MoveIt Pro API
Core Behaviors for MoveIt Pro
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Public Types | Public Member Functions | List of all members
moveit_pro_controllers::JointTrajectoryAdmittanceController Class Reference

#include <joint_trajectory_admittance_controller.hpp>

Inheritance diagram for moveit_pro_controllers::JointTrajectoryAdmittanceController:
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Collaboration diagram for moveit_pro_controllers::JointTrajectoryAdmittanceController:
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Public Types

using JointTrajectoryPoint = trajectory_msgs::msg::JointTrajectoryPoint
 

Public Member Functions

 JointTrajectoryAdmittanceController ()
 
controller_interface::InterfaceConfiguration command_interface_configuration () const override
 
controller_interface::InterfaceConfiguration state_interface_configuration () const override
 
CallbackReturn on_init () override
 
CallbackReturn on_configure (const rclcpp_lifecycle::State &previous_state) override
 
CallbackReturn on_activate (const rclcpp_lifecycle::State &previous_state) override
 
CallbackReturn on_deactivate (const rclcpp_lifecycle::State &previous_state) override
 
controller_interface::return_type update (const rclcpp::Time &time, const rclcpp::Duration &period) override
 
const JointTrajectoryPoint & getStateFeedback () const
 
const JointTrajectoryPoint & getStateReference () const
 
const JointTrajectoryPoint & getStateError () const
 
joint_trajectory_admittance_controller::Params & getParams ()
 
- Public Member Functions inherited from moveit_pro_controllers::ControllerWithRobotModel
 ControllerWithRobotModel ()=default
 
bool configurePlanningGroup (std::shared_ptr< rclcpp_lifecycle::LifecycleNode > node, const std::vector< std::string > &joints, const std::string_view &planning_group_name)
 
bool configureToolFrames (const std::string &sensor_frame, const std::string &ee_frame)
 
void subscribeToRobotDescription (const std::shared_ptr< rclcpp_lifecycle::LifecycleNode > &node)
 
tl::expected< void, std::string > loadRobotModel (const std::shared_ptr< rclcpp_lifecycle::LifecycleNode > &node)
 
void setRobotDescription (const std_msgs::msg::String::ConstSharedPtr robot_description)
 
void setRobotDescriptionSemantic (const std_msgs::msg::String::ConstSharedPtr robot_description_semantic)
 
bool getJointPositionLimits (const std::vector< std::string > &joint_names, Eigen::VectorNd &lower_position_limits, Eigen::VectorNd &upper_position_limits) const
 
const moveit::core::RobotModel & getRobotModel () const
 
const moveit::core::RobotState & getRobotState () const
 
moveit::core::RobotState & getRobotState ()
 
const std::string & getPlanningGroupName () const
 
const std::vector< std::string > & getJointNames () const
 
int getDofCount () const
 
const moveit::core::JointModelGroup * getJointModelGroup () const
 
const moveit::core::LinkModel * getBaseLink () const
 
const moveit::core::LinkModel * getEndEffectorLink () const
 
const moveit::core::LinkModel * getSensorLink () const
 

Member Typedef Documentation

◆ JointTrajectoryPoint

using moveit_pro_controllers::JointTrajectoryAdmittanceController::JointTrajectoryPoint = trajectory_msgs::msg::JointTrajectoryPoint

Constructor & Destructor Documentation

◆ JointTrajectoryAdmittanceController()

moveit_pro_controllers::JointTrajectoryAdmittanceController::JointTrajectoryAdmittanceController ( )

Member Function Documentation

◆ command_interface_configuration()

controller_interface::InterfaceConfiguration moveit_pro_controllers::JointTrajectoryAdmittanceController::command_interface_configuration ( ) const
override

◆ getParams()

joint_trajectory_admittance_controller::Params & moveit_pro_controllers::JointTrajectoryAdmittanceController::getParams ( )
inline

◆ getStateError()

const trajectory_msgs::msg::JointTrajectoryPoint & moveit_pro_controllers::JointTrajectoryAdmittanceController::getStateError ( ) const

◆ getStateFeedback()

const trajectory_msgs::msg::JointTrajectoryPoint & moveit_pro_controllers::JointTrajectoryAdmittanceController::getStateFeedback ( ) const

◆ getStateReference()

const trajectory_msgs::msg::JointTrajectoryPoint & moveit_pro_controllers::JointTrajectoryAdmittanceController::getStateReference ( ) const

◆ on_activate()

CallbackReturn moveit_pro_controllers::JointTrajectoryAdmittanceController::on_activate ( const rclcpp_lifecycle::State &  previous_state)
override

◆ on_configure()

CallbackReturn moveit_pro_controllers::JointTrajectoryAdmittanceController::on_configure ( const rclcpp_lifecycle::State &  previous_state)
override

◆ on_deactivate()

CallbackReturn moveit_pro_controllers::JointTrajectoryAdmittanceController::on_deactivate ( const rclcpp_lifecycle::State &  previous_state)
override

◆ on_init()

CallbackReturn moveit_pro_controllers::JointTrajectoryAdmittanceController::on_init ( )
override

◆ state_interface_configuration()

controller_interface::InterfaceConfiguration moveit_pro_controllers::JointTrajectoryAdmittanceController::state_interface_configuration ( ) const
override

◆ update()

controller_interface::return_type moveit_pro_controllers::JointTrajectoryAdmittanceController::update ( const rclcpp::Time &  time,
const rclcpp::Duration &  period 
)
override
The documentation for this class was generated from the following files: