moveit_pro_controllers::VelocityForceController Class Reference

#include <velocity_force_controller.hpp>

Inheritance diagram for moveit_pro_controllers::VelocityForceController:

Collaboration diagram for moveit_pro_controllers::VelocityForceController:

Public Types
enum class	State {   IDLE , GOAL_RUNNING , STOP_ON_TIMEOUT , STOP_ON_JOINT_LIMIT ,   STOPPING_ON_TIMEOUT , STOPPING_ON_JOINT_LIMIT , WAIT_FOR_COMMAND_TIMEOUT }

Public Member Functions
	VelocityForceController ()
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 velocity_force_controller::Params &	getControllerParameters () const
velocity_force_controller::Params &	getControllerParameters ()
const VelocityForceParameters &	getVelocityForceParameters () const
State	getControllerState () const
void	overrideJointPositionLimits (const Eigen::VectorNd &lower_limits, const Eigen::VectorNd &upper_limits)
const TimedJointState &	getLastCommandedState () const
void	setRobotDescription (const std_msgs::msg::String::ConstSharedPtr robot_description)

Static Public Attributes
static constexpr auto	kControllerStateTopic = "~/controller_state"

Member Enumeration Documentation

State

enum class moveit_pro_controllers::VelocityForceController::State

strong

Enumerator
IDLE
GOAL_RUNNING
STOP_ON_TIMEOUT
STOP_ON_JOINT_LIMIT
STOPPING_ON_TIMEOUT
STOPPING_ON_JOINT_LIMIT
WAIT_FOR_COMMAND_TIMEOUT

Constructor & Destructor Documentation

VelocityForceController()

moveit_pro_controllers::VelocityForceController::VelocityForceController

(

)

Member Function Documentation

command_interface_configuration()

controller_interface::InterfaceConfiguration moveit_pro_controllers::VelocityForceController::command_interface_configuration ( ) const

override

getControllerParameters() [1/2]

velocity_force_controller::Params & moveit_pro_controllers::VelocityForceController::getControllerParameters ( )

inline

getControllerParameters() [2/2]

const velocity_force_controller::Params & moveit_pro_controllers::VelocityForceController::getControllerParameters ( ) const

inline

getControllerState()

State moveit_pro_controllers::VelocityForceController::getControllerState ( ) const

inline

getLastCommandedState()

const TimedJointState & moveit_pro_controllers::VelocityForceController::getLastCommandedState ( ) const

inline

getVelocityForceParameters()

const VelocityForceParameters & moveit_pro_controllers::VelocityForceController::getVelocityForceParameters ( ) const

inline

on_activate()

CallbackReturn moveit_pro_controllers::VelocityForceController::on_activate ( const rclcpp_lifecycle::State &  previous_state )

override

on_configure()

CallbackReturn moveit_pro_controllers::VelocityForceController::on_configure ( const rclcpp_lifecycle::State &  previous_state )

override

on_deactivate()

CallbackReturn moveit_pro_controllers::VelocityForceController::on_deactivate ( const rclcpp_lifecycle::State &  previous_state )

override

on_init()

CallbackReturn moveit_pro_controllers::VelocityForceController::on_init ( )

override

overrideJointPositionLimits()

void moveit_pro_controllers::VelocityForceController::overrideJointPositionLimits ( const Eigen::VectorNd &  lower_limits, const Eigen::VectorNd &  upper_limits  )

inline

setRobotDescription()

void moveit_pro_controllers::VelocityForceController::setRobotDescription

(

const std_msgs::msg::String::ConstSharedPtr

robot_description

)

state_interface_configuration()

controller_interface::InterfaceConfiguration moveit_pro_controllers::VelocityForceController::state_interface_configuration ( ) const

override

update()

controller_interface::return_type moveit_pro_controllers::VelocityForceController::update ( const rclcpp::Time &  time, const rclcpp::Duration &  period  )

override

Member Data Documentation

kControllerStateTopic

constexpr auto moveit_pro_controllers::VelocityForceController::kControllerStateTopic = "~/controller_state"

staticconstexpr

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

• velocity_force_controller.hpp
• velocity_force_controller.cpp