moveit_pro_controllers::Admittance Class Reference

#include <admittance.hpp>

Public Member Functions
	Admittance (size_t num_joints, const AdmittanceParameters &parameters, const AdmittanceKinematics &kinematics)
AdmittanceResult	update (const TimedJointState &current_joint_state, const Eigen::Vector6d &measured_wrench, 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 ( size_t  num_joints, const AdmittanceParameters &  parameters, const AdmittanceKinematics &  kinematics  )

inlineexplicit

Member Function Documentation

getAdmittanceState() [1/2]

AdmittanceState & moveit_pro_controllers::Admittance::getAdmittanceState ( )

inline

getAdmittanceState() [2/2]

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

inline

update()

AdmittanceResult moveit_pro_controllers::Admittance::update	(	const TimedJointState &	current_joint_state,
		const Eigen::Vector6d &	measured_wrench,
		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_wrench	most recent measured wrench from force torque sensor.
[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.

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

• admittance.hpp
• admittance.cpp