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internal Namespace

Definition​

namespace moveit_pro_controllers::internal { ... }

Classes Index​

structCommandJointSplit

Functions Index​

Eigen::VectorNdjointPositionError (const Eigen::VectorNd &desired, const Eigen::VectorNd &current, const Eigen::VectorNb &continuous_joints)
Eigen::VectorNdcontinuousJointOffsets (const Eigen::VectorNd &reference, const Eigen::VectorNd &positions, const Eigen::VectorNb &continuous_joints)
Eigen::VectorNdalignContinuousJointsToReference (const Eigen::VectorNd &reference, const Eigen::VectorNb &continuous_joints, Trajectory &trajectory, std::size_t reference_waypoint=0)
path_ik::TipJointMapcomputeTipJointMap (std::span< moveit_pro::base::LinkModel const *const > end_effector_links, const std::vector< std::string > &joint_names)
boolhasPendingGoal (JointTrajectoryAdmittanceController &controller)
doublefilterTimeScale (double input, double state, double time_constant, double time_step_seconds)
tl::expected< CommandJointSplit, std::string >splitCommandJoints (const std::vector< std::string > &joint_names, const std::vector< std::string > &velocity_joint_names, const std::vector< double > &velocity_position_gains)
Eigen::VectorNdvelocityJointCommands (const TimedJointState &reference, const Eigen::VectorNd &measured_positions, std::span< const Eigen::Index > velocity_joints, const Eigen::VectorNd &position_gains, const Eigen::VectorNb &continuous_joints)
path_ik::TipJointMapcomputeTipJointMap (const std::span< moveit_pro::base::LinkModel const *const > end_effector_links, const std::vector< std::string > &joint_names)
Eigen::Vector6dcomputeSensedWrenchInEndEffector (const Eigen::Isometry3d &base_pose_ee, const Eigen::Isometry3d &base_pose_sensor, const Eigen::Vector6d &sensor_wrench)

Express a wrench measured in the sensor frame in the end-effector frame, by rotation only. More...

Variables Index​

constexpr doublekTwoPi = 2.0 * std::numbers::pi

Functions​

alignContinuousJointsToReference()​

Eigen::VectorNd moveit_pro_controllers::internal::alignContinuousJointsToReference (const Eigen::VectorNd & reference, const Eigen::VectorNb & continuous_joints, Trajectory & trajectory, std::size_t reference_waypoint=0)

Definition at line 49 of file joint_position_error.cpp.

computeSensedWrenchInEndEffector()​

Eigen::Vector6d moveit_pro_controllers::internal::computeSensedWrenchInEndEffector (const Eigen::Isometry3d & base_pose_ee, const Eigen::Isometry3d & base_pose_sensor, const Eigen::Vector6d & sensor_wrench)

Express a wrench measured in the sensor frame in the end-effector frame, by rotation only.

In an internal namespace: exposed for testing only, not part of the supported API surface.

Parameters
base_pose_ee

End-effector pose in the model (base) frame.

base_pose_sensor

Force/torque sensor pose in the model (base) frame.

sensor_wrench

Wrench in the sensor frame, as (force; torque).

Returns

The wrench in the end-effector frame, as (force; torque).

Definition at line 74 of file velocity_force_controller.cpp.

computeTipJointMap()​

path_ik::TipJointMap moveit_pro_controllers::internal::computeTipJointMap (std::span< moveit_pro::base::LinkModel const *const > end_effector_links, const std::vector< std::string > & joint_names)

Definition at line 68 of file joint_trajectory_admittance_controller.hpp.

computeTipJointMap()​

path_ik::TipJointMap moveit_pro_controllers::internal::computeTipJointMap (const std::span< moveit_pro::base::LinkModel const *const > end_effector_links, const std::vector< std::string > & joint_names)

Definition at line 208 of file joint_trajectory_admittance_controller.cpp.

continuousJointOffsets()​

Eigen::VectorNd moveit_pro_controllers::internal::continuousJointOffsets (const Eigen::VectorNd & reference, const Eigen::VectorNd & positions, const Eigen::VectorNb & continuous_joints)

Definition at line 33 of file joint_position_error.cpp.

filterTimeScale()​

double moveit_pro_controllers::internal::filterTimeScale (double input, double state, double time_constant, double time_step_seconds)

Definition at line 14 of file time_scale_filter.cpp.

hasPendingGoal()​

bool moveit_pro_controllers::internal::hasPendingGoal (JointTrajectoryAdmittanceController & controller)

Definition at line 246 of file joint_trajectory_admittance_controller.cpp.

jointPositionError()​

Eigen::VectorNd moveit_pro_controllers::internal::jointPositionError (const Eigen::VectorNd & desired, const Eigen::VectorNd & current, const Eigen::VectorNb & continuous_joints)

Definition at line 17 of file joint_position_error.cpp.

splitCommandJoints()​

tl::expected< CommandJointSplit, std::string > moveit_pro_controllers::internal::splitCommandJoints (const std::vector< std::string > & joint_names, const std::vector< std::string > & velocity_joint_names, const std::vector< double > & velocity_position_gains)

Definition at line 21 of file velocity_joint_command.cpp.

velocityJointCommands()​

Eigen::VectorNd moveit_pro_controllers::internal::velocityJointCommands (const TimedJointState & reference, const Eigen::VectorNd & measured_positions, std::span< const Eigen::Index > velocity_joints, const Eigen::VectorNd & position_gains, const Eigen::VectorNb & continuous_joints)

Definition at line 80 of file velocity_joint_command.cpp.

Variables​

kTwoPi​

constexpr double moveit_pro_controllers::internal::kTwoPi = 2.0 * std::numbers::pi
 constexpr

Definition at line 16 of file joint_position_error.hpp.

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

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