#include <single_arm_controller.hpp>

Inheritance diagram for wbc_ros::SingleArmController:

Public Member Functions
	SingleArmController (const rclcpp::NodeOptions &options=rclcpp::NodeOptions())

	~SingleArmController ()

virtual CallbackReturn	on_configure (const rclcpp_lifecycle::State &previous_state) override

virtual CallbackReturn	on_activate (const rclcpp_lifecycle::State &previous_state) override

virtual CallbackReturn	on_deactivate (const rclcpp_lifecycle::State &previous_state) override

virtual CallbackReturn	on_cleanup (const rclcpp_lifecycle::State &previous_state) override

virtual CallbackReturn	on_error (const rclcpp_lifecycle::State &previous_state) override

virtual CallbackReturn	on_shutdown (const rclcpp_lifecycle::State &previous_state) override

void	updateController ()

void	joint_weight_callback (const JointWeightMsgPtr msg)

void	robot_state_callback (const RobotStateMsgPtr msg)

void	ee_pose_callback (const RigidBodyStateMsgPtr msg)

void	joint_position_callback (const JointCommandMsgPtr msg)

void	elbow_pose_callback (const RigidBodyStateMsgPtr msg)

Protected Attributes
wbc::ScenePtr	scene

wbc::RobotModelPtr	robot_model

wbc::QPSolverPtr	solver

wbc::types::JointState	joint_state

bool	has_robot_state

int	update_rate

wbc::types::JointCommand	solver_output

wbc::HierarchicalQP	qp

wbc::JointIntegrator	joint_integrator

wbc::CartesianPosPDControllerPtr	ee_pose_controller

wbc::JointPosPDControllerPtr	joint_pos_controller

wbc::CartesianPosPDControllerPtr	elbow_pose_controller

wbc::SpatialVelocityTaskPtr	ee_pose_task

wbc::JointVelocityTaskPtr	joint_position_task

wbc::SpatialVelocityTaskPtr	elbow_pose_task

CommandMsg	solver_output_msg

CommandPublisher::SharedPtr	solver_output_publisher

std::unique_ptr< RTCommandPublisher >	rt_solver_output_publisher

TimingStatsMsg	timing_stats

TimingStatsPublisher::SharedPtr	timing_stats_publisher

std::unique_ptr< RTTimingStatsPublisher >	rt_timing_stats_publisher

JointWeightSubscription	joint_weight_subscriber

RTJointWeightBuffer	rt_joint_weight_buffer

JointWeightMsgPtr	joint_weight_msg

RobotStateSubscription	robot_state_subscriber

RTRobotStateBuffer	rt_robot_state_buffer

RobotStateMsgPtr	robot_state_msg

RigidBodyStateSubscription	ee_pose_subscriber

RTRigidBodyStateBuffer	rt_ee_pose_buffer

RigidBodyStateMsgPtr	ee_pose_msg

wbc::types::RigidBodyState	ee_pose

JointCommandSubscription	joint_position_subscriber

RTJointCommandBuffer	rt_joint_position_buffer

JointCommandMsgPtr	joint_position_msg

wbc::types::JointCommand	joint_position

RigidBodyStateSubscription	elbow_pose_subscriber

RTRigidBodyStateBuffer	rt_elbow_pose_buffer

RigidBodyStateMsgPtr	elbow_pose_msg

wbc::types::RigidBodyState	elbow_pose

rclcpp::Time	stamp

rclcpp::TimerBase::SharedPtr	timer

std::vector< int >	joint_idx_map

std::shared_ptr< single_arm_controller::ParamListener >	param_listener

single_arm_controller::Params	params

Constructor & Destructor Documentation

◆ SingleArmController()

wbc_ros::SingleArmController::SingleArmController ( const rclcpp::NodeOptions & options = rclcpp::NodeOptions() )

◆ ~SingleArmController()

wbc_ros::SingleArmController::~SingleArmController ( )

inline

Member Function Documentation

◆ ee_pose_callback()

void wbc_ros::SingleArmController::ee_pose_callback ( const RigidBodyStateMsgPtr msg )

◆ elbow_pose_callback()

void wbc_ros::SingleArmController::elbow_pose_callback ( const RigidBodyStateMsgPtr msg )

◆ joint_position_callback()

void wbc_ros::SingleArmController::joint_position_callback ( const JointCommandMsgPtr msg )

◆ joint_weight_callback()

void wbc_ros::SingleArmController::joint_weight_callback ( const JointWeightMsgPtr msg )

◆ on_activate()

rclcpp_lifecycle::LifecycleNode::CallbackReturn wbc_ros::SingleArmController::on_activate ( const rclcpp_lifecycle::State & previous_state )

overridevirtual

◆ on_cleanup()

rclcpp_lifecycle::LifecycleNode::CallbackReturn wbc_ros::SingleArmController::on_cleanup ( const rclcpp_lifecycle::State & previous_state )

overridevirtual

◆ on_configure()

rclcpp_lifecycle::LifecycleNode::CallbackReturn wbc_ros::SingleArmController::on_configure ( const rclcpp_lifecycle::State & previous_state )

overridevirtual

◆ on_deactivate()

rclcpp_lifecycle::LifecycleNode::CallbackReturn wbc_ros::SingleArmController::on_deactivate ( const rclcpp_lifecycle::State & previous_state )

overridevirtual

◆ on_error()

rclcpp_lifecycle::LifecycleNode::CallbackReturn wbc_ros::SingleArmController::on_error ( const rclcpp_lifecycle::State & previous_state )

overridevirtual

◆ on_shutdown()

rclcpp_lifecycle::LifecycleNode::CallbackReturn wbc_ros::SingleArmController::on_shutdown ( const rclcpp_lifecycle::State & previous_state )

overridevirtual

◆ robot_state_callback()

void wbc_ros::SingleArmController::robot_state_callback ( const RobotStateMsgPtr msg )

◆ updateController()

void wbc_ros::SingleArmController::updateController ( )

Member Data Documentation

◆ ee_pose

wbc::types::RigidBodyState wbc_ros::SingleArmController::ee_pose

protected

◆ ee_pose_controller

wbc::CartesianPosPDControllerPtr wbc_ros::SingleArmController::ee_pose_controller

protected

◆ ee_pose_msg

RigidBodyStateMsgPtr wbc_ros::SingleArmController::ee_pose_msg

protected

◆ ee_pose_subscriber

RigidBodyStateSubscription wbc_ros::SingleArmController::ee_pose_subscriber

protected

◆ ee_pose_task

wbc::SpatialVelocityTaskPtr wbc_ros::SingleArmController::ee_pose_task

protected

◆ elbow_pose

wbc::types::RigidBodyState wbc_ros::SingleArmController::elbow_pose

protected

◆ elbow_pose_controller

wbc::CartesianPosPDControllerPtr wbc_ros::SingleArmController::elbow_pose_controller

protected

◆ elbow_pose_msg

RigidBodyStateMsgPtr wbc_ros::SingleArmController::elbow_pose_msg

protected

◆ elbow_pose_subscriber

RigidBodyStateSubscription wbc_ros::SingleArmController::elbow_pose_subscriber

protected

◆ elbow_pose_task

wbc::SpatialVelocityTaskPtr wbc_ros::SingleArmController::elbow_pose_task

protected

◆ has_robot_state

bool wbc_ros::SingleArmController::has_robot_state

protected

◆ joint_idx_map

std::vector<int> wbc_ros::SingleArmController::joint_idx_map

protected

◆ joint_integrator

wbc::JointIntegrator wbc_ros::SingleArmController::joint_integrator

protected

◆ joint_pos_controller

wbc::JointPosPDControllerPtr wbc_ros::SingleArmController::joint_pos_controller

protected

◆ joint_position

wbc::types::JointCommand wbc_ros::SingleArmController::joint_position

protected

◆ joint_position_msg

JointCommandMsgPtr wbc_ros::SingleArmController::joint_position_msg

protected

◆ joint_position_subscriber

JointCommandSubscription wbc_ros::SingleArmController::joint_position_subscriber

protected

◆ joint_position_task

wbc::JointVelocityTaskPtr wbc_ros::SingleArmController::joint_position_task

protected

◆ joint_state

wbc::types::JointState wbc_ros::SingleArmController::joint_state

protected

◆ joint_weight_msg

JointWeightMsgPtr wbc_ros::SingleArmController::joint_weight_msg

protected

◆ joint_weight_subscriber

JointWeightSubscription wbc_ros::SingleArmController::joint_weight_subscriber

protected

◆ param_listener

std::shared_ptr<single_arm_controller::ParamListener> wbc_ros::SingleArmController::param_listener

protected

◆ params

single_arm_controller::Params wbc_ros::SingleArmController::params

protected

◆ qp

wbc::HierarchicalQP wbc_ros::SingleArmController::qp

protected

◆ robot_model

wbc::RobotModelPtr wbc_ros::SingleArmController::robot_model

protected

◆ robot_state_msg

RobotStateMsgPtr wbc_ros::SingleArmController::robot_state_msg

protected

◆ robot_state_subscriber

RobotStateSubscription wbc_ros::SingleArmController::robot_state_subscriber

protected

◆ rt_ee_pose_buffer

RTRigidBodyStateBuffer wbc_ros::SingleArmController::rt_ee_pose_buffer

protected

◆ rt_elbow_pose_buffer

RTRigidBodyStateBuffer wbc_ros::SingleArmController::rt_elbow_pose_buffer

protected

◆ rt_joint_position_buffer

RTJointCommandBuffer wbc_ros::SingleArmController::rt_joint_position_buffer

protected

◆ rt_joint_weight_buffer

RTJointWeightBuffer wbc_ros::SingleArmController::rt_joint_weight_buffer

protected

◆ rt_robot_state_buffer

RTRobotStateBuffer wbc_ros::SingleArmController::rt_robot_state_buffer

protected

◆ rt_solver_output_publisher

std::unique_ptr<RTCommandPublisher> wbc_ros::SingleArmController::rt_solver_output_publisher

protected

◆ rt_timing_stats_publisher

std::unique_ptr<RTTimingStatsPublisher> wbc_ros::SingleArmController::rt_timing_stats_publisher

protected

◆ scene

wbc::ScenePtr wbc_ros::SingleArmController::scene

protected

◆ solver

wbc::QPSolverPtr wbc_ros::SingleArmController::solver

protected

◆ solver_output

wbc::types::JointCommand wbc_ros::SingleArmController::solver_output

protected

◆ solver_output_msg

CommandMsg wbc_ros::SingleArmController::solver_output_msg

protected

◆ solver_output_publisher

CommandPublisher::SharedPtr wbc_ros::SingleArmController::solver_output_publisher

protected

◆ stamp

rclcpp::Time wbc_ros::SingleArmController::stamp

protected

◆ timer

rclcpp::TimerBase::SharedPtr wbc_ros::SingleArmController::timer

protected

◆ timing_stats

TimingStatsMsg wbc_ros::SingleArmController::timing_stats

protected

◆ timing_stats_publisher

TimingStatsPublisher::SharedPtr wbc_ros::SingleArmController::timing_stats_publisher

protected

◆ update_rate

int wbc_ros::SingleArmController::update_rate

protected

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

include/wbc_ros/single_arm_controller.hpp
src/single_arm_controller.cpp

Public Member Functions

Protected Attributes

Constructor & Destructor Documentation

◆ SingleArmController()

◆ ~SingleArmController()

Member Function Documentation

◆ ee_pose_callback()

◆ elbow_pose_callback()

◆ joint_position_callback()

◆ joint_weight_callback()

◆ on_activate()

◆ on_cleanup()

◆ on_configure()

◆ on_deactivate()

◆ on_error()

◆ on_shutdown()

◆ robot_state_callback()

◆ updateController()

Member Data Documentation

◆ ee_pose

◆ ee_pose_controller

◆ ee_pose_msg

◆ ee_pose_subscriber

◆ ee_pose_task

◆ elbow_pose

◆ elbow_pose_controller

◆ elbow_pose_msg

◆ elbow_pose_subscriber

◆ elbow_pose_task

◆ has_robot_state

◆ joint_idx_map

◆ joint_integrator

◆ joint_pos_controller

◆ joint_position

◆ joint_position_msg

◆ joint_position_subscriber

◆ joint_position_task

◆ joint_state

◆ joint_weight_msg

◆ joint_weight_subscriber

◆ param_listener

◆ params

◆ qp

◆ robot_model

◆ robot_state_msg

◆ robot_state_subscriber

◆ rt_ee_pose_buffer

◆ rt_elbow_pose_buffer

◆ rt_joint_position_buffer

◆ rt_joint_weight_buffer

◆ rt_robot_state_buffer

◆ rt_solver_output_publisher

◆ rt_timing_stats_publisher

◆ scene

◆ solver

◆ solver_output

◆ solver_output_msg

◆ solver_output_publisher

◆ stamp

◆ timer

◆ timing_stats

◆ timing_stats_publisher

◆ update_rate