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VFCBridge Struct

Declaration​

struct moveit_pro::behaviors::PoseJog::VFCBridge { ... }

Base struct​

structstd::enable_shared_from_this< VFCBridge >

Public Constructors Index​

VFCBridge (const std::string &planning_group_name, const std::string &controller_name)

Public Member Functions Index​

tl::expected< void, std::string >init (const moveit_pro::behaviors::BehaviorContext &context)

Public Member Attributes Index​

std::stringplanning_group_name
std::stringcontroller_name
const moveit_pro::base::JointModelGroup *joint_model_group = nullptr
std::stringtip_link_name
Eigen::VectorXdmax_joint_acceleration
Eigen::Vector6dmax_cartesian_acceleration = Eigen::Vector6d::Zero()
Eigen::Vector6dmax_cartesian_velocity = Eigen::Vector6d::Zero()
std::shared_ptr< rclcpp::Subscription< moveit_pro_controllers_msgs::msg::VelocityForceCommand > >command_subscriber
rclcpp::Timetime_last_command_received
rclcpp::Timetime_last_command_processed
rclcpp::Timetime_last_command_forwarded
moveit_pro_controllers_msgs::msg::VelocityForceCommandincoming_velocity_force_command
std::shared_ptr< rclcpp::Publisher< moveit_pro_controllers_msgs::msg::VelocityForceCommand > >velocity_force_command_publisher
std::shared_ptr< rclcpp::Client< rcl_interfaces::srv::GetParameters > >velocity_force_controller_parameter_client
std::shared_mutexcommand_mutex

Definition at line 95 of file pose_jog.hpp.

Public Constructors​

VFCBridge()​

moveit_pro::behaviors::PoseJog::VFCBridge::VFCBridge (const std::string & planning_group_name, const std::string & controller_name)

Declaration at line 98 of file pose_jog.hpp, definition at line 99 of file pose_jog.cpp.

Public Member Functions​

init()​

tl::expected< void, std::string > moveit_pro::behaviors::PoseJog::VFCBridge::init (const moveit_pro::behaviors::BehaviorContext & context)

Declaration at line 101 of file pose_jog.hpp, definition at line 104 of file pose_jog.cpp.

Public Member Attributes​

command_mutex​

std::shared_mutex moveit_pro::behaviors::PoseJog::VFCBridge::command_mutex
 mutable

Definition at line 133 of file pose_jog.hpp.

command_subscriber​

std::shared_ptr<rclcpp::Subscription<moveit_pro_controllers_msgs::msg::VelocityForceCommand> > moveit_pro::behaviors::PoseJog::VFCBridge::command_subscriber

Definition at line 117 of file pose_jog.hpp.

controller_name​

std::string moveit_pro::behaviors::PoseJog::VFCBridge::controller_name

Definition at line 105 of file pose_jog.hpp.

incoming_velocity_force_command​

moveit_pro_controllers_msgs::msg::VelocityForceCommand moveit_pro::behaviors::PoseJog::VFCBridge::incoming_velocity_force_command

Definition at line 123 of file pose_jog.hpp.

joint_model_group​

const moveit_pro::base::JointModelGroup* moveit_pro::behaviors::PoseJog::VFCBridge::joint_model_group = nullptr

Definition at line 108 of file pose_jog.hpp.

max_cartesian_acceleration​

Eigen::Vector6d moveit_pro::behaviors::PoseJog::VFCBridge::max_cartesian_acceleration = Eigen::Vector6d::Zero()

Definition at line 113 of file pose_jog.hpp.

max_cartesian_velocity​

Eigen::Vector6d moveit_pro::behaviors::PoseJog::VFCBridge::max_cartesian_velocity = Eigen::Vector6d::Zero()

Definition at line 114 of file pose_jog.hpp.

max_joint_acceleration​

Eigen::VectorXd moveit_pro::behaviors::PoseJog::VFCBridge::max_joint_acceleration

Definition at line 112 of file pose_jog.hpp.

planning_group_name​

std::string moveit_pro::behaviors::PoseJog::VFCBridge::planning_group_name

Definition at line 104 of file pose_jog.hpp.

time_last_command_forwarded​

rclcpp::Time moveit_pro::behaviors::PoseJog::VFCBridge::time_last_command_forwarded

Definition at line 120 of file pose_jog.hpp.

time_last_command_processed​

rclcpp::Time moveit_pro::behaviors::PoseJog::VFCBridge::time_last_command_processed

Definition at line 119 of file pose_jog.hpp.

time_last_command_received​

rclcpp::Time moveit_pro::behaviors::PoseJog::VFCBridge::time_last_command_received

Definition at line 118 of file pose_jog.hpp.

tip_link_name​

std::string moveit_pro::behaviors::PoseJog::VFCBridge::tip_link_name

Definition at line 111 of file pose_jog.hpp.

velocity_force_command_publisher​

std::shared_ptr<rclcpp::Publisher<moveit_pro_controllers_msgs::msg::VelocityForceCommand> > moveit_pro::behaviors::PoseJog::VFCBridge::velocity_force_command_publisher

Definition at line 127 of file pose_jog.hpp.

velocity_force_controller_parameter_client​

std::shared_ptr<rclcpp::Client<rcl_interfaces::srv::GetParameters> > moveit_pro::behaviors::PoseJog::VFCBridge::velocity_force_controller_parameter_client

Definition at line 130 of file pose_jog.hpp.

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

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