wbc_ros
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#include <rclcpp/rclcpp.hpp>
#include <geometry_msgs/msg/twist.hpp>
#include <geometry_msgs/msg/wrench.hpp>
#include <std_msgs/msg/float64_multi_array.hpp>
#include <robot_control_msgs/msg/rigid_body_state.hpp>
#include <robot_control_msgs/msg/joint_command.hpp>
#include <robot_control_msgs/msg/joint_state.hpp>
#include <robot_control_msgs/msg/robot_state.hpp>
#include <robot_control_msgs/msg/contacts.hpp>
#include <wbc/types/JointState.hpp>
#include <wbc/types/JointCommand.hpp>
#include <wbc/types/RigidBodyState.hpp>
#include <wbc/types/Wrench.hpp>
#include <wbc/types/Contact.hpp>
Go to the source code of this file.
Functions | |
void | fromROS (const geometry_msgs::msg::Pose &in, wbc::types::Pose &out) |
void | fromROS (const geometry_msgs::msg::Twist &in, wbc::types::Twist &out) |
void | fromROS (const geometry_msgs::msg::Accel &in, wbc::types::SpatialAcceleration &out) |
void | fromROS (const geometry_msgs::msg::Wrench &in, wbc::types::Wrench &out) |
void | fromROS (const robot_control_msgs::msg::JointState &in, const std::vector< int > &joint_indices, wbc::types::JointState &out) |
void | fromROS (const robot_control_msgs::msg::RigidBodyState &in, wbc::types::RigidBodyState &out) |
void | fromROS (const robot_control_msgs::msg::JointCommand &in, const std::vector< int > &joint_indices, wbc::types::JointCommand &out) |
void | fromROS (const robot_control_msgs::msg::Contacts &in, std::vector< wbc::types::Contact > &out) |
void | fromROS (const std_msgs::msg::Float64MultiArray &in, Eigen::VectorXd &out) |
void | fromROS (const robot_control_msgs::msg::RobotState &in, const std::vector< int > &joint_indices, wbc::types::JointState &joint_state_out, wbc::types::RigidBodyState &floating_base_state_out) |
void | toROS (const wbc::types::RigidBodyState &in, robot_control_msgs::msg::RigidBodyState &out) |
void | toROS (const wbc::types::JointCommand &in, const std::vector< int > &joint_indices, robot_control_msgs::msg::JointCommand &out) |
void | toROS (const wbc::types::JointCommand &in, const std::vector< double > &kp, const std::vector< double > &kd, const std::vector< int > &joint_indices, robot_control_msgs::msg::JointCommand &out) |
void | toROS (const Eigen::VectorXd &in, std_msgs::msg::Float64MultiArray &out) |
void | toROS (const wbc::types::Pose &in, geometry_msgs::msg::Pose &out) |
void | toROS (const wbc::types::Twist &in, geometry_msgs::msg::Twist &out) |
void | toROS (const wbc::types::SpatialAcceleration &in, geometry_msgs::msg::Accel &out) |
void | toROS (const wbc::types::Pose &pose, const wbc::types::Twist &twist, const wbc::types::SpatialAcceleration &acc, robot_control_msgs::msg::RigidBodyState &out) |
void | toROS (const wbc::types::JointState &in, const std::vector< int > &joint_indices, robot_control_msgs::msg::JointState &out) |
void fromROS | ( | const geometry_msgs::msg::Accel & | in, |
wbc::types::SpatialAcceleration & | out ) |
void fromROS | ( | const geometry_msgs::msg::Pose & | in, |
wbc::types::Pose & | out ) |
void fromROS | ( | const geometry_msgs::msg::Twist & | in, |
wbc::types::Twist & | out ) |
void fromROS | ( | const geometry_msgs::msg::Wrench & | in, |
wbc::types::Wrench & | out ) |
void fromROS | ( | const robot_control_msgs::msg::Contacts & | in, |
std::vector< wbc::types::Contact > & | out ) |
void fromROS | ( | const robot_control_msgs::msg::JointCommand & | in, |
const std::vector< int > & | joint_indices, | ||
wbc::types::JointCommand & | out ) |
void fromROS | ( | const robot_control_msgs::msg::JointState & | in, |
const std::vector< int > & | joint_indices, | ||
wbc::types::JointState & | out ) |
void fromROS | ( | const robot_control_msgs::msg::RigidBodyState & | in, |
wbc::types::RigidBodyState & | out ) |
void fromROS | ( | const robot_control_msgs::msg::RobotState & | in, |
const std::vector< int > & | joint_indices, | ||
wbc::types::JointState & | joint_state_out, | ||
wbc::types::RigidBodyState & | floating_base_state_out ) |
void fromROS | ( | const std_msgs::msg::Float64MultiArray & | in, |
Eigen::VectorXd & | out ) |
void toROS | ( | const Eigen::VectorXd & | in, |
std_msgs::msg::Float64MultiArray & | out ) |
void toROS | ( | const wbc::types::JointCommand & | in, |
const std::vector< double > & | kp, | ||
const std::vector< double > & | kd, | ||
const std::vector< int > & | joint_indices, | ||
robot_control_msgs::msg::JointCommand & | out ) |
void toROS | ( | const wbc::types::JointCommand & | in, |
const std::vector< int > & | joint_indices, | ||
robot_control_msgs::msg::JointCommand & | out ) |
void toROS | ( | const wbc::types::JointState & | in, |
const std::vector< int > & | joint_indices, | ||
robot_control_msgs::msg::JointState & | out ) |
void toROS | ( | const wbc::types::Pose & | in, |
geometry_msgs::msg::Pose & | out ) |
void toROS | ( | const wbc::types::Pose & | pose, |
const wbc::types::Twist & | twist, | ||
const wbc::types::SpatialAcceleration & | acc, | ||
robot_control_msgs::msg::RigidBodyState & | out ) |
void toROS | ( | const wbc::types::RigidBodyState & | in, |
robot_control_msgs::msg::RigidBodyState & | out ) |
void toROS | ( | const wbc::types::SpatialAcceleration & | in, |
geometry_msgs::msg::Accel & | out ) |
void toROS | ( | const wbc::types::Twist & | in, |
geometry_msgs::msg::Twist & | out ) |