_controllers::JointTrajectoryAdmittanceController::getParams ()

inline

Definition at line 116 of file joint_trajectory_admittance_controller.hpp.

getStateError()

const trajectory_msgs::msg::JointTrajectoryPoint & moveit_pro_controllers::JointTrajectoryAdmittanceController::getStateError ()

Declaration at line 112 of file joint_trajectory_admittance_controller.hpp, definition at line 1746 of file joint_trajectory_admittance_controller.cpp.

getStateFeedback()

const trajectory_msgs::msg::JointTrajectoryPoint & moveit_pro_controllers::JointTrajectoryAdmittanceController::getStateFeedback ()

Declaration at line 110 of file joint_trajectory_admittance_controller.hpp, definition at line 1736 of file joint_trajectory_admittance_controller.cpp.

getStateReference()

const trajectory_msgs::msg::JointTrajectoryPoint & moveit_pro_controllers::JointTrajectoryAdmittanceController::getStateReference ()

Declaration at line 111 of file joint_trajectory_admittance_controller.hpp, definition at line 1741 of file joint_trajectory_admittance_controller.cpp.

getTipJointMap()

const path_ik::TipJointMap & moveit_pro_controllers::JointTrajectoryAdmittanceController::getTipJointMap ()

Declaration at line 113 of file joint_trajectory_admittance_controller.hpp, definition at line 1751 of file joint_trajectory_admittance_controller.cpp.

on_activate()

CallbackReturn moveit_pro_controllers::JointTrajectoryAdmittanceController::on_activate (const rclcpp_lifecycle::State & previous_state)

Declaration at line 103 of file joint_trajectory_admittance_controller.hpp, definition at line 939 of file joint_trajectory_admittance_controller.cpp.

on_configure()

CallbackReturn moveit_pro_controllers::JointTrajectoryAdmittanceController::on_configure (const rclcpp_lifecycle::State & previous_state)

Declaration at line 101 of file joint_trajectory_admittance_controller.hpp, definition at line 724 of file joint_trajectory_admittance_controller.cpp.

on_deactivate()

CallbackReturn moveit_pro_controllers::JointTrajectoryAdmittanceController::on_deactivate (const rclcpp_lifecycle::State & previous_state)

Declaration at line 105 of file joint_trajectory_admittance_controller.hpp, definition at line 984 of file joint_trajectory_admittance_controller.cpp.

on_init()

CallbackReturn moveit_pro_controllers::JointTrajectoryAdmittanceController::on_init ()

Declaration at line 99 of file joint_trajectory_admittance_controller.hpp, definition at line 706 of file joint_trajectory_admittance_controller.cpp.

state_interface_configuration()

controller_interface::InterfaceConfiguration moveit_pro_controllers::JointTrajectoryAdmittanceController::state_interface_configuration ()

Declaration at line 97 of file joint_trajectory_admittance_controller.hpp, definition at line 689 of file joint_trajectory_admittance_controller.cpp.

update()

controller_interface::return_type moveit_pro_controllers::JointTrajectoryAdmittanceController::update (const rclcpp::Time & time, const rclcpp::Duration & period)

Declaration at line 107 of file joint_trajectory_admittance_controller.hpp, definition at line 1028 of file joint_trajectory_admittance_controller.cpp.

Private Member Functions

applyAdmittanceIfConfigured()

void moveit_pro_controllers::JointTrajectoryAdmittanceController::applyAdmittanceIfConfigured (const RealtimeGoalHandlePtr & active_goal_handle, const std::shared_ptr< JointTrajectoryAdmittanceControllerCommand > & active_command, const TimedJointState & state_desired, const rclcpp::Time & time, const rclcpp::Duration & period)

Declaration at line 170 of file joint_trajectory_admittance_controller.hpp, definition at line 1319 of file joint_trajectory_admittance_controller.cpp.

differentialForwardKinematics()

bool moveit_pro_controllers::JointTrajectoryAdmittanceController::differentialForwardKinematics (const Eigen::VectorNd & joint_values, const Eigen::VectorNd & joint_delta, std::vector< Eigen::Vector6d > & cartesian_deltas)

Declaration at line 201 of file joint_trajectory_admittance_controller.hpp, definition at line 1783 of file joint_trajectory_admittance_controller.cpp.

differentialInverseKinematics()

bool moveit_pro_controllers::JointTrajectoryAdmittanceController::differentialInverseKinematics (const Eigen::VectorNd & joint_values, const std::vector< Eigen::Vector6d > & cartesian_deltas, Eigen::VectorNd & joint_deltas)

Declaration at line 203 of file joint_trajectory_admittance_controller.hpp, definition at line 1813 of file joint_trajectory_admittance_controller.cpp.

firstOrderLagFilter()

double moveit_pro_controllers::JointTrajectoryAdmittanceController::firstOrderLagFilter (const double filter_input, double time_step_seconds)

Declaration at line 208 of file joint_trajectory_admittance_controller.hpp, definition at line 1845 of file joint_trajectory_admittance_controller.cpp.

forwardKinematics()

bool moveit_pro_controllers::JointTrajectoryAdmittanceController::forwardKinematics (const Eigen::VectorNd & reference_joint_values, const Eigen::VectorNd & current_joint_values, AdmittanceState & state)

Declaration at line 199 of file joint_trajectory_admittance_controller.hpp, definition at line 1756 of file joint_trajectory_admittance_controller.cpp.

goal_accepted_callback()

void moveit_pro_controllers::JointTrajectoryAdmittanceController::goal_accepted_callback (ActionGoalHandlePtr goal_handle)

Declaration at line 150 of file joint_trajectory_admittance_controller.hpp, definition at line 1562 of file joint_trajectory_admittance_controller.cpp.

goal_cancelled_callback()

rclcpp_action::CancelResponse moveit_pro_controllers::JointTrajectoryAdmittanceController::goal_cancelled_callback (const ActionGoalHandlePtr goal_handle)

Declaration at line 153 of file joint_trajectory_admittance_controller.hpp, definition at line 1545 of file joint_trajectory_admittance_controller.cpp.

goal_received_callback()

rclcpp_action::GoalResponse moveit_pro_controllers::JointTrajectoryAdmittanceController::goal_received_callback (const rclcpp_action::GoalUUID & uuid, std::shared_ptr< const FollowJointTrajectory::Goal > goal)

Declaration at line 146 of file joint_trajectory_admittance_controller.hpp, definition at line 1519 of file joint_trajectory_admittance_controller.cpp.

handleStopIfNecessary()

bool moveit_pro_controllers::JointTrajectoryAdmittanceController::handleStopIfNecessary (RealtimeGoalHandlePtr active_goal_handle, const rclcpp::Time & time, const rclcpp::Duration & period)

Declaration at line 161 of file joint_trajectory_admittance_controller.hpp, definition at line 1245 of file joint_trajectory_admittance_controller.cpp.

initializePublisher()

void moveit_pro_controllers::JointTrajectoryAdmittanceController::initializePublisher ()

Declaration at line 143 of file joint_trajectory_admittance_controller.hpp, definition at line 897 of file joint_trajectory_admittance_controller.cpp.

initTrajectorySamplerOrAbort()

bool moveit_pro_controllers::JointTrajectoryAdmittanceController::initTrajectorySamplerOrAbort (const RealtimeGoalHandlePtr & active_goal_handle, const std::shared_ptr< JointTrajectoryAdmittanceControllerCommand > & active_command)

Declaration at line 195 of file joint_trajectory_admittance_controller.hpp, definition at line 1013 of file joint_trajectory_admittance_controller.cpp.

publish_state()

void moveit_pro_controllers::JointTrajectoryAdmittanceController::publish_state (const TimedJointState & state_desired, const TimedJointState & state_current, const TimedJointState & state_error)

Declaration at line 156 of file joint_trajectory_admittance_controller.hpp, definition at line 1490 of file joint_trajectory_admittance_controller.cpp.

publishFilteredWrench()

void moveit_pro_controllers::JointTrajectoryAdmittanceController::publishFilteredWrench (size_t sensor_index, const rclcpp::Time & time)

Declaration at line 176 of file joint_trajectory_admittance_controller.hpp, definition at line 1472 of file joint_trajectory_admittance_controller.cpp.

removeActiveCommand()

void moveit_pro_controllers::JointTrajectoryAdmittanceController::removeActiveCommand ()

Declaration at line 191 of file joint_trajectory_admittance_controller.hpp, definition at line 1483 of file joint_trajectory_admittance_controller.cpp.

resetTares()

void moveit_pro_controllers::JointTrajectoryAdmittanceController::resetTares ()

Declaration at line 188 of file joint_trajectory_admittance_controller.hpp, definition at line 1460 of file joint_trajectory_admittance_controller.cpp.

updateTares()

void moveit_pro_controllers::JointTrajectoryAdmittanceController::updateTares ()

Declaration at line 182 of file joint_trajectory_admittance_controller.hpp, definition at line 1401 of file joint_trajectory_admittance_controller.cpp.

Private Member Attributes

acceleration_limits_

Eigen::VectorNd moveit_pro_controllers::JointTrajectoryAdmittanceController::acceleration_limits_

Definition at line 284 of file joint_trajectory_admittance_controller.hpp.

action_server_

rclcpp_action::Server<FollowJointTrajectory>::SharedPtr moveit_pro_controllers::JointTrajectoryAdmittanceController::action_server_

Definition at line 267 of file joint_trajectory_admittance_controller.hpp.

admittance_output_state_

TimedJointState moveit_pro_controllers::JointTrajectoryAdmittanceController::admittance_output_state_

Definition at line 263 of file joint_trajectory_admittance_controller.hpp.

cached_lifecycle_id_

std::atomic<uint8_t> moveit_pro_controllers::JointTrajectoryAdmittanceController::cached_lifecycle_id_ = lifecycle_msgs::msg::State::PRIMARY_STATE_UNKNOWN

Definition at line 279 of file joint_trajectory_admittance_controller.hpp.

command_offset_

Eigen::VectorNd moveit_pro_controllers::JointTrajectoryAdmittanceController::command_offset_

Definition at line 256 of file joint_trajectory_admittance_controller.hpp.

controller_state_publisher_

rclcpp::Publisher<ControllerStateMsg>::SharedPtr moveit_pro_controllers::JointTrajectoryAdmittanceController::controller_state_publisher_

Definition at line 216 of file joint_trajectory_admittance_controller.hpp.

filtered_wrenches_

std::vector<Eigen::Vector6d> moveit_pro_controllers::JointTrajectoryAdmittanceController::filtered_wrenches_

Definition at line 245 of file joint_trajectory_admittance_controller.hpp.

folag_max_change_rate_

double moveit_pro_controllers::JointTrajectoryAdmittanceController::folag_max_change_rate_ = 180.0

Definition at line 292 of file joint_trajectory_admittance_controller.hpp.

folag_state_

double moveit_pro_controllers::JointTrajectoryAdmittanceController::folag_state_ = 100.0

Definition at line 290 of file joint_trajectory_admittance_controller.hpp.

folag_tau_

double moveit_pro_controllers::JointTrajectoryAdmittanceController::folag_tau_ = 0.2

Definition at line 291 of file joint_trajectory_admittance_controller.hpp.

force_torque_sensors_

std::vector<std::unique_ptr<semantic_components::ForceTorqueSensor> > moveit_pro_controllers::JointTrajectoryAdmittanceController::force_torque_sensors_

Definition at line 243 of file joint_trajectory_admittance_controller.hpp.

ft_filters_

std::vector<std::unique_ptr<SecondOrderButterworthFilter> > moveit_pro_controllers::JointTrajectoryAdmittanceController::ft_filters_

Definition at line 244 of file joint_trajectory_admittance_controller.hpp.

goal_monitor_timer_

std::shared_ptr<rclcpp::TimerBase> moveit_pro_controllers::JointTrajectoryAdmittanceController::goal_monitor_timer_

Definition at line 236 of file joint_trajectory_admittance_controller.hpp.

goal_state_

realtime_tools::RealtimeBuffer<State> moveit_pro_controllers::JointTrajectoryAdmittanceController::goal_state_

Definition at line 140 of file joint_trajectory_admittance_controller.hpp.

has_command_reference_

bool moveit_pro_controllers::JointTrajectoryAdmittanceController::has_command_reference_ = false

Definition at line 257 of file joint_trajectory_admittance_controller.hpp.

is_continuous_joint_

Eigen::VectorNb moveit_pro_controllers::JointTrajectoryAdmittanceController::is_continuous_joint_

Definition at line 253 of file joint_trajectory_admittance_controller.hpp.

joint_command_interfaces_

InterfaceReferences<hardware_interface::LoanedCommandInterface> moveit_pro_controllers::JointTrajectoryAdmittanceController::joint_command_interfaces_

Definition at line 222 of file joint_trajectory_admittance_controller.hpp.

joint_state_interfaces_

InterfaceReferences<hardware_interface::LoanedStateInterface> moveit_pro_controllers::JointTrajectoryAdmittanceController::joint_state_interfaces_

Definition at line 223 of file joint_trajectory_admittance_controller.hpp.

last_command_time_

std::atomic<double> moveit_pro_controllers::JointTrajectoryAdmittanceController::last_command_time_ { 0.0 }

Definition at line 260 of file joint_trajectory_admittance_controller.hpp.

last_commanded_state_

TimedJointState moveit_pro_controllers::JointTrajectoryAdmittanceController::last_commanded_state_

Definition at line 255 of file joint_trajectory_admittance_controller.hpp.

last_state_publish_time_

rclcpp::Time moveit_pro_controllers::JointTrajectoryAdmittanceController::last_state_publish_time_

Definition at line 219 of file joint_trajectory_admittance_controller.hpp.

param_listener_

std::shared_ptr<joint_trajectory_admittance_controller::ParamListener> moveit_pro_controllers::JointTrajectoryAdmittanceController::param_listener_

Definition at line 273 of file joint_trajectory_admittance_controller.hpp.

params_

joint_trajectory_admittance_controller::Params moveit_pro_controllers::JointTrajectoryAdmittanceController::params_

Definition at line 274 of file joint_trajectory_admittance_controller.hpp.

robot_description_

std::string moveit_pro_controllers::JointTrajectoryAdmittanceController::robot_description_

Definition at line 213 of file joint_trajectory_admittance_controller.hpp.

robot_description_mutex_

std::mutex moveit_pro_controllers::JointTrajectoryAdmittanceController::robot_description_mutex_

Definition at line 214 of file joint_trajectory_admittance_controller.hpp.

robot_description_subscription_

rclcpp::Subscription<std_msgs::msg::String>::SharedPtr moveit_pro_controllers::JointTrajectoryAdmittanceController::robot_description_subscription_

Definition at line 212 of file joint_trajectory_admittance_controller.hpp.

rt_active_command_

realtime_tools::RealtimeBuffer<std::shared_ptr<JointTrajectoryAdmittanceControllerCommand> > moveit_pro_controllers::JointTrajectoryAdmittanceController::rt_active_command_

Definition at line 234 of file joint_trajectory_admittance_controller.hpp.

rt_active_goal_handle_

realtime_tools::RealtimeBuffer<RealtimeGoalHandlePtr> moveit_pro_controllers::JointTrajectoryAdmittanceController::rt_active_goal_handle_

Definition at line 233 of file joint_trajectory_admittance_controller.hpp.

rt_admittance_

realtime_tools::RealtimeBuffer<std::shared_ptr<Admittance> > moveit_pro_controllers::JointTrajectoryAdmittanceController::rt_admittance_

Definition at line 240 of file joint_trajectory_admittance_controller.hpp.

rt_controller_state_publisher_

StatePublisherPtr moveit_pro_controllers::JointTrajectoryAdmittanceController::rt_controller_state_publisher_

Definition at line 217 of file joint_trajectory_admittance_controller.hpp.

rt_has_pending_goal_

realtime_tools::RealtimeBuffer<bool> moveit_pro_controllers::JointTrajectoryAdmittanceController::rt_has_pending_goal_

Definition at line 235 of file joint_trajectory_admittance_controller.hpp.

rt_trajectory_sampler_

std::optional<TrajectorySampler> moveit_pro_controllers::JointTrajectoryAdmittanceController::rt_trajectory_sampler_

Definition at line 237 of file joint_trajectory_admittance_controller.hpp.

rt_wrench_publishers_

std::vector<std::unique_ptr<RTWrenchPublisher> > moveit_pro_controllers::JointTrajectoryAdmittanceController::rt_wrench_publishers_

Definition at line 251 of file joint_trajectory_admittance_controller.hpp.

scaled_time_

rclcpp::Time moveit_pro_controllers::JointTrajectoryAdmittanceController::scaled_time_

Definition at line 287 of file joint_trajectory_admittance_controller.hpp.

start_time_

moveit_pro_controllers::Time moveit_pro_controllers::JointTrajectoryAdmittanceController::start_time_

Definition at line 230 of file joint_trajectory_admittance_controller.hpp.

stop_requested_time_

rclcpp::Time moveit_pro_controllers::JointTrajectoryAdmittanceController::stop_requested_time_

Definition at line 283 of file joint_trajectory_admittance_controller.hpp.

stop_trajectory_

StopTrajectory moveit_pro_controllers::JointTrajectoryAdmittanceController::stop_trajectory_

Definition at line 282 of file joint_trajectory_admittance_controller.hpp.

tare_accumulators_

std::vector<WrenchTareAccumulator> moveit_pro_controllers::JointTrajectoryAdmittanceController::tare_accumulators_

Definition at line 247 of file joint_trajectory_admittance_controller.hpp.

tare_services_

std::vector<std::unique_ptr<RealtimeTriggerServiceMonitor> > moveit_pro_controllers::JointTrajectoryAdmittanceController::tare_services_

Definition at line 270 of file joint_trajectory_admittance_controller.hpp.

tip_joint_map_

path_ik::TipJointMap moveit_pro_controllers::JointTrajectoryAdmittanceController::tip_joint_map_

Definition at line 297 of file joint_trajectory_admittance_controller.hpp.

tip_offsets_

std::vector<Eigen::Vector3d> moveit_pro_controllers::JointTrajectoryAdmittanceController::tip_offsets_

Definition at line 264 of file joint_trajectory_admittance_controller.hpp.

trajectory_updated_

std::atomic<bool> moveit_pro_controllers::JointTrajectoryAdmittanceController::trajectory_updated_ { false }

Definition at line 228 of file joint_trajectory_admittance_controller.hpp.

utilized_command_interfaces_

UtilizedInterfaces moveit_pro_controllers::JointTrajectoryAdmittanceController::utilized_command_interfaces_

Definition at line 225 of file joint_trajectory_admittance_controller.hpp.

utilized_state_interfaces_

UtilizedInterfaces moveit_pro_controllers::JointTrajectoryAdmittanceController::utilized_state_interfaces_

Definition at line 224 of file joint_trajectory_admittance_controller.hpp.

wrench_publishers_

std::vector<rclcpp::Publisher<WrenchMsg>::SharedPtr> moveit_pro_controllers::JointTrajectoryAdmittanceController::wrench_publishers_

Definition at line 250 of file joint_trajectory_admittance_controller.hpp.

---

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

• joint_trajectory_admittance_controller.hpp
• joint_trajectory_admittance_controller.cpp

---

Generated via doxygen2docusaurus 2.2.2 by Doxygen 1.9.8.