admittance.hpp File Reference

#include <Eigen/Core>
#include <Eigen/Geometry>
#include <string>
#include "moveit_pro_types/types.hpp"

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Classes
struct	moveit_pro_controllers::AdmittanceParameters
struct	moveit_pro_controllers::AdmittanceState
struct	moveit_pro_controllers::AdmittanceKinematics
class	moveit_pro_controllers::Admittance

Namespaces
namespace	moveit_pro_controllers

Typedefs
using	moveit_pro_controllers::ForwardKinematicsFn = std::function< bool(const Eigen::VectorNd &reference_joint_values, const Eigen::VectorNd &current_joint_values, AdmittanceState &state)>
using	moveit_pro_controllers::DiffInverseKinematicsFn = std::function< bool(const Eigen::VectorNd &joint_values, const std::vector< Eigen::Vector6d > &cartesian_deltas, Eigen::VectorNd &joint_deltas)>

Enumerations
enum class	moveit_pro_controllers::AdmittanceResult { moveit_pro_controllers::SUCCESS , moveit_pro_controllers::ERROR_COMPUTING_TRANSFORMS , moveit_pro_controllers::ERROR_COMPUTING_ADMITTANCE_OFFSET }

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