#include <admittance.hpp>

Public Member Functions
	Admittance (const size_t num_joints, const size_t num_tips, const std::vector< AdmittanceParameters > &parameters, const Eigen::VectorNd &joint_damping, const AdmittanceKinematics &kinematics)

AdmittanceResult	update (const TimedJointState &current_joint_state, const std::vector< Eigen::Vector6d > &measured_wrenches, const TimedJointState &reference_joint_state, const Duration &period, TimedJointState &desired_joint_state)

const AdmittanceState &	getAdmittanceState () const

AdmittanceState &	getAdmittanceState ()

Constructor & Destructor Documentation

◆ Admittance()

moveit_pro_controllers::Admittance::Admittance	(	const size_t	num_joints,
		const size_t	num_tips,
		const std::vector< AdmittanceParameters > &	parameters,
		const Eigen::VectorNd &	joint_damping,
		const AdmittanceKinematics &	kinematics
	)

inlineexplicit

AdmittanceState & moveit_pro_controllers::Admittance::getAdmittanceState ( )

inline

const AdmittanceState & moveit_pro_controllers::Admittance::getAdmittanceState ( ) const

inline

AdmittanceResult moveit_pro_controllers::Admittance::update	(	const TimedJointState &	current_joint_state,
		const std::vector< Eigen::Vector6d > &	measured_wrenches,
		const TimedJointState &	reference_joint_state,
		const Duration &	period,
		TimedJointState &	desired_joint_state
	)

Calculate 'desired joint states' based on the 'measured force', 'reference joint state', and 'current_joint_state'.

Parameters

[in]	current_joint_state	current joint state of the robot.
[in]	measured_wrenches	most recent measured wrenches from force torque sensors.
[in]	reference_joint_state	input joint state reference.
[in]	period	the control loop period.
[out]	desired_joint_state	joint state reference after the admittance offset is applied to the input reference.

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