moveit_pro_controllers Namespace

Definition

namespace moveit_pro_controllers { ... }

Namespaces Index

namespace	internal

Classes Index

class	Admittance
struct	AdmittanceKinematics
struct	AdmittanceParameters
struct	AdmittanceState
class	ControllerWithRobotModel
class	IOController
class	JointTrajectoryAdmittanceController
struct	JointTrajectoryAdmittanceControllerCommand
class	JointVelocityController
struct	JointVelocityParameters
class	JointVelocitySetpointGenerator
struct	NonFiniteValue
class	RealtimeTriggerServiceMonitor
class	RobotTestFixture<Controller>
class	RobotTestFixtureInvalidParams<Base>
class	SecondOrderButterworthFilter
struct	StopTrajectory
class	TrajectorySampler
struct	UtilizedInterfaces
class	VelocityForceController
struct	VelocityForceParameters
class	VelocityForceSetpointGenerator
class	WrenchTareAccumulator

Typedefs Index

using	ForwardKinematicsFn = std::function< bool(const Eigen::VectorNd &reference_joint_values, const Eigen::VectorNd &current_joint_values, AdmittanceState &state)>
typedef	std::function< bool(const Eigen::VectorNd &joint_values, const std::vector< Eigen::Vector6d > &cartesian_deltas, Eigen::VectorNd &joint_deltas)> DiffInverseKinematicsFn
template <typename T>
using	InterfaceReferences = std::vector< std::vector< std::reference_wrapper< T > > >
using	CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn

Enumerations Index

enum class	AdmittanceResult { ... }
enum class	InterpolationResult { ... }
enum class	ValidationResult { ... }
enum class	SamplingResult { ... }

Functions Index

Eigen::Vector3d	applyDeadband (const Eigen::Vector3d &signal, double threshold)
StopTrajectory	computeStopTrajectory (const TimedJointState &initial_state, const Eigen::VectorNd &acceleration_limits)
TimedJointState	sampleStopTrajectory (const StopTrajectory &stop_trajectory, double time_from_start)
bool	isLimitViolationPredicted (const TimedJointState &state, const Eigen::VectorNd &upper_position_limits, const Eigen::VectorNd &lower_position_limits, const Eigen::VectorNd &stop_acceleration, double safety_margin)
Eigen::Vector6d	computeWorldWrench (const Eigen::Vector6d &sensor_wrench, const Eigen::Isometry3d &world_pose_sensor)
void	subtractGravity (Eigen::Vector6d &world_wrench, const Eigen::Isometry3d &world_pose_sensor, const Eigen::Isometry3d &world_pose_ee, double end_effector_mass, const Eigen::Vector3d &end_effector_cog, const Eigen::Vector3d &gravity_vector)
InterpolationResult	interpolate (const TimedJointState &state_a, const TimedJointState &state_b, Duration time_from_start, TimedJointState &output)
bool	isMonotonicallyIncreasing (const Trajectory &trajectory)
tl::expected< Trajectory, std::string >	trajectoryFromROSMsg (const trajectory_msgs::msg::JointTrajectory &joint_trajectory, const std::vector< std::string > &controller_joint_names, const TimedJointState &initial_state)
bool	vectorContainsString (const std::vector< std::string > &vec, const std::string &str)
template <class T>
UtilizedInterfaces	initializeInterfaceReferences (const std::vector< std::string > &interface_names, InterfaceReferences< T > &interface_references)
template <class T>
bool	getOrderedInterfaces (const rclcpp::Logger &logger, const std::vector< std::string > &joint_names, std::vector< T > &unordered_interfaces, const std::vector< std::string > &interface_names, InterfaceReferences< T > &ordered_interfaces)
std::vector< std::string >	getActiveVariableNames (const moveit_pro::base::JointModelGroup &group)
controller_interface::InterfaceConfiguration	createInterfaceConfiguration (const std::vector< std::string > &joint_names, const std::vector< std::string > &interface_names)
void	releaseStateAndCommandInterfaces (InterfaceReferences< hardware_interface::LoanedStateInterface > &state_interfaces, InterfaceReferences< hardware_interface::LoanedCommandInterface > &command_interfaces)
tl::expected< void, NonFiniteValue >	validateFinite (const Eigen::VectorNd &values, std::string_view kind)
tl::expected< void, NonFiniteValue >	validateFinite (const Eigen::Vector6d &values, std::string_view kind)
tl::expected< void, NonFiniteValue >	validateFinite (const TimedJointState &joint_state, const UtilizedInterfaces &interfaces)
template <typename T>
auto	writeToCommandInterfaces (const T &joint_interfaces, const TimedJointState &joint_state, const UtilizedInterfaces &interfaces) -> tl::expected< void, NonFiniteValue >
template <typename T>
Eigen::VectorNd	readFromInterface (const T &joint_interface)
template <typename T>
TimedJointState	readFromInterfaces (const T &joint_interfaces, const UtilizedInterfaces &interfaces)
bool	initializeForceTorqueSensor (const std::string &ft_sensor_name, double ft_cutoff_frequency_ratio, std::unique_ptr< semantic_components::ForceTorqueSensor > &force_torque_sensor, std::unique_ptr< SecondOrderButterworthFilter > &ft_filter)
bool	initializeForceTorqueSensors (const std::string &controller_name, const std::vector< std::string > &ft_sensor_names, double ft_cutoff_frequency_ratio, 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)
Eigen::Vector6d	getSensedWrench (const semantic_components::ForceTorqueSensor &force_torque_sensor)
geometry_msgs::msg::Wrench	toWrenchMsg (const Eigen::Vector6d &wrench)
void	toStdVector (const Eigen::VectorNd &vector_eigen, std::vector< double > &vector_std)
template <typename T>
void	writeUnchecked (const T &joint_interface, const Eigen::VectorNd &values)
tl::expected< trajectory_msgs::msg::JointTrajectory, std::string >	ROSMsgFromTrajectory (const Trajectory &joint_trajectory)
void	computeCartesianStopTrajectory (const TimedJointState &initial_state, const VelocityForceParameters &parameters, Duration control_period, std::vector< TimedJointState > &stop_trajectory)
Eigen::Isometry3d	computeControlFrameInEndEffector (const Eigen::Isometry3d &base_pose_ee, const Eigen::Isometry3d &base_pose_control_frame, const Eigen::Quaterniond &control_offset)
	Compute the orientation of the control frame expressed in the end-effector frame. More...

Variables Index

constexpr auto	kTestRobotURDF
constexpr auto	kTestRobotSRDF = ...
constexpr auto	kMimicChainRobotURDF = ...
constexpr auto	kMimicChainRobotSRDF = ...
constexpr auto	kTestMultiTipRobotURDF
constexpr auto	kTestMultiTipRobotSRDF = ...
const std::string	kForceTorqueSensorName = "tcp_fts_sensor"
constexpr auto	kEnableService = "enable"
constexpr auto	kDisableService = "disable"
constexpr auto	kJointTrajectoryAdmittanceControllerActionName = "/follow_joint_trajectory"
constexpr auto	kJointTrajectoryAdmittanceControllerTopicName = "~/controller_state"
constexpr auto	kJointTrajectoryAdmittanceControllerFilteredWrenchTopicName = "~/filtered_wrench"
const std::vector< std::string >	kAllowedInterfaceTypes = ...
constexpr auto	kRobotDescriptionTopic = "robot_description"
constexpr auto	kRobotDescriptionSemanticTopic = "robot_description_semantic"

Typedefs

CallbackReturn

using moveit_pro_controllers::CallbackReturn = typedef rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn

Definition at line 52 of file ros2_control_utils.hpp.

DiffInverseKinematicsFn

typedef std::function< bool(const Eigen::VectorNd &joint_values, const Eigen::Vector6d &cartesian_delta, const Eigen::VectorNd &nullspace_component, Eigen::VectorNd &joint_deltas)> moveit_pro_controllers::DiffInverseKinematicsFn

Definition at line 103 of file admittance.hpp.

ForwardKinematicsFn

using moveit_pro_controllers::ForwardKinematicsFn = typedef std::function<bool(const Eigen::VectorNd& reference_joint_values, const Eigen::VectorNd& current_joint_values, AdmittanceState& state)>

Definition at line 99 of file admittance.hpp.

InterfaceReferences

template <typename T>

using moveit_pro_controllers::InterfaceReferences = typedef std::vector<std::vector<std::reference_wrapper<T> >>

Definition at line 50 of file ros2_control_utils.hpp.

Enumerations

AdmittanceResult

enum class moveit_pro_controllers::AdmittanceResult

strong

Enumeration values

SUCCESS
ERROR_COMPUTING_TRANSFORMS
ERROR_COMPUTING_ADMITTANCE_OFFSET

Definition at line 116 of file admittance.hpp.

InterpolationResult

enum class moveit_pro_controllers::InterpolationResult

strong

Enumeration values

SUCCESS
INVALID_INPUT_MISSING_POSITIONS
INVALID_INPUT_MISSING_VELOCITIES
INVALID_INPUT_TIME_OUT_OF_BOUNDS
INVALID_INPUT_MISMATCHED_SIZES

Definition at line 15 of file interpolation.hpp.

SamplingResult

enum class moveit_pro_controllers::SamplingResult

strong

Enumeration values

SUCCESS
TIME_AT_END
NOT_STARTED
ERROR_SAMPLING_BACKWARDS

Definition at line 67 of file interpolation.hpp.

ValidationResult

enum class moveit_pro_controllers::ValidationResult

strong

Enumeration values

SUCCESS
INVALID_TRAJECTORY_LENGTH
INVALID_TIME_DOES_NOT_INCREASE

Definition at line 54 of file interpolation.hpp.

Functions

applyDeadband()

Eigen::Vector3d moveit_pro_controllers::applyDeadband (const Eigen::Vector3d & signal, double threshold)

Applies a deadband to the input vector. Values below the threshold will be set to zero. The threshold will be subtracted/added to values exceeding threshold. / / / / / => --— / / / /

Parameters

[in] signal	a 3D vector with the signal to filter with a deadband.
[in] threshold	the deadband threshold.

Returns

the vector with deadband applied.

Definition at line 17 of file signal_processing.cpp.

computeCartesianStopTrajectory()

void moveit_pro_controllers::computeCartesianStopTrajectory (const TimedJointState & initial_state, const VelocityForceParameters & parameters, Duration control_period, std::vector< TimedJointState > & stop_trajectory)

Definition at line 12 of file cartesian_stop_trajectory.cpp.

computeControlFrameInEndEffector()

Eigen::Isometry3d moveit_pro_controllers::computeControlFrameInEndEffector (const Eigen::Isometry3d & base_pose_ee, const Eigen::Isometry3d & base_pose_control_frame, const Eigen::Quaterniond & control_offset)

Compute the orientation of the control frame expressed in the end-effector frame.

The setpoint generator interprets velocity/force references in the control frame and uses only the rotation of the returned transform: the commanded twist/wrench is re-expressed in the end-effector frame by orientation alone. Any translational offset between the control frame and the end-effector is intentionally ignored (the controller does not model the lever-arm coupling it would introduce), so the returned transform's translation is left at identity.

Parameters

base_pose_ee	End-effector pose in the model (base) frame.
base_pose_control_frame	Pose of the control-frame link in the model (base) frame. Pass 'base_pose_ee' to express the command in the end-effector frame (the original behavior), which yields an identity rotation.
control_offset	Orientation offset applied on top of the control frame. Assumed to be a valid unit quaternion (the unset/zero-norm case is mapped to identity at the ROS boundary, in resolveReceivedCommand).

Returns

ee_pose_control: a transform whose rotation maps a twist/wrench from the control frame into the end-effector frame, with identity translation.

Definition at line 53 of file velocity_force_controller.cpp.

computeStopTrajectory()

StopTrajectory moveit_pro_controllers::computeStopTrajectory (const TimedJointState & initial_state, const Eigen::VectorNd & acceleration_limits)

Definition at line 24 of file stop_trajectory.cpp.

computeWorldWrench()

Eigen::Vector6d moveit_pro_controllers::computeWorldWrench (const Eigen::Vector6d & sensor_wrench, const Eigen::Isometry3d & world_pose_sensor)

Definition at line 158 of file admittance.cpp.

createInterfaceConfiguration()

controller_interface::InterfaceConfiguration moveit_pro_controllers::createInterfaceConfiguration (const std::vector< std::string > & joint_names, const std::vector< std::string > & interface_names)

Definition at line 28 of file ros2_control_utils.cpp.

getActiveVariableNames()

std::vector< std::string > moveit_pro_controllers::getActiveVariableNames (const moveit_pro::base::JointModelGroup & group)

Definition at line 14 of file ros2_control_utils.cpp.

getOrderedInterfaces()

template <class T>

bool moveit_pro_controllers::getOrderedInterfaces (const rclcpp::Logger & logger, const std::vector< std::string > & joint_names, std::vector< T > & unordered_interfaces, const std::vector< std::string > & interface_names, InterfaceReferences< T > & ordered_interfaces)

Definition at line 350 of file ros2_control_utils.hpp.

getSensedWrench()

Eigen::Vector6d moveit_pro_controllers::getSensedWrench (const semantic_components::ForceTorqueSensor & force_torque_sensor)

Definition at line 109 of file ros2_control_utils.cpp.

initializeForceTorqueSensor()

bool moveit_pro_controllers::initializeForceTorqueSensor (const std::string & ft_sensor_name, double ft_cutoff_frequency_ratio, std::unique_ptr< semantic_components::ForceTorqueSensor > & force_torque_sensor, std::unique_ptr< SecondOrderButterworthFilter > & ft_filter)

Definition at line 57 of file ros2_control_utils.cpp.

initializeForceTorqueSensors()

bool moveit_pro_controllers::initializeForceTorqueSensors (const std::string & controller_name, const std::vector< std::string > & ft_sensor_names, double ft_cutoff_frequency_ratio, 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)

Definition at line 75 of file ros2_control_utils.cpp.

initializeInterfaceReferences()

template <class T>

UtilizedInterfaces moveit_pro_controllers::initializeInterfaceReferences (const std::vector< std::string > & interface_names, InterfaceReferences< T > & interface_references)

Definition at line 338 of file ros2_control_utils.hpp.

interpolate()

InterpolationResult moveit_pro_controllers::interpolate (const TimedJointState & state_a, const TimedJointState & state_b, Duration time_from_start, TimedJointState & output)

Definition at line 80 of file interpolation.cpp.

isLimitViolationPredicted()

bool moveit_pro_controllers::isLimitViolationPredicted (const TimedJointState & state, const Eigen::VectorNd & upper_position_limits, const Eigen::VectorNd & lower_position_limits, const Eigen::VectorNd & stop_acceleration, double safety_margin)

Definition at line 83 of file stop_trajectory.cpp.

isMonotonicallyIncreasing()

bool moveit_pro_controllers::isMonotonicallyIncreasing (const Trajectory & trajectory)

Definition at line 194 of file interpolation.cpp.

readFromInterface()

template <typename T>

Eigen::VectorNd moveit_pro_controllers::readFromInterface (const T & joint_interface)

Definition at line 412 of file ros2_control_utils.hpp.

readFromInterfaces()

template <typename T>

TimedJointState moveit_pro_controllers::readFromInterfaces (const T & joint_interfaces, const UtilizedInterfaces & interfaces)

Definition at line 423 of file ros2_control_utils.hpp.

releaseStateAndCommandInterfaces()

void moveit_pro_controllers::releaseStateAndCommandInterfaces (InterfaceReferences< hardware_interface::LoanedStateInterface > & state_interfaces, InterfaceReferences< hardware_interface::LoanedCommandInterface > & command_interfaces)

Definition at line 47 of file ros2_control_utils.cpp.

ROSMsgFromTrajectory()

tl::expected< trajectory_msgs::msg::JointTrajectory, std::string > moveit_pro_controllers::ROSMsgFromTrajectory (const Trajectory & joint_trajectory)

Convert a Trajectory object to a ROS JointTrajectory msg, or return an error string if the conversion was unsuccessful. The returned message has no joint names; the caller sets them.

Definition at line 41 of file trajectory_ros_conversions.cpp.

sampleStopTrajectory()

TimedJointState moveit_pro_controllers::sampleStopTrajectory (const StopTrajectory & stop_trajectory, double time_from_start)

Definition at line 50 of file stop_trajectory.cpp.

subtractGravity()

void moveit_pro_controllers::subtractGravity (Eigen::Vector6d & world_wrench, const Eigen::Isometry3d & world_pose_sensor, const Eigen::Isometry3d & world_pose_ee, double end_effector_mass, const Eigen::Vector3d & end_effector_cog, const Eigen::Vector3d & gravity_vector)

Definition at line 168 of file admittance.cpp.

toStdVector()

void moveit_pro_controllers::toStdVector (const Eigen::VectorNd & vector_eigen, std::vector< double > & vector_std)

Definition at line 131 of file ros2_control_utils.cpp.

toWrenchMsg()

geometry_msgs::msg::Wrench moveit_pro_controllers::toWrenchMsg (const Eigen::Vector6d & wrench)

Definition at line 119 of file ros2_control_utils.cpp.

trajectoryFromROSMsg()

tl::expected< Trajectory, std::string > moveit_pro_controllers::trajectoryFromROSMsg (const trajectory_msgs::msg::JointTrajectory & joint_trajectory, const std::vector< std::string > & controller_joint_names, const TimedJointState & initial_state)

Definition at line 66 of file joint_trajectory_admittance_controller.cpp.

validateFinite()

tl::expected< void, NonFiniteValue > moveit_pro_controllers::validateFinite (const Eigen::VectorNd & values, std::string_view kind)

Definition at line 138 of file ros2_control_utils.cpp.

validateFinite()

tl::expected< void, NonFiniteValue > moveit_pro_controllers::validateFinite (const Eigen::Vector6d & values, std::string_view kind)

Definition at line 150 of file ros2_control_utils.cpp.

validateFinite()

tl::expected< void, NonFiniteValue > moveit_pro_controllers::validateFinite (const TimedJointState & joint_state, const UtilizedInterfaces & interfaces)

Definition at line 162 of file ros2_control_utils.cpp.

vectorContainsString()

bool moveit_pro_controllers::vectorContainsString (const std::vector< std::string > & vec, const std::string & str)

inline

Definition at line 63 of file ros2_control_utils.hpp.

writeToCommandInterfaces()

template <typename T>

tl::expected< void, NonFiniteValue > moveit_pro_controllers::writeToCommandInterfaces (const T & joint_interfaces, const TimedJointState & joint_state, const UtilizedInterfaces & interfaces)

Definition at line 383 of file ros2_control_utils.hpp.

writeUnchecked()

template <typename T>

void moveit_pro_controllers::writeUnchecked (const T & joint_interface, const Eigen::VectorNd & values)

Definition at line 372 of file ros2_control_utils.hpp.

Variables

kAllowedInterfaceTypes

const std::vector<std::string> moveit_pro_controllers::kAllowedInterfaceTypes

Initialiser

= {   hardware_interface::HW_IF_POSITION,   hardware_interface::HW_IF_VELOCITY,   hardware_interface::HW_IF_ACCELERATION, }

Definition at line 43 of file ros2_control_utils.hpp.

kDisableService

constexpr auto moveit_pro_controllers::kDisableService = "disable"

constexpr

Definition at line 27 of file io_controller.cpp.

kEnableService

constexpr auto moveit_pro_controllers::kEnableService = "enable"

constexpr

Definition at line 26 of file io_controller.cpp.

kForceTorqueSensorName

const std::string moveit_pro_controllers::kForceTorqueSensorName = "tcp_fts_sensor"

Definition at line 193 of file robot_test_fixture.hpp.

kJointTrajectoryAdmittanceControllerActionName

constexpr auto moveit_pro_controllers::kJointTrajectoryAdmittanceControllerActionName = "/follow_joint_trajectory"

constexpr

Definition at line 59 of file joint_trajectory_admittance_controller.hpp.

kJointTrajectoryAdmittanceControllerFilteredWrenchTopicName

constexpr auto moveit_pro_controllers::kJointTrajectoryAdmittanceControllerFilteredWrenchTopicName = "~/filtered_wrench"

constexpr

Definition at line 62 of file joint_trajectory_admittance_controller.hpp.

kJointTrajectoryAdmittanceControllerTopicName

constexpr auto moveit_pro_controllers::kJointTrajectoryAdmittanceControllerTopicName = "~/controller_state"

constexpr

Definition at line 60 of file joint_trajectory_admittance_controller.hpp.

kMimicChainRobotSRDF

constexpr auto moveit_pro_controllers::kMimicChainRobotSRDF

constexpr

Initialiser

= R"(<?xml version="1.0"?>     <robot name="mimic_robot">       <group name="arm">         <joint name="joint_a"/><joint name="joint_a_mimic"/><joint name="joint_b"/>       </group>       <group name="mimic_only">         <joint name="joint_a_mimic"/>       </group>     </robot>)"

Definition at line 106 of file robot_test_fixture.hpp.

kMimicChainRobotURDF

constexpr auto moveit_pro_controllers::kMimicChainRobotURDF

constexpr

Initialiser

= R"(<?xml version="1.0"?>     <robot name="mimic_robot">       <link name="base_link"/><link name="link_a"/><link name="link_m"/><link name="tip_link"/>       <joint name="joint_a" type="revolute">         <axis xyz="0 0 1"/><parent link="base_link"/><child link="link_a"/>         <limit effort="1000.0" lower="-3.0" upper="3.0" velocity="0.5"/>       </joint>       <joint name="joint_a_mimic" type="revolute">         <axis xyz="0 0 1"/><parent link="link_a"/><child link="link_m"/>         <limit effort="1000.0" lower="-3.0" upper="3.0" velocity="0.5"/>         <mimic joint="joint_a" multiplier="0.5" offset="0.1"/>       </joint>       <joint name="joint_b" type="revolute">         <axis xyz="0 1 0"/><parent link="link_m"/><child link="tip_link"/>         <limit effort="1000.0" lower="-3.0" upper="3.0" velocity="0.5"/>       </joint>     </robot>)"

Definition at line 89 of file robot_test_fixture.hpp.

kRobotDescriptionSemanticTopic

constexpr auto moveit_pro_controllers::kRobotDescriptionSemanticTopic = "robot_description_semantic"

constexpr

Definition at line 181 of file ros2_control_utils.cpp.

kRobotDescriptionTopic

constexpr auto moveit_pro_controllers::kRobotDescriptionTopic = "robot_description"

constexpr

Definition at line 180 of file ros2_control_utils.cpp.

kTestMultiTipRobotSRDF

constexpr auto moveit_pro_controllers::kTestMultiTipRobotSRDF

constexpr

Initialiser

= R"(     <?xml version="1.0"?>     <robot name="my_robot">       <group name="joint_a_and_b">         <joint name="joint_a"/>         <joint name="joint_b"/>       </group>       <group name="joint_c_and_d">         <joint name="joint_c"/>         <joint name="joint_d"/>       </group>       <group name="chains_ab_and_cd">         <group name="joint_a_and_b"/>         <group name="joint_c_and_d"/>       </group>     </robot>)"

Definition at line 176 of file robot_test_fixture.hpp.

kTestMultiTipRobotURDF

constexpr auto moveit_pro_controllers::kTestMultiTipRobotURDF

constexpr

Definition at line 116 of file robot_test_fixture.hpp.

kTestRobotSRDF

constexpr auto moveit_pro_controllers::kTestRobotSRDF

constexpr

Initialiser

= R"(     <?xml version="1.0"?>     <robot name="my_robot">       <group name="joint_a_and_b">         <joint name="joint_a"/>         <joint name="joint_b"/>       </group>     </robot>)"

Definition at line 77 of file robot_test_fixture.hpp.

kTestRobotURDF

constexpr auto moveit_pro_controllers::kTestRobotURDF

constexpr

Definition at line 32 of file robot_test_fixture.hpp.

---

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

• robot_test_fixture.hpp
• signal_processing.cpp
• stop_trajectory.cpp
• io_controller.cpp
• admittance.hpp
• interpolation.hpp
• joint_trajectory_admittance_controller.hpp
• admittance.cpp
• interpolation.cpp
• joint_trajectory_admittance_controller.cpp
• ros2_control_utils.hpp
• ros2_control_utils.cpp
• trajectory_ros_conversions.cpp
• cartesian_stop_trajectory.cpp
• velocity_force_controller.cpp

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