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JointTrajectoryAdmittanceController Class

Declaration​

class moveit_pro_controllers::JointTrajectoryAdmittanceController { ... }

Included Headers​

#include <joint_trajectory_admittance_controller.hpp>

Base classes​

classcontroller_interface::ControllerInterface
classControllerWithRobotModel

Public Member Typedefs Index​

usingJointTrajectoryPoint = trajectory_msgs::msg::JointTrajectoryPoint

Private Member Typedefs Index​

usingStatePublisher = realtime_tools::RealtimePublisher< ControllerStateMsg >
usingStatePublisherPtr = std::unique_ptr< StatePublisher >
usingWrenchMsg = geometry_msgs::msg::WrenchStamped
usingRTWrenchPublisher = realtime_tools::RealtimePublisher< WrenchMsg >
usingFollowJointTrajectory = moveit_pro_controllers_msgs::action::FollowJointTrajectoryWithAdmittance
usingRealtimeGoalHandle = realtime_tools::RealtimeServerGoalHandle< FollowJointTrajectory >
usingRealtimeGoalHandlePtr = std::shared_ptr< RealtimeGoalHandle >
usingRealtimeGoalHandleBuffer = realtime_tools::RealtimeBuffer< RealtimeGoalHandlePtr >
usingActionGoalHandlePtr = std::shared_ptr< rclcpp_action::ServerGoalHandle< FollowJointTrajectory > >

Enumerations Index​

enum classState { ... }

Public Constructors Index​

JointTrajectoryAdmittanceController ()

Public Member Functions Index​

controller_interface::InterfaceConfigurationcommand_interface_configuration () const override
controller_interface::InterfaceConfigurationstate_interface_configuration () const override
CallbackReturnon_init () override
CallbackReturnon_configure (const rclcpp_lifecycle::State &previous_state) override
CallbackReturnon_activate (const rclcpp_lifecycle::State &previous_state) override
CallbackReturnon_deactivate (const rclcpp_lifecycle::State &previous_state) override
controller_interface::return_typeupdate (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​

voidinitializePublisher ()
rclcpp_action::GoalResponsegoal_received_callback (const rclcpp_action::GoalUUID &uuid, std::shared_ptr< const FollowJointTrajectory::Goal > goal) const
voidgoal_accepted_callback (ActionGoalHandlePtr goal_handle)
rclcpp_action::CancelResponsegoal_cancelled_callback (const ActionGoalHandlePtr goal_handle) const
voidpublish_state (const TimedJointState &state_desired, const TimedJointState &state_current, const TimedJointState &state_error)
boolhandleStopIfNecessary (RealtimeGoalHandlePtr active_goal_handle, const rclcpp::Time &time, const rclcpp::Duration &period)
voidapplyAdmittanceIfConfigured (const RealtimeGoalHandlePtr &active_goal_handle, const std::shared_ptr< JointTrajectoryAdmittanceControllerCommand > &active_command, const TimedJointState &state_desired, const rclcpp::Time &time, const rclcpp::Duration &period)
voidpublishFilteredWrench (size_t sensor_index, const rclcpp::Time &time)
voidupdateTares ()
voidresetTares ()
voidremoveActiveCommand ()
boolinitTrajectorySamplerOrAbort (const RealtimeGoalHandlePtr &active_goal_handle, const std::shared_ptr< JointTrajectoryAdmittanceControllerCommand > &active_command)
boolforwardKinematics (const Eigen::VectorNd &reference_joint_values, const Eigen::VectorNd &current_joint_values, AdmittanceState &state)
booldifferentialForwardKinematics (const Eigen::VectorNd &joint_values, const Eigen::VectorNd &joint_delta, std::vector< Eigen::Vector6d > &cartesian_deltas)
booldifferentialInverseKinematics (const Eigen::VectorNd &joint_values, const std::vector< Eigen::Vector6d > &cartesian_deltas, Eigen::VectorNd &joint_deltas)
doublefirstOrderLagFilter (const double filter_input, double time_step_seconds)

Private Member Attributes Index​

realtime_tools::RealtimeBuffer< State >goal_state_
rclcpp::Subscription< std_msgs::msg::String >::SharedPtrrobot_description_subscription_
std::stringrobot_description_
std::mutexrobot_description_mutex_
rclcpp::Publisher< ControllerStateMsg >::SharedPtrcontroller_state_publisher_
StatePublisherPtrrt_controller_state_publisher_
rclcpp::Timelast_state_publish_time_
InterfaceReferences< hardware_interface::LoanedCommandInterface >joint_command_interfaces_
InterfaceReferences< hardware_interface::LoanedStateInterface >joint_state_interfaces_
UtilizedInterfacesutilized_state_interfaces_
UtilizedInterfacesutilized_command_interfaces_
std::atomic< bool >trajectory_updated_ { false }
moveit_pro_controllers::Timestart_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_
TimedJointStatelast_commanded_state_
TimedJointStateadmittance_output_state_
std::vector< Eigen::Vector3d >tip_offsets_
rclcpp_action::Server< FollowJointTrajectory >::SharedPtraction_server_
std::vector< std::unique_ptr< RealtimeTriggerServiceMonitor > >tare_services_
std::shared_ptr< joint_trajectory_admittance_controller::ParamListener >param_listener_
joint_trajectory_admittance_controller::Paramsparams_
std::atomic< uint8_t >cached_lifecycle_id_ = lifecycle_msgs::msg::State::PRIMARY_STATE_UNKNOWN
StopTrajectorystop_trajectory_
rclcpp::Timestop_requested_time_
Eigen::VectorNdacceleration_limits_
rclcpp::Timescaled_time_
doublefolag_state_ = 100.0
doublefolag_tau_ = 0.2
doublefolag_max_change_rate_ = 180.0
path_ik::TipJointMaptip_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 668 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 672 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 1672 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 1662 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 1667 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 1677 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 917 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 712 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 960 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 694 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 677 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 1004 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 1270 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 1709 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 1739 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 1771 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 1682 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 1513 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 1496 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 1470 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 1198 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 875 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 989 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 1441 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 1423 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 1434 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 1411 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 1352 of file joint_trajectory_admittance_controller.cpp.

Private Member Attributes​

acceleration_limits_​

Eigen::VectorNd moveit_pro_controllers::JointTrajectoryAdmittanceController::acceleration_limits_

Definition at line 277 of file joint_trajectory_admittance_controller.hpp.

action_server_​

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

Definition at line 260 of file joint_trajectory_admittance_controller.hpp.

admittance_output_state_​

TimedJointState moveit_pro_controllers::JointTrajectoryAdmittanceController::admittance_output_state_

Definition at line 256 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 272 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 285 of file joint_trajectory_admittance_controller.hpp.

folag_state_​

double moveit_pro_controllers::JointTrajectoryAdmittanceController::folag_state_ = 100.0

Definition at line 283 of file joint_trajectory_admittance_controller.hpp.

folag_tau_​

double moveit_pro_controllers::JointTrajectoryAdmittanceController::folag_tau_ = 0.2

Definition at line 284 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.

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_commanded_state_​

TimedJointState moveit_pro_controllers::JointTrajectoryAdmittanceController::last_commanded_state_

Definition at line 253 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 266 of file joint_trajectory_admittance_controller.hpp.

params_​

joint_trajectory_admittance_controller::Params moveit_pro_controllers::JointTrajectoryAdmittanceController::params_

Definition at line 267 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 280 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 276 of file joint_trajectory_admittance_controller.hpp.

stop_trajectory_​

StopTrajectory moveit_pro_controllers::JointTrajectoryAdmittanceController::stop_trajectory_

Definition at line 275 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 263 of file joint_trajectory_admittance_controller.hpp.

tip_joint_map_​

path_ik::TipJointMap moveit_pro_controllers::JointTrajectoryAdmittanceController::tip_joint_map_

Definition at line 290 of file joint_trajectory_admittance_controller.hpp.

tip_offsets_​

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

Definition at line 257 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:

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