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

#include <velocity_force_controller.hpp>

Inheritance diagram for moveit_pro_controllers::VelocityForceController:
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Collaboration diagram for moveit_pro_controllers::VelocityForceController:
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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
 
- Public Member Functions inherited from moveit_pro_controllers::ControllerWithRobotModel
 ControllerWithRobotModel ()=default
 
bool configurePlanningGroup (const std::shared_ptr< rclcpp_lifecycle::LifecycleNode > &node, const std::vector< std::string > &joints, const std::string_view &planning_group_name, bool chain_required=true)
 
bool configureToolFrames (const std::string &controller_name, 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
 

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

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