VelocityForceController Class

Declaration

class moveit_pro_controllers::VelocityForceController { ... }

Included Headers

#include <velocity_force_controller.hpp>

Base classes

class	controller_interface::ControllerInterface
class	ControllerWithRobotModel

Private Member Typedefs Index

using	ControllerStateMsg = moveit_pro_controllers_msgs::msg::VelocityForceControllerState
using	RTStatePublisher = realtime_tools::RealtimePublisher< ControllerStateMsg >
using	WrenchMsg = geometry_msgs::msg::WrenchStamped
using	RTWrenchPublisher = realtime_tools::RealtimePublisher< WrenchMsg >
using	CommandMsg = moveit_pro_controllers_msgs::msg::VelocityForceCommand
using	ConfigureMsg = moveit_pro_controllers_msgs::srv::ConfigureVelocityForceController

Enumerations Index

enum class	State { ... }

Public Constructors Index

	VelocityForceController ()

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 velocity_force_controller::Params &	getControllerParameters () const
velocity_force_controller::Params &	getControllerParameters ()
const VelocityForceParameters &	getVelocityForceParameters () const
State	getControllerState () const
void	overrideJointPositionLimits (const Eigen::VectorNd &lower_limits, const Eigen::VectorNd &upper_limits)
const TimedJointState &	getLastCommandedState () const

Private Member Functions Index

bool	handleStopIfNecessary (const rclcpp::Time &time)
bool	forwardKinematics (const Eigen::VectorNd &current_joint_values, Eigen::Isometry3d &base_pose_ee)
bool	differentialForwardKinematics (const Eigen::VectorNd &joint_values, const Eigen::VectorNd &joint_delta, Eigen::Vector6d &cartesian_deltas)
bool	differentialInverseKinematics (const Eigen::VectorNd &joint_values, const Eigen::Vector6d &cartesian_delta, const Eigen::VectorNd &nullspace_component, Eigen::VectorNd &joint_deltas)
Eigen::Isometry3d	resolveControlFrameInEndEffector (const moveit_pro::base::LinkModel &control_link, const Eigen::Isometry3d &base_pose_ee, const Eigen::Quaterniond &control_offset) const
bool	beginCommandStreamIfIdle (const CommandMsg &command, const TimedJointState &current_state)
void	updateTare ()
void	resetTare ()
void	configurationServiceCallback (const std::shared_ptr< ConfigureMsg::Request > request, std::shared_ptr< ConfigureMsg::Response > response)
VelocityForceParameters	createVelocityForceParametersFromConfigs ()
void	initializePublisher ()
void	publishState (const TimedJointState &current_state, const rclcpp::Time &time)
void	publishFilteredWrench (const Eigen::Vector6d &wrench_filtered, const rclcpp::Time &time)
std::optional< ReceivedCommand >	resolveReceivedCommand (const CommandMsg &msg)

Private Member Attributes Index

realtime_tools::RealtimeBuffer< State >	goal_state_
std::vector< std::string >	command_joint_names_
Eigen::VectorNd	upper_position_limits_
Eigen::VectorNd	lower_position_limits_
rclcpp::Publisher< ControllerStateMsg >::SharedPtr	state_publisher_
std::unique_ptr< RTStatePublisher >	rt_state_publisher_
TimedJointState	last_published_state_
rclcpp::Time	last_state_publish_time_
rclcpp::Publisher< WrenchMsg >::SharedPtr	wrench_publisher_
std::unique_ptr< RTWrenchPublisher >	rt_wrench_publisher_
InterfaceReferences< hardware_interface::LoanedCommandInterface >	joint_command_interfaces_
InterfaceReferences< hardware_interface::LoanedStateInterface >	joint_state_interfaces_
UtilizedInterfaces	utilized_state_interfaces_
UtilizedInterfaces	utilized_command_interfaces_
std::shared_ptr< velocity_force_controller::ParamListener >	param_listener_
velocity_force_controller::Params	params_
std::unique_ptr< semantic_components::ForceTorqueSensor >	force_torque_sensor_
std::unique_ptr< SecondOrderButterworthFilter >	ft_filter_
WrenchTareAccumulator	tare_accumulator_
bool	subscriber_is_active_ = false
rclcpp::Subscription< CommandMsg >::SharedPtr	command_subscriber_ = nullptr
realtime_tools::RealtimeBuffer< ReceivedCommand >	received_command_msg_
rclcpp::Service< ConfigureMsg >::SharedPtr	configuration_service_
std::unique_ptr< RealtimeTriggerServiceMonitor >	tare_service_
std::unique_ptr< VelocityForceSetpointGenerator >	setpoint_generator_
TimedJointState	last_commanded_state_
StopTrajectory	stop_trajectory_
rclcpp::Time	stop_requested_time_

Public Static Attributes Index

static constexpr auto	kControllerStateTopic = "~/controller_state"
static constexpr auto	kFilteredWrenchTopic = "~/filtered_wrench"

Definition at line 72 of file velocity_force_controller.hpp.

Private Member Typedefs

CommandMsg

using moveit_pro_controllers::VelocityForceController::CommandMsg = moveit_pro_controllers_msgs::msg::VelocityForceCommand

Definition at line 150 of file velocity_force_controller.hpp.

ConfigureMsg

using moveit_pro_controllers::VelocityForceController::ConfigureMsg = moveit_pro_controllers_msgs::srv::ConfigureVelocityForceController

Definition at line 151 of file velocity_force_controller.hpp.

ControllerStateMsg

using moveit_pro_controllers::VelocityForceController::ControllerStateMsg = moveit_pro_controllers_msgs::msg::VelocityForceControllerState

Definition at line 146 of file velocity_force_controller.hpp.

RTStatePublisher

using moveit_pro_controllers::VelocityForceController::RTStatePublisher = realtime_tools::RealtimePublisher<ControllerStateMsg>

Definition at line 147 of file velocity_force_controller.hpp.

RTWrenchPublisher

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

Definition at line 149 of file velocity_force_controller.hpp.

WrenchMsg

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

Definition at line 148 of file velocity_force_controller.hpp.

Enumerations

State

enum class moveit_pro_controllers::VelocityForceController::State

strong

Enumeration values

IDLE
GOAL_RUNNING
STOP_ON_TIMEOUT
STOP_ON_JOINT_LIMIT
STOP_ON_NON_FINITE
STOPPING_ON_TIMEOUT
STOPPING_ON_JOINT_LIMIT
STOPPING_ON_NON_FINITE
WAIT_FOR_COMMAND_TIMEOUT

Definition at line 78 of file velocity_force_controller.hpp.

Public Constructors

VelocityForceController()

moveit_pro_controllers::VelocityForceController::VelocityForceController ()

Declaration at line 93 of file velocity_force_controller.hpp, definition at line 71 of file velocity_force_controller.cpp.

Public Member Functions

command_interface_configuration()

controller_interface::InterfaceConfiguration moveit_pro_controllers::VelocityForceController::command_interface_configuration ()

Declaration at line 95 of file velocity_force_controller.hpp, definition at line 486 of file velocity_force_controller.cpp.

getControllerParameters()

const velocity_force_controller::Params & moveit_pro_controllers::VelocityForceController::getControllerParameters ()

inline

Definition at line 110 of file velocity_force_controller.hpp.

getControllerParameters()

velocity_force_controller::Params & moveit_pro_controllers::VelocityForceController::getControllerParameters ()

inline

Definition at line 114 of file velocity_force_controller.hpp.

getControllerState()

State moveit_pro_controllers::VelocityForceController::getControllerState ()

inline

Definition at line 126 of file velocity_force_controller.hpp.

getLastCommandedState()

const TimedJointState & moveit_pro_controllers::VelocityForceController::getLastCommandedState ()

inline

Definition at line 140 of file velocity_force_controller.hpp.

getVelocityForceParameters()

const VelocityForceParameters & moveit_pro_controllers::VelocityForceController::getVelocityForceParameters ()

inline

Definition at line 120 of file velocity_force_controller.hpp.

on_activate()

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

Declaration at line 103 of file velocity_force_controller.hpp, definition at line 507 of file velocity_force_controller.cpp.

on_configure()

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

Declaration at line 101 of file velocity_force_controller.hpp, definition at line 257 of file velocity_force_controller.cpp.

on_deactivate()

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

Declaration at line 105 of file velocity_force_controller.hpp, definition at line 557 of file velocity_force_controller.cpp.

on_init()

CallbackReturn moveit_pro_controllers::VelocityForceController::on_init ()

Declaration at line 99 of file velocity_force_controller.hpp, definition at line 240 of file velocity_force_controller.cpp.

overrideJointPositionLimits()

void moveit_pro_controllers::VelocityForceController::overrideJointPositionLimits (const Eigen::VectorNd & lower_limits, const Eigen::VectorNd & upper_limits)

inline

Definition at line 133 of file velocity_force_controller.hpp.

state_interface_configuration()

controller_interface::InterfaceConfiguration moveit_pro_controllers::VelocityForceController::state_interface_configuration ()

Declaration at line 97 of file velocity_force_controller.hpp, definition at line 491 of file velocity_force_controller.cpp.

update()

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

Declaration at line 107 of file velocity_force_controller.hpp, definition at line 578 of file velocity_force_controller.cpp.

Private Member Functions

beginCommandStreamIfIdle()

bool moveit_pro_controllers::VelocityForceController::beginCommandStreamIfIdle (const CommandMsg & command, const TimedJointState & current_state)

Declaration at line 179 of file velocity_force_controller.hpp, definition at line 130 of file velocity_force_controller.cpp.

configurationServiceCallback()

void moveit_pro_controllers::VelocityForceController::configurationServiceCallback (const std::shared_ptr< ConfigureMsg::Request > request, std::shared_ptr< ConfigureMsg::Response > response)

Declaration at line 193 of file velocity_force_controller.hpp, definition at line 909 of file velocity_force_controller.cpp.

createVelocityForceParametersFromConfigs()

VelocityForceParameters moveit_pro_controllers::VelocityForceController::createVelocityForceParametersFromConfigs ()

Declaration at line 197 of file velocity_force_controller.hpp, definition at line 888 of file velocity_force_controller.cpp.

differentialForwardKinematics()

bool moveit_pro_controllers::VelocityForceController::differentialForwardKinematics (const Eigen::VectorNd & joint_values, const Eigen::VectorNd & joint_delta, Eigen::Vector6d & cartesian_deltas)

Declaration at line 161 of file velocity_force_controller.hpp, definition at line 863 of file velocity_force_controller.cpp.

differentialInverseKinematics()

bool moveit_pro_controllers::VelocityForceController::differentialInverseKinematics (const Eigen::VectorNd & joint_values, const Eigen::Vector6d & cartesian_delta, const Eigen::VectorNd & nullspace_component, Eigen::VectorNd & joint_deltas)

Declaration at line 166 of file velocity_force_controller.hpp, definition at line 837 of file velocity_force_controller.cpp.

forwardKinematics()

bool moveit_pro_controllers::VelocityForceController::forwardKinematics (const Eigen::VectorNd & current_joint_values, Eigen::Isometry3d & base_pose_ee)

Declaration at line 159 of file velocity_force_controller.hpp, definition at line 826 of file velocity_force_controller.cpp.

handleStopIfNecessary()

bool moveit_pro_controllers::VelocityForceController::handleStopIfNecessary (const rclcpp::Time & time)

Declaration at line 155 of file velocity_force_controller.hpp, definition at line 776 of file velocity_force_controller.cpp.

initializePublisher()

void moveit_pro_controllers::VelocityForceController::initializePublisher ()

Declaration at line 200 of file velocity_force_controller.hpp, definition at line 383 of file velocity_force_controller.cpp.

publishFilteredWrench()

void moveit_pro_controllers::VelocityForceController::publishFilteredWrench (const Eigen::Vector6d & wrench_filtered, const rclcpp::Time & time)

Declaration at line 206 of file velocity_force_controller.hpp, definition at line 476 of file velocity_force_controller.cpp.

publishState()

void moveit_pro_controllers::VelocityForceController::publishState (const TimedJointState & current_state, const rclcpp::Time & time)

Declaration at line 203 of file velocity_force_controller.hpp, definition at line 414 of file velocity_force_controller.cpp.

resetTare()

void moveit_pro_controllers::VelocityForceController::resetTare ()

Declaration at line 190 of file velocity_force_controller.hpp, definition at line 229 of file velocity_force_controller.cpp.

resolveControlFrameInEndEffector()

Eigen::Isometry3d moveit_pro_controllers::VelocityForceController::resolveControlFrameInEndEffector (const moveit_pro::base::LinkModel & control_link, const Eigen::Isometry3d & base_pose_ee, const Eigen::Quaterniond & control_offset)

Declaration at line 172 of file velocity_force_controller.hpp, definition at line 120 of file velocity_force_controller.cpp.

resolveReceivedCommand()

std::optional< VelocityForceController::ReceivedCommand > moveit_pro_controllers::VelocityForceController::resolveReceivedCommand (const CommandMsg & msg)

Declaration at line 263 of file velocity_force_controller.hpp, definition at line 76 of file velocity_force_controller.cpp.

updateTare()

void moveit_pro_controllers::VelocityForceController::updateTare ()

Declaration at line 184 of file velocity_force_controller.hpp, definition at line 173 of file velocity_force_controller.cpp.

Private Member Attributes

command_joint_names_

std::vector<std::string> moveit_pro_controllers::VelocityForceController::command_joint_names_

Definition at line 211 of file velocity_force_controller.hpp.

command_subscriber_

rclcpp::Subscription<CommandMsg>::SharedPtr moveit_pro_controllers::VelocityForceController::command_subscriber_ = nullptr

Definition at line 267 of file velocity_force_controller.hpp.

configuration_service_

rclcpp::Service<ConfigureMsg>::SharedPtr moveit_pro_controllers::VelocityForceController::configuration_service_

Definition at line 271 of file velocity_force_controller.hpp.

force_torque_sensor_

std::unique_ptr<semantic_components::ForceTorqueSensor> moveit_pro_controllers::VelocityForceController::force_torque_sensor_

Definition at line 236 of file velocity_force_controller.hpp.

ft_filter_

std::unique_ptr<SecondOrderButterworthFilter> moveit_pro_controllers::VelocityForceController::ft_filter_

Definition at line 237 of file velocity_force_controller.hpp.

goal_state_

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

Definition at line 209 of file velocity_force_controller.hpp.

joint_command_interfaces_

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

Definition at line 226 of file velocity_force_controller.hpp.

joint_state_interfaces_

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

Definition at line 227 of file velocity_force_controller.hpp.

last_commanded_state_

TimedJointState moveit_pro_controllers::VelocityForceController::last_commanded_state_

Definition at line 280 of file velocity_force_controller.hpp.

last_published_state_

TimedJointState moveit_pro_controllers::VelocityForceController::last_published_state_

Definition at line 218 of file velocity_force_controller.hpp.

last_state_publish_time_

rclcpp::Time moveit_pro_controllers::VelocityForceController::last_state_publish_time_

Definition at line 219 of file velocity_force_controller.hpp.

lower_position_limits_

Eigen::VectorNd moveit_pro_controllers::VelocityForceController::lower_position_limits_

Definition at line 213 of file velocity_force_controller.hpp.

param_listener_

std::shared_ptr<velocity_force_controller::ParamListener> moveit_pro_controllers::VelocityForceController::param_listener_

Definition at line 232 of file velocity_force_controller.hpp.

params_

velocity_force_controller::Params moveit_pro_controllers::VelocityForceController::params_

Definition at line 233 of file velocity_force_controller.hpp.

received_command_msg_

realtime_tools::RealtimeBuffer<ReceivedCommand> moveit_pro_controllers::VelocityForceController::received_command_msg_

Definition at line 268 of file velocity_force_controller.hpp.

rt_state_publisher_

std::unique_ptr<RTStatePublisher> moveit_pro_controllers::VelocityForceController::rt_state_publisher_

Definition at line 217 of file velocity_force_controller.hpp.

rt_wrench_publisher_

std::unique_ptr<RTWrenchPublisher> moveit_pro_controllers::VelocityForceController::rt_wrench_publisher_

Definition at line 223 of file velocity_force_controller.hpp.

setpoint_generator_

std::unique_ptr<VelocityForceSetpointGenerator> moveit_pro_controllers::VelocityForceController::setpoint_generator_

Definition at line 277 of file velocity_force_controller.hpp.

state_publisher_

rclcpp::Publisher<ControllerStateMsg>::SharedPtr moveit_pro_controllers::VelocityForceController::state_publisher_

Definition at line 216 of file velocity_force_controller.hpp.

stop_requested_time_

rclcpp::Time moveit_pro_controllers::VelocityForceController::stop_requested_time_

Definition at line 284 of file velocity_force_controller.hpp.

stop_trajectory_

StopTrajectory moveit_pro_controllers::VelocityForceController::stop_trajectory_

Definition at line 283 of file velocity_force_controller.hpp.

subscriber_is_active_

bool moveit_pro_controllers::VelocityForceController::subscriber_is_active_ = false

Definition at line 266 of file velocity_force_controller.hpp.

tare_accumulator_

WrenchTareAccumulator moveit_pro_controllers::VelocityForceController::tare_accumulator_

Definition at line 240 of file velocity_force_controller.hpp.

tare_service_

std::unique_ptr<RealtimeTriggerServiceMonitor> moveit_pro_controllers::VelocityForceController::tare_service_

Definition at line 274 of file velocity_force_controller.hpp.

upper_position_limits_

Eigen::VectorNd moveit_pro_controllers::VelocityForceController::upper_position_limits_

Definition at line 212 of file velocity_force_controller.hpp.

utilized_command_interfaces_

UtilizedInterfaces moveit_pro_controllers::VelocityForceController::utilized_command_interfaces_

Definition at line 229 of file velocity_force_controller.hpp.

utilized_state_interfaces_

UtilizedInterfaces moveit_pro_controllers::VelocityForceController::utilized_state_interfaces_

Definition at line 228 of file velocity_force_controller.hpp.

wrench_publisher_

rclcpp::Publisher<WrenchMsg>::SharedPtr moveit_pro_controllers::VelocityForceController::wrench_publisher_

Definition at line 222 of file velocity_force_controller.hpp.

Public Static Attributes

kControllerStateTopic

constexpr auto moveit_pro_controllers::VelocityForceController::kControllerStateTopic = "~/controller_state"

constexpr static

Definition at line 75 of file velocity_force_controller.hpp.

kFilteredWrenchTopic

constexpr auto moveit_pro_controllers::VelocityForceController::kFilteredWrenchTopic = "~/filtered_wrench"

constexpr static

Definition at line 76 of file velocity_force_controller.hpp.

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

• velocity_force_controller.hpp
• velocity_force_controller.cpp

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