cartesian_impedance_example_controller.cpp
/tmp/ws/src/franka_ros/franka_example_controllers/src/
cartesian__impedance__example__controller_8cpp.html
franka_example_controllers/cartesian_impedance_example_controller.h
franka_example_controllers/pseudo_inversion.h
franka_example_controllers
cartesian_impedance_example_controller.h
/tmp/ws/src/franka_ros/franka_example_controllers/include/franka_example_controllers/
cartesian__impedance__example__controller_8h.html
franka_example_controllers::CartesianImpedanceExampleController
franka_example_controllers
cartesian_pose_example_controller.cpp
/tmp/ws/src/franka_ros/franka_example_controllers/src/
cartesian__pose__example__controller_8cpp.html
franka_example_controllers/cartesian_pose_example_controller.h
franka_example_controllers
cartesian_pose_example_controller.h
/tmp/ws/src/franka_ros/franka_example_controllers/include/franka_example_controllers/
cartesian__pose__example__controller_8h.html
franka_example_controllers::CartesianPoseExampleController
franka_example_controllers
cartesian_velocity_example_controller.cpp
/tmp/ws/src/franka_ros/franka_example_controllers/src/
cartesian__velocity__example__controller_8cpp.html
franka_example_controllers/cartesian_velocity_example_controller.h
franka_example_controllers
cartesian_velocity_example_controller.h
/tmp/ws/src/franka_ros/franka_example_controllers/include/franka_example_controllers/
cartesian__velocity__example__controller_8h.html
franka_example_controllers::CartesianVelocityExampleController
franka_example_controllers
dual_arm_cartesian_impedance_example_controller.cpp
/tmp/ws/src/franka_ros/franka_example_controllers/src/
dual__arm__cartesian__impedance__example__controller_8cpp.html
franka_example_controllers/dual_arm_cartesian_impedance_example_controller.h
franka_example_controllers/pseudo_inversion.h
franka_example_controllers
dual_arm_cartesian_impedance_example_controller.h
/tmp/ws/src/franka_ros/franka_example_controllers/include/franka_example_controllers/
dual__arm__cartesian__impedance__example__controller_8h.html
franka_example_controllers::DualArmCartesianImpedanceExampleController
franka_example_controllers::FrankaDataContainer
franka_example_controllers
dual_arm_interactive_marker.py
/tmp/ws/src/franka_ros/franka_example_controllers/scripts/
dual__arm__interactive__marker_8py.html
dual_arm_interactive_marker
def
centering_pose_callback
namespacedual__arm__interactive__marker.html
ab9a8983192953298e4070e5fa215d6bd
(msg)
def
left_franka_state_callback
namespacedual__arm__interactive__marker.html
a2b8c14b515389640fd0dfcd9f542bf73
(msg)
def
make_sphere
namespacedual__arm__interactive__marker.html
a4a4776e18d30b02fcd5aa69cea3e7f87
(scale=0.3)
def
process_feedback
namespacedual__arm__interactive__marker.html
afedda6582fc6f2b0bd5c4c1e16dc9251
(feedback)
def
publish_target_pose
namespacedual__arm__interactive__marker.html
afe5736dcfad3f21203ce12db0eaf6c87
()
def
reset_marker_pose_blocking
namespacedual__arm__interactive__marker.html
aa2f3e89c8afccb99a7aceee8024f7d6d
()
def
right_franka_state_callback
namespacedual__arm__interactive__marker.html
a45661200829d9728f63a363b7dc340c0
(msg)
always_visible
namespacedual__arm__interactive__marker.html
a0c4e88aa8a5fd1ea5f74912786ce11f3
args
namespacedual__arm__interactive__marker.html
a6e82d86ff9b8fe95975de7900f8e2aa3
bool
centering_frame_ready
namespacedual__arm__interactive__marker.html
ad58577105bcd5d623c1cc9eb2e3c72ac
control
namespacedual__arm__interactive__marker.html
a3ec82817bea92c3e2ce70682f3b6d2ab
description
namespacedual__arm__interactive__marker.html
a8908f0309762fc6b58438bbe9df01ac6
frame_id
namespacedual__arm__interactive__marker.html
aaa5e3e8f0a8e125d0f02f2d971d0694a
bool
has_error
namespacedual__arm__interactive__marker.html
a91bdb7838358a5dc012220bdda750474
help
namespacedual__arm__interactive__marker.html
a551f6886fb11c8c7022dabbaff35194e
int_marker
namespacedual__arm__interactive__marker.html
a2eebfc53764d8ec847c6f9e58b4a3558
interaction_mode
namespacedual__arm__interactive__marker.html
abe224eacf607f80c0bb2c0f5389d5996
left_arm_id
namespacedual__arm__interactive__marker.html
ace8a93e369537d92f17b9861d31cb885
bool
left_has_error
namespacedual__arm__interactive__marker.html
aa91188fad3c0fe29eb194de0749d679b
left_state_sub
namespacedual__arm__interactive__marker.html
ab3eaf7e9c4ecbae1e8dd0814de4cafe1
marker_pose
namespacedual__arm__interactive__marker.html
ae1dc1823850439ceb0256e842fe101af
name
namespacedual__arm__interactive__marker.html
a784e31cc90b2e3c4eca59faf857bbc06
nargs
namespacedual__arm__interactive__marker.html
a870908ca0a91fc8808dfe9e398e0f8b6
parser
namespacedual__arm__interactive__marker.html
a5cac52437015f562072ed9f81a317214
pose
namespacedual__arm__interactive__marker.html
ad1096317d9fe655130ffd6bda9645bbd
pose_pub
namespacedual__arm__interactive__marker.html
a1cf87b0dd85b2d2e96272ec48965cb5c
required
namespacedual__arm__interactive__marker.html
abafb62c73e0ce1d3e29223d4b249b2cd
right_arm_id
namespacedual__arm__interactive__marker.html
a80a58bbac980f1ea20a26676176c5413
bool
right_has_error
namespacedual__arm__interactive__marker.html
a54051039c162d3e6850c7975a2798c43
right_state_sub
namespacedual__arm__interactive__marker.html
ab5b828c74287f71cf83aa46ffc2fc94b
scale
namespacedual__arm__interactive__marker.html
aeb3429c5c8fc1b6838571accb54813bb
server
namespacedual__arm__interactive__marker.html
a5eaefed5ff5ae605348f4193b53733a9
w
namespacedual__arm__interactive__marker.html
a586f29d31b76a5c3a968627bf51129c7
x
namespacedual__arm__interactive__marker.html
a622e063064f4b6c5718471de259adb6d
y
namespacedual__arm__interactive__marker.html
a3f9e7d16da8f43f59095da0393541a11
z
namespacedual__arm__interactive__marker.html
aee749b160baf172d0162bc67af46c52d
elbow_example_controller.cpp
/tmp/ws/src/franka_ros/franka_example_controllers/src/
elbow__example__controller_8cpp.html
franka_example_controllers/elbow_example_controller.h
franka_example_controllers
elbow_example_controller.h
/tmp/ws/src/franka_ros/franka_example_controllers/include/franka_example_controllers/
elbow__example__controller_8h.html
franka_example_controllers::ElbowExampleController
franka_example_controllers
force_example_controller.cpp
/tmp/ws/src/franka_ros/franka_example_controllers/src/
force__example__controller_8cpp.html
franka_example_controllers/force_example_controller.h
franka_example_controllers
force_example_controller.h
/tmp/ws/src/franka_ros/franka_example_controllers/include/franka_example_controllers/
force__example__controller_8h.html
franka_example_controllers::ForceExampleController
franka_example_controllers
interactive_marker.py
/tmp/ws/src/franka_ros/franka_example_controllers/scripts/
interactive__marker_8py.html
interactive_marker
def
franka_state_callback
namespaceinteractive__marker.html
a3ca26991be43b2dfab3662fab7d29557
(msg)
def
processFeedback
namespaceinteractive__marker.html
a6d5c00570a7279d0c91ed3fe895d2eb3
(feedback)
def
publisherCallback
namespaceinteractive__marker.html
a151d11429957edda146dfd5184be9cc4
(msg, link_name)
control
namespaceinteractive__marker.html
a8fd433e78cfd74cc72adf0682a6138ee
description
namespaceinteractive__marker.html
a8d5149395ebebadc404797fba74b4fbf
frame_id
namespaceinteractive__marker.html
ac2bed062650fc4b024b550a1176d9913
bool
initial_pose_found
namespaceinteractive__marker.html
af538086dc1c352610f3169b49839a050
int_marker
namespaceinteractive__marker.html
ae29f4fcac0d5d63e0fe4542ec4b3fc65
interaction_mode
namespaceinteractive__marker.html
ae2bafebdee41a12635569a296fa3bf6e
link_name
namespaceinteractive__marker.html
ad4be871390c9720f44a629c719c96923
listener
namespaceinteractive__marker.html
a0e579ab555212bb5e2c9f8a675b7618a
marker_pose
namespaceinteractive__marker.html
ab05cd11b66bc37f2aee6ea4ee9d9899a
name
namespaceinteractive__marker.html
a447655961b3d3ca3c5a2a9d3d769436d
pose
namespaceinteractive__marker.html
a06e4691dc5f93e0da6dc9a6efa8d99b5
pose_pub
namespaceinteractive__marker.html
a8e8c3785e42901a7610214ff727338ac
list
position_limits
namespaceinteractive__marker.html
aae45ba5b707ff3b4546ae4bbb9b49b39
scale
namespaceinteractive__marker.html
ae2c7b9865bba9817db3359dba96e4507
server
namespaceinteractive__marker.html
a0913a920340099e56f9b000d508380eb
state_sub
namespaceinteractive__marker.html
a260de5ba27646b7e6840abc1819deea8
w
namespaceinteractive__marker.html
a762d2be287d5bc9ccc79401f4c401bd3
x
namespaceinteractive__marker.html
acda52804aef30b460a72fb21ee01d69d
y
namespaceinteractive__marker.html
a5e45ec67a60dd2f10e5b53a9274e4730
z
namespaceinteractive__marker.html
ae4fadbd064c862c7bd45695a76bb0af4
joint_impedance_example_controller.cpp
/tmp/ws/src/franka_ros/franka_example_controllers/src/
joint__impedance__example__controller_8cpp.html
franka_example_controllers/joint_impedance_example_controller.h
franka_example_controllers
joint_impedance_example_controller.h
/tmp/ws/src/franka_ros/franka_example_controllers/include/franka_example_controllers/
joint__impedance__example__controller_8h.html
franka_example_controllers::JointImpedanceExampleController
franka_example_controllers
joint_position_example_controller.cpp
/tmp/ws/src/franka_ros/franka_example_controllers/src/
joint__position__example__controller_8cpp.html
franka_example_controllers/joint_position_example_controller.h
franka_example_controllers
joint_position_example_controller.h
/tmp/ws/src/franka_ros/franka_example_controllers/include/franka_example_controllers/
joint__position__example__controller_8h.html
franka_example_controllers::JointPositionExampleController
franka_example_controllers
joint_velocity_example_controller.cpp
/tmp/ws/src/franka_ros/franka_example_controllers/src/
joint__velocity__example__controller_8cpp.html
franka_example_controllers/joint_velocity_example_controller.h
franka_example_controllers
joint_velocity_example_controller.h
/tmp/ws/src/franka_ros/franka_example_controllers/include/franka_example_controllers/
joint__velocity__example__controller_8h.html
franka_example_controllers::JointVelocityExampleController
franka_example_controllers
mainpage.dox
/tmp/ws/src/franka_ros/franka_example_controllers/
mainpage_8dox.html
model_example_controller.cpp
/tmp/ws/src/franka_ros/franka_example_controllers/src/
model__example__controller_8cpp.html
franka_example_controllers/model_example_controller.h
franka_example_controllers
model_example_controller.h
/tmp/ws/src/franka_ros/franka_example_controllers/include/franka_example_controllers/
model__example__controller_8h.html
franka_example_controllers::ModelExampleController
franka_example_controllers
move_to_start.py
/tmp/ws/src/franka_ros/franka_example_controllers/scripts/
move__to__start_8py.html
move_to_start
commander
namespacemove__to__start.html
af67697aff402aaf18bd07b21927ad26c
pseudo_inversion.h
/tmp/ws/src/franka_ros/franka_example_controllers/include/franka_example_controllers/
pseudo__inversion_8h.html
franka_example_controllers
void
pseudoInverse
namespacefranka__example__controllers.html
a2ddd8676f7f9bbbbccd48929abcd367a
(const Eigen::MatrixXd &M_, Eigen::MatrixXd &M_pinv_, bool damped=true)
teleop_gripper_node.cpp
/tmp/ws/src/franka_ros/franka_example_controllers/src/
teleop__gripper__node_8cpp.html
TeleopGripperClient
actionlib::SimpleActionClient< GraspAction >
GraspClient
teleop__gripper__node_8cpp.html
a10a3a6d36402cee586566a072bb1777c
actionlib::SimpleActionClient< HomingAction >
HomingClient
teleop__gripper__node_8cpp.html
a400b470cba4360956e3722863b37ff91
actionlib::SimpleActionClient< MoveAction >
MoveClient
teleop__gripper__node_8cpp.html
acc38e07aec425e0108d82d6de8144181
actionlib::SimpleActionClient< StopAction >
StopClient
teleop__gripper__node_8cpp.html
a888f1fd2cb47d75a8169f3a99400fc1a
int
main
teleop__gripper__node_8cpp.html
a3c04138a5bfe5d72780bb7e82a18e627
(int argc, char **argv)
teleop_joint_pd_example_controller.cpp
/tmp/ws/src/franka_ros/franka_example_controllers/src/
teleop__joint__pd__example__controller_8cpp.html
franka_example_controllers/teleop_joint_pd_example_controller.h
franka_example_controllers
teleop_joint_pd_example_controller.h
/tmp/ws/src/franka_ros/franka_example_controllers/include/franka_example_controllers/
teleop__joint__pd__example__controller_8h.html
franka_example_controllers::TeleopJointPDExampleController::FrankaDataContainer
franka_example_controllers::TeleopJointPDExampleController
franka_example_controllers
franka_example_controllers::CartesianImpedanceExampleController
classfranka__example__controllers_1_1CartesianImpedanceExampleController.html
MultiInterfaceController< franka_hw::FrankaModelInterface, hardware_interface::EffortJointInterface, franka_hw::FrankaStateInterface >
bool
init
classfranka__example__controllers_1_1CartesianImpedanceExampleController.html
aa61fee8f409bbfda931c202123dbd7f5
(hardware_interface::RobotHW *robot_hw, ros::NodeHandle &node_handle) override
void
starting
classfranka__example__controllers_1_1CartesianImpedanceExampleController.html
a9191e1f9d60551294d1f225af39f7926
(const ros::Time &) override
void
update
classfranka__example__controllers_1_1CartesianImpedanceExampleController.html
ab7e3690c65dbf1ff57a5d37cb651cd04
(const ros::Time &, const ros::Duration &period) override
void
complianceParamCallback
classfranka__example__controllers_1_1CartesianImpedanceExampleController.html
a31f27ea8c8f60f073fb50c78cf48ab6c
(franka_example_controllers::compliance_paramConfig &config, uint32_t level)
void
equilibriumPoseCallback
classfranka__example__controllers_1_1CartesianImpedanceExampleController.html
a84a8c0fb5fbb0c273910d1af68fabe0b
(const geometry_msgs::PoseStampedConstPtr &msg)
Eigen::Matrix< double, 7, 1 >
saturateTorqueRate
classfranka__example__controllers_1_1CartesianImpedanceExampleController.html
a1a3dd73a99d2686af41ff8c5ff8f216c
(const Eigen::Matrix< double, 7, 1 > &tau_d_calculated, const Eigen::Matrix< double, 7, 1 > &tau_J_d)
Eigen::Matrix< double, 6, 6 >
cartesian_damping_
classfranka__example__controllers_1_1CartesianImpedanceExampleController.html
a95cb6cf998a392f5bf9fa1201f0c595d
Eigen::Matrix< double, 6, 6 >
cartesian_damping_target_
classfranka__example__controllers_1_1CartesianImpedanceExampleController.html
afcb20af974815ddd883d1039ab554cc1
Eigen::Matrix< double, 6, 6 >
cartesian_stiffness_
classfranka__example__controllers_1_1CartesianImpedanceExampleController.html
a37535313bb87e462a6c187c7ddce520f
Eigen::Matrix< double, 6, 6 >
cartesian_stiffness_target_
classfranka__example__controllers_1_1CartesianImpedanceExampleController.html
ab31e4b0d375e011ea3e3f745a6cfdded
const double
delta_tau_max_
classfranka__example__controllers_1_1CartesianImpedanceExampleController.html
a3ff07c9bb2c49cc9ac622bb2bd2c8f96
ros::NodeHandle
dynamic_reconfigure_compliance_param_node_
classfranka__example__controllers_1_1CartesianImpedanceExampleController.html
a5c360df35cb2e4e32b47746a40ed95b1
std::unique_ptr< dynamic_reconfigure::Server< franka_example_controllers::compliance_paramConfig > >
dynamic_server_compliance_param_
classfranka__example__controllers_1_1CartesianImpedanceExampleController.html
a43319973f57653a9d64bdafbeea2cf03
double
filter_params_
classfranka__example__controllers_1_1CartesianImpedanceExampleController.html
a3684e222192042e190309d945c0f9589
std::vector< hardware_interface::JointHandle >
joint_handles_
classfranka__example__controllers_1_1CartesianImpedanceExampleController.html
a288ac917280b160d8a531ab3554de5e4
std::unique_ptr< franka_hw::FrankaModelHandle >
model_handle_
classfranka__example__controllers_1_1CartesianImpedanceExampleController.html
a588de895d4aaef43c00bc11e6b789084
double
nullspace_stiffness_
classfranka__example__controllers_1_1CartesianImpedanceExampleController.html
ac47b4db7d9f39e3d7eac34396b8ff32b
double
nullspace_stiffness_target_
classfranka__example__controllers_1_1CartesianImpedanceExampleController.html
a3bfebd283e81cab2a5d303d75ba5a706
Eigen::Quaterniond
orientation_d_
classfranka__example__controllers_1_1CartesianImpedanceExampleController.html
a8528ed0cf7de6439e65bb1d4c4017137
Eigen::Quaterniond
orientation_d_target_
classfranka__example__controllers_1_1CartesianImpedanceExampleController.html
ae2c7eed26db0a1b708b91148451bb13e
Eigen::Vector3d
position_d_
classfranka__example__controllers_1_1CartesianImpedanceExampleController.html
a7b1ed13a31a9561ced03a8a9221a303f
Eigen::Vector3d
position_d_target_
classfranka__example__controllers_1_1CartesianImpedanceExampleController.html
a2d30d23bda9622c57d2e894cfd00cc37
Eigen::Matrix< double, 7, 1 >
q_d_nullspace_
classfranka__example__controllers_1_1CartesianImpedanceExampleController.html
a17864b23083e90764168ceb4ea843df8
std::unique_ptr< franka_hw::FrankaStateHandle >
state_handle_
classfranka__example__controllers_1_1CartesianImpedanceExampleController.html
affdc57722887831ee0e3e02332eae345
ros::Subscriber
sub_equilibrium_pose_
classfranka__example__controllers_1_1CartesianImpedanceExampleController.html
a0daa6df50687aeeea370bbf13ed61774
franka_example_controllers::CartesianPoseExampleController
classfranka__example__controllers_1_1CartesianPoseExampleController.html
MultiInterfaceController< franka_hw::FrankaPoseCartesianInterface, franka_hw::FrankaStateInterface >
bool
init
classfranka__example__controllers_1_1CartesianPoseExampleController.html
a461de40a8f5d8a76b80b25fc581e0376
(hardware_interface::RobotHW *robot_hardware, ros::NodeHandle &node_handle) override
void
starting
classfranka__example__controllers_1_1CartesianPoseExampleController.html
a80a14c57df1285078330b8d70bd7308b
(const ros::Time &) override
void
update
classfranka__example__controllers_1_1CartesianPoseExampleController.html
aaecae953c1aeeaa8d08b569f0ef4723d
(const ros::Time &, const ros::Duration &period) override
std::unique_ptr< franka_hw::FrankaCartesianPoseHandle >
cartesian_pose_handle_
classfranka__example__controllers_1_1CartesianPoseExampleController.html
a23b7a3e97178593a7ae854f6c513ede7
franka_hw::FrankaPoseCartesianInterface *
cartesian_pose_interface_
classfranka__example__controllers_1_1CartesianPoseExampleController.html
a19b9c7a7046c8e94d9bbd877f2e5f113
ros::Duration
elapsed_time_
classfranka__example__controllers_1_1CartesianPoseExampleController.html
ab671f506567721b65a9607a216cf4a47
std::array< double, 16 >
initial_pose_
classfranka__example__controllers_1_1CartesianPoseExampleController.html
a43c4db7364e30dbbb5fa64e6457d639e
franka_example_controllers::CartesianVelocityExampleController
classfranka__example__controllers_1_1CartesianVelocityExampleController.html
MultiInterfaceController< franka_hw::FrankaVelocityCartesianInterface, franka_hw::FrankaStateInterface >
bool
init
classfranka__example__controllers_1_1CartesianVelocityExampleController.html
a74c17e2afdd736f29e0d165362ddc212
(hardware_interface::RobotHW *robot_hardware, ros::NodeHandle &node_handle) override
void
starting
classfranka__example__controllers_1_1CartesianVelocityExampleController.html
a9326c6506dc721e03447fef88c5c59f7
(const ros::Time &) override
void
stopping
classfranka__example__controllers_1_1CartesianVelocityExampleController.html
a03ffcb4dd32fa51329f7600384ff22d6
(const ros::Time &) override
void
update
classfranka__example__controllers_1_1CartesianVelocityExampleController.html
ab39ae92f4a9059066d6f18a6dddeb2b3
(const ros::Time &, const ros::Duration &period) override
ros::Duration
elapsed_time_
classfranka__example__controllers_1_1CartesianVelocityExampleController.html
aea64d1bd4901f1b2a3f953f53c9d973c
std::unique_ptr< franka_hw::FrankaCartesianVelocityHandle >
velocity_cartesian_handle_
classfranka__example__controllers_1_1CartesianVelocityExampleController.html
a70d748ed0786497d2ca847e011c237c9
franka_hw::FrankaVelocityCartesianInterface *
velocity_cartesian_interface_
classfranka__example__controllers_1_1CartesianVelocityExampleController.html
a252b7cc51863ad43fe4fb01bd07c6947
franka_example_controllers::DualArmCartesianImpedanceExampleController
classfranka__example__controllers_1_1DualArmCartesianImpedanceExampleController.html
MultiInterfaceController< franka_hw::FrankaModelInterface, hardware_interface::EffortJointInterface, franka_hw::FrankaStateInterface >
bool
init
classfranka__example__controllers_1_1DualArmCartesianImpedanceExampleController.html
a08aa5d3bd14a872c17a89cb8b99b8a29
(hardware_interface::RobotHW *robot_hw, ros::NodeHandle &node_handle) override
void
starting
classfranka__example__controllers_1_1DualArmCartesianImpedanceExampleController.html
a5c2a6cdbdb2d235b13f9d791755aaf54
(const ros::Time &) override
void
update
classfranka__example__controllers_1_1DualArmCartesianImpedanceExampleController.html
af218e8bcee9aa11c5824eb2bdee2638e
(const ros::Time &, const ros::Duration &period) override
void
complianceParamCallback
classfranka__example__controllers_1_1DualArmCartesianImpedanceExampleController.html
a82840c051cc206a1e8219024d4a228d4
(franka_combined_example_controllers::dual_arm_compliance_paramConfig &config, uint32_t)
bool
initArm
classfranka__example__controllers_1_1DualArmCartesianImpedanceExampleController.html
a9a79e6f2bc7dd99ca13be10cd12e0aab
(hardware_interface::RobotHW *robot_hw, const std::string &arm_id, const std::vector< std::string > &joint_names)
void
publishCenteringPose
classfranka__example__controllers_1_1DualArmCartesianImpedanceExampleController.html
add9a38b122e71bc3b2eee4aecb1a2546
()
Eigen::Matrix< double, 7, 1 >
saturateTorqueRate
classfranka__example__controllers_1_1DualArmCartesianImpedanceExampleController.html
a79ec41641bd4f68e7230d5964a2a8784
(const FrankaDataContainer &arm_data, const Eigen::Matrix< double, 7, 1 > &tau_d_calculated, const Eigen::Matrix< double, 7, 1 > &tau_J_d)
void
startingArm
classfranka__example__controllers_1_1DualArmCartesianImpedanceExampleController.html
ad9ab292bf0a4f26f3e0d9130f07bde97
(FrankaDataContainer &arm_data)
void
targetPoseCallback
classfranka__example__controllers_1_1DualArmCartesianImpedanceExampleController.html
ae3ee0387c0e66bb2c7dd73e8483500b2
(const geometry_msgs::PoseStamped::ConstPtr &msg)
void
updateArm
classfranka__example__controllers_1_1DualArmCartesianImpedanceExampleController.html
a46b792d35ce99017521a5b94159ab967
(FrankaDataContainer &arm_data)
std::map< std::string, FrankaDataContainer >
arms_data_
classfranka__example__controllers_1_1DualArmCartesianImpedanceExampleController.html
a5a4fdc455cab1ef2a1b1684a5fca0438
realtime_tools::RealtimePublisher< geometry_msgs::PoseStamped >
center_frame_pub_
classfranka__example__controllers_1_1DualArmCartesianImpedanceExampleController.html
a9c2ef37a94ea9790e6fbde1646348e09
ros::NodeHandle
dynamic_reconfigure_compliance_param_node_
classfranka__example__controllers_1_1DualArmCartesianImpedanceExampleController.html
a8c0a6436e03bc6f92100f374582e5ffc
std::unique_ptr< dynamic_reconfigure::Server< franka_combined_example_controllers::dual_arm_compliance_paramConfig > >
dynamic_server_compliance_param_
classfranka__example__controllers_1_1DualArmCartesianImpedanceExampleController.html
a9ab2bd42eddb182ed3ef8204a895d2f7
Eigen::Affine3d
EEl_T_C_
classfranka__example__controllers_1_1DualArmCartesianImpedanceExampleController.html
ab75976e34f2bfda6d72bea76a5364f07
Eigen::Affine3d
EEr_T_EEl_
classfranka__example__controllers_1_1DualArmCartesianImpedanceExampleController.html
a420b39ad51d86c567da288669288ac7b
std::string
left_arm_id_
classfranka__example__controllers_1_1DualArmCartesianImpedanceExampleController.html
a0dddfbef2b56b20772be200d336c30a0
Eigen::Affine3d
Ol_T_Or_
classfranka__example__controllers_1_1DualArmCartesianImpedanceExampleController.html
aa224f204552def73c61d1e567dc8cead
franka_hw::TriggerRate
publish_rate_
classfranka__example__controllers_1_1DualArmCartesianImpedanceExampleController.html
af995153679da41f71c3655cd5a4198e7
std::string
right_arm_id_
classfranka__example__controllers_1_1DualArmCartesianImpedanceExampleController.html
a764dc4917ad01640309a468c96f3c821
ros::Subscriber
sub_target_pose_left_
classfranka__example__controllers_1_1DualArmCartesianImpedanceExampleController.html
ac3fe95edefb95bc63740b1b6f39c7d12
franka_example_controllers::ElbowExampleController
classfranka__example__controllers_1_1ElbowExampleController.html
MultiInterfaceController< franka_hw::FrankaPoseCartesianInterface, franka_hw::FrankaStateInterface >
bool
init
classfranka__example__controllers_1_1ElbowExampleController.html
ae289eee8c389d5b2d9e2f2cf13fcc475
(hardware_interface::RobotHW *robot_hardware, ros::NodeHandle &node_handle) override
void
starting
classfranka__example__controllers_1_1ElbowExampleController.html
a0ed0bd6a0db321eda30ddf0f038021df
(const ros::Time &) override
void
update
classfranka__example__controllers_1_1ElbowExampleController.html
a0f3e4ef04d7d4eba6019ae68c621a3a0
(const ros::Time &, const ros::Duration &period) override
std::unique_ptr< franka_hw::FrankaCartesianPoseHandle >
cartesian_pose_handle_
classfranka__example__controllers_1_1ElbowExampleController.html
a911a7a82e55ba8f023ec8c0a9c8d2bd9
franka_hw::FrankaPoseCartesianInterface *
cartesian_pose_interface_
classfranka__example__controllers_1_1ElbowExampleController.html
a77b32f28520c2db59b4fd7209c50d578
ros::Duration
elapsed_time_
classfranka__example__controllers_1_1ElbowExampleController.html
adbacbe4e9d5314fc0a881f16b7ffa3c2
std::array< double, 2 >
initial_elbow_
classfranka__example__controllers_1_1ElbowExampleController.html
a5addb6a766aa1ad5e193796976307ef1
std::array< double, 16 >
initial_pose_
classfranka__example__controllers_1_1ElbowExampleController.html
a93ff73dad84295cd4c822b6bb843bc3c
franka_example_controllers::ForceExampleController
classfranka__example__controllers_1_1ForceExampleController.html
MultiInterfaceController< franka_hw::FrankaModelInterface, hardware_interface::EffortJointInterface, franka_hw::FrankaStateInterface >
bool
init
classfranka__example__controllers_1_1ForceExampleController.html
adb9839ab5bf49901849839bb5ce73932
(hardware_interface::RobotHW *robot_hw, ros::NodeHandle &node_handle) override
void
starting
classfranka__example__controllers_1_1ForceExampleController.html
aaf7bd3ab431911c818d1c3bf312f4f02
(const ros::Time &) override
void
update
classfranka__example__controllers_1_1ForceExampleController.html
ae15ee13e9cb72653edb468127e65fa3c
(const ros::Time &, const ros::Duration &period) override
void
desiredMassParamCallback
classfranka__example__controllers_1_1ForceExampleController.html
ac7db01746d2398acab73424e6a98f501
(franka_example_controllers::desired_mass_paramConfig &config, uint32_t level)
Eigen::Matrix< double, 7, 1 >
saturateTorqueRate
classfranka__example__controllers_1_1ForceExampleController.html
ac00e2f9f34f52e96a61e9d694e09fbd7
(const Eigen::Matrix< double, 7, 1 > &tau_d_calculated, const Eigen::Matrix< double, 7, 1 > &tau_J_d)
double
desired_mass_
classfranka__example__controllers_1_1ForceExampleController.html
a5141239dda158063dc67d47aa74c2a3e
ros::NodeHandle
dynamic_reconfigure_desired_mass_param_node_
classfranka__example__controllers_1_1ForceExampleController.html
a52ea54759485f09d5b7985b56f1d592a
std::unique_ptr< dynamic_reconfigure::Server< franka_example_controllers::desired_mass_paramConfig > >
dynamic_server_desired_mass_param_
classfranka__example__controllers_1_1ForceExampleController.html
ad17a6b653b79b4652bf39f26fda0f001
double
filter_gain_
classfranka__example__controllers_1_1ForceExampleController.html
a213ed677004316d1b790794f03aa0a7a
std::vector< hardware_interface::JointHandle >
joint_handles_
classfranka__example__controllers_1_1ForceExampleController.html
aed2074f77427deafe9b8670430f5a760
double
k_i_
classfranka__example__controllers_1_1ForceExampleController.html
a1a120dff4babea15e1d5a866547cd13a
double
k_p_
classfranka__example__controllers_1_1ForceExampleController.html
a2f3c9fae22264a5a80da0d00e617bdf1
std::unique_ptr< franka_hw::FrankaModelHandle >
model_handle_
classfranka__example__controllers_1_1ForceExampleController.html
a97bc82b7bea28c31389b857f25adbe47
std::unique_ptr< franka_hw::FrankaStateHandle >
state_handle_
classfranka__example__controllers_1_1ForceExampleController.html
a4b932a6c22504e9728c57b5fa7ccd620
double
target_k_i_
classfranka__example__controllers_1_1ForceExampleController.html
ae4636481a611830a438a2b49ccb05f17
double
target_k_p_
classfranka__example__controllers_1_1ForceExampleController.html
ae5b17c481b7c7acebb8f378e29bf6b77
double
target_mass_
classfranka__example__controllers_1_1ForceExampleController.html
a351793b041d57afb712be67410821cdc
Eigen::Matrix< double, 7, 1 >
tau_error_
classfranka__example__controllers_1_1ForceExampleController.html
a2e250641c7304512f8a30be65f276f63
Eigen::Matrix< double, 7, 1 >
tau_ext_initial_
classfranka__example__controllers_1_1ForceExampleController.html
a5de4c22bd3d9d27f039f33f0c10fa11f
static constexpr double
kDeltaTauMax
classfranka__example__controllers_1_1ForceExampleController.html
aa8d9d933646084d16500a53eea9e314c
franka_example_controllers::FrankaDataContainer
structfranka__example__controllers_1_1FrankaDataContainer.html
Eigen::Matrix< double, 6, 6 >
cartesian_damping_
structfranka__example__controllers_1_1FrankaDataContainer.html
acc805f9ce3ec8e8c2bb28307bec99472
Eigen::Matrix< double, 6, 6 >
cartesian_damping_target_
structfranka__example__controllers_1_1FrankaDataContainer.html
a8683ac01d87d426cb44fb92b8ddac566
Eigen::Matrix< double, 6, 6 >
cartesian_stiffness_
structfranka__example__controllers_1_1FrankaDataContainer.html
a77b9eddfb53d9ecc24ff3bfd1e57645d
Eigen::Matrix< double, 6, 6 >
cartesian_stiffness_target_
structfranka__example__controllers_1_1FrankaDataContainer.html
adc0258957afdc808a230b085a704500c
const double
delta_tau_max_
structfranka__example__controllers_1_1FrankaDataContainer.html
aef62faa01b4a183eb5a4e610282515c1
double
filter_params_
structfranka__example__controllers_1_1FrankaDataContainer.html
ab503b23d78faa358cf36aba04731fb12
std::vector< hardware_interface::JointHandle >
joint_handles_
structfranka__example__controllers_1_1FrankaDataContainer.html
a622e083f08e43ad3484d17e31747d056
std::unique_ptr< franka_hw::FrankaModelHandle >
model_handle_
structfranka__example__controllers_1_1FrankaDataContainer.html
a858db623881ae7b6c1cac38f8cd2e2b8
double
nullspace_stiffness_
structfranka__example__controllers_1_1FrankaDataContainer.html
af9d3b21edd5040627aa43bf68ec84bca
double
nullspace_stiffness_target_
structfranka__example__controllers_1_1FrankaDataContainer.html
aab8bc8795f0984efb33c4b7c5a365bff
Eigen::Quaterniond
orientation_d_
structfranka__example__controllers_1_1FrankaDataContainer.html
a39702becda74447804beac8958455fd2
Eigen::Quaterniond
orientation_d_target_
structfranka__example__controllers_1_1FrankaDataContainer.html
aae8a663d2e5a36dd1d30079880f06308
Eigen::Vector3d
position_d_
structfranka__example__controllers_1_1FrankaDataContainer.html
a428d7240d8e2c000d729c4daacbcf1eb
Eigen::Vector3d
position_d_target_
structfranka__example__controllers_1_1FrankaDataContainer.html
a7ef83945560a2b6cf9633fee007c7144
Eigen::Matrix< double, 7, 1 >
q_d_nullspace_
structfranka__example__controllers_1_1FrankaDataContainer.html
a5bbc2de05ad876eff5c2aadc0094eca1
std::unique_ptr< franka_hw::FrankaStateHandle >
state_handle_
structfranka__example__controllers_1_1FrankaDataContainer.html
a1c8c232a2ecb797c88f5f3275041df68
franka_example_controllers::TeleopJointPDExampleController::FrankaDataContainer
structfranka__example__controllers_1_1TeleopJointPDExampleController_1_1FrankaDataContainer.html
double
contact
structfranka__example__controllers_1_1TeleopJointPDExampleController_1_1FrankaDataContainer.html
ad5f3476315074e32d86bb6d54901797d
double
contact_force_threshold
structfranka__example__controllers_1_1TeleopJointPDExampleController_1_1FrankaDataContainer.html
aa05fc020f6aa8b0bf038139e4cd4af5a
double
contact_ramp_increase
structfranka__example__controllers_1_1TeleopJointPDExampleController_1_1FrankaDataContainer.html
ac4958e31cf1707e20dbb937790056378
Vector7d
dq
structfranka__example__controllers_1_1TeleopJointPDExampleController_1_1FrankaDataContainer.html
a8bb665dacb4b5b5e0666261a4ccb7d48
double
f_ext_norm
structfranka__example__controllers_1_1TeleopJointPDExampleController_1_1FrankaDataContainer.html
a96574873b740cbc67de6dce760409d52
std::vector< hardware_interface::JointHandle >
joint_handles
structfranka__example__controllers_1_1TeleopJointPDExampleController_1_1FrankaDataContainer.html
a3726f858d1ec008fb91ec2565704c849
Vector7d
q
structfranka__example__controllers_1_1TeleopJointPDExampleController_1_1FrankaDataContainer.html
a53247f2f8bba97763e4191d9ffc6e0c1
std::unique_ptr< franka_hw::FrankaStateHandle >
state_handle
structfranka__example__controllers_1_1TeleopJointPDExampleController_1_1FrankaDataContainer.html
a6025d703fd6b15d511ca9dceccaf0ae6
Vector7d
tau_target
structfranka__example__controllers_1_1TeleopJointPDExampleController_1_1FrankaDataContainer.html
a617fe7c6a6d98a0a6bac5a79d2d26176
Vector7d
tau_target_last
structfranka__example__controllers_1_1TeleopJointPDExampleController_1_1FrankaDataContainer.html
a53bba3fdbab499a7b02d7430dfc07e31
franka_example_controllers::JointImpedanceExampleController
classfranka__example__controllers_1_1JointImpedanceExampleController.html
MultiInterfaceController< franka_hw::FrankaModelInterface, hardware_interface::EffortJointInterface, franka_hw::FrankaPoseCartesianInterface >
bool
init
classfranka__example__controllers_1_1JointImpedanceExampleController.html
a8163440bff59a3067be1d47e4b3c3c84
(hardware_interface::RobotHW *robot_hw, ros::NodeHandle &node_handle) override
void
starting
classfranka__example__controllers_1_1JointImpedanceExampleController.html
a968df72e561b1c35c4c406eb5cd79011
(const ros::Time &) override
void
update
classfranka__example__controllers_1_1JointImpedanceExampleController.html
afd7edb0e2600dd7732b0bf00e14d41c2
(const ros::Time &, const ros::Duration &period) override
std::array< double, 7 >
saturateTorqueRate
classfranka__example__controllers_1_1JointImpedanceExampleController.html
a246799d505d7ebedb1c75d8e9f251a01
(const std::array< double, 7 > &tau_d_calculated, const std::array< double, 7 > &tau_J_d)
double
acceleration_time_
classfranka__example__controllers_1_1JointImpedanceExampleController.html
aed26e5a5b23daaaacbd810caad1e2343
double
angle_
classfranka__example__controllers_1_1JointImpedanceExampleController.html
abdec90430c89c3d3d7c8a17dff886c48
std::unique_ptr< franka_hw::FrankaCartesianPoseHandle >
cartesian_pose_handle_
classfranka__example__controllers_1_1JointImpedanceExampleController.html
ade68e268a35c4b1a52c0dc4c811a074f
double
coriolis_factor_
classfranka__example__controllers_1_1JointImpedanceExampleController.html
ae00b8cb710e3a41bc7cc1b1060f52d9e
std::vector< double >
d_gains_
classfranka__example__controllers_1_1JointImpedanceExampleController.html
ab19eea8c0c0d0da745294e15211f4593
std::array< double, 7 >
dq_filtered_
classfranka__example__controllers_1_1JointImpedanceExampleController.html
a003bd809f7a92fdf81bd63c57f414cf2
std::array< double, 16 >
initial_pose_
classfranka__example__controllers_1_1JointImpedanceExampleController.html
ae5c009114b631bc41b1e91cf5603013c
std::vector< hardware_interface::JointHandle >
joint_handles_
classfranka__example__controllers_1_1JointImpedanceExampleController.html
a64340fe9c37cfbdacac36129ef8f1504
std::vector< double >
k_gains_
classfranka__example__controllers_1_1JointImpedanceExampleController.html
a489d73033258b6f34dfbe8b3fc101b51
std::array< double, 7 >
last_tau_d_
classfranka__example__controllers_1_1JointImpedanceExampleController.html
a2dfeef688b321513975733e45d387bdb
std::unique_ptr< franka_hw::FrankaModelHandle >
model_handle_
classfranka__example__controllers_1_1JointImpedanceExampleController.html
a2ed243b27c3639ddeb284d7acdf76d8a
double
radius_
classfranka__example__controllers_1_1JointImpedanceExampleController.html
ae312280e14358c15d9fc3398e149a6dc
franka_hw::TriggerRate
rate_trigger_
classfranka__example__controllers_1_1JointImpedanceExampleController.html
afd6d8f3ae121ae1251c5053557f242a3
realtime_tools::RealtimePublisher< JointTorqueComparison >
torques_publisher_
classfranka__example__controllers_1_1JointImpedanceExampleController.html
a7853d80a8b3a142be8825e895a70d20d
double
vel_current_
classfranka__example__controllers_1_1JointImpedanceExampleController.html
af0c7f07dd97fcc67b15c3a520086827a
double
vel_max_
classfranka__example__controllers_1_1JointImpedanceExampleController.html
a6a988f0c94bef853f6771068a49f66c2
static constexpr double
kDeltaTauMax
classfranka__example__controllers_1_1JointImpedanceExampleController.html
a0dc22a8d2121a79f7583444207cb724d
franka_example_controllers::JointPositionExampleController
classfranka__example__controllers_1_1JointPositionExampleController.html
MultiInterfaceController< hardware_interface::PositionJointInterface >
bool
init
classfranka__example__controllers_1_1JointPositionExampleController.html
a958b27b475476717543b8cc107bd6c1b
(hardware_interface::RobotHW *robot_hardware, ros::NodeHandle &node_handle) override
void
starting
classfranka__example__controllers_1_1JointPositionExampleController.html
a2b8711e7421963f686c7383d624e38a8
(const ros::Time &) override
void
update
classfranka__example__controllers_1_1JointPositionExampleController.html
a3475db8f06dde9e37fd03660ef4d1cb0
(const ros::Time &, const ros::Duration &period) override
ros::Duration
elapsed_time_
classfranka__example__controllers_1_1JointPositionExampleController.html
acdbb7dc1611653a0c6bed1d94dc0c979
std::array< double, 7 >
initial_pose_
classfranka__example__controllers_1_1JointPositionExampleController.html
aec370794d28554126ba021f10c8216ce
std::vector< hardware_interface::JointHandle >
position_joint_handles_
classfranka__example__controllers_1_1JointPositionExampleController.html
acaa5902db27586e01e48939526e27e5a
hardware_interface::PositionJointInterface *
position_joint_interface_
classfranka__example__controllers_1_1JointPositionExampleController.html
a04b7891338d07eeb78febf6085190f83
franka_example_controllers::JointVelocityExampleController
classfranka__example__controllers_1_1JointVelocityExampleController.html
MultiInterfaceController< hardware_interface::VelocityJointInterface, franka_hw::FrankaStateInterface >
bool
init
classfranka__example__controllers_1_1JointVelocityExampleController.html
a97f6b9f2bd26bdb3700844549a5a803c
(hardware_interface::RobotHW *robot_hardware, ros::NodeHandle &node_handle) override
void
starting
classfranka__example__controllers_1_1JointVelocityExampleController.html
a6f0a4d2a40e3b3fd827de7a882401a35
(const ros::Time &) override
void
stopping
classfranka__example__controllers_1_1JointVelocityExampleController.html
ae7557a0ea289d4d427f393fd5a4866b5
(const ros::Time &) override
void
update
classfranka__example__controllers_1_1JointVelocityExampleController.html
af25c5523cd2f79a7bd2da9cc1a5348d6
(const ros::Time &, const ros::Duration &period) override
ros::Duration
elapsed_time_
classfranka__example__controllers_1_1JointVelocityExampleController.html
a39a8d082e948e285156244f678b8e627
std::vector< hardware_interface::JointHandle >
velocity_joint_handles_
classfranka__example__controllers_1_1JointVelocityExampleController.html
ab88c025c1a93924c079416fe2dbe011e
hardware_interface::VelocityJointInterface *
velocity_joint_interface_
classfranka__example__controllers_1_1JointVelocityExampleController.html
a34769e0599ac754774227087859986dd
franka_example_controllers::ModelExampleController
classfranka__example__controllers_1_1ModelExampleController.html
MultiInterfaceController< franka_hw::FrankaModelInterface, franka_hw::FrankaStateInterface >
bool
init
classfranka__example__controllers_1_1ModelExampleController.html
a423f7ebfd4e0b81cdfbefbdb002cde37
(hardware_interface::RobotHW *robot_hw, ros::NodeHandle &node_handle) override
void
update
classfranka__example__controllers_1_1ModelExampleController.html
ac80410c22f5e1c98da93ba150a390d2d
(const ros::Time &, const ros::Duration &) override
std::unique_ptr< franka_hw::FrankaStateHandle >
franka_state_handle_
classfranka__example__controllers_1_1ModelExampleController.html
a6619cd4e5d970fde0779dfa8d5da2b71
franka_hw::FrankaStateInterface *
franka_state_interface_
classfranka__example__controllers_1_1ModelExampleController.html
a299d64b2e65f3d2259ea2468638337e2
std::unique_ptr< franka_hw::FrankaModelHandle >
model_handle_
classfranka__example__controllers_1_1ModelExampleController.html
a6eb1270e267595e0e281ee765f0ec550
franka_hw::FrankaModelInterface *
model_interface_
classfranka__example__controllers_1_1ModelExampleController.html
a832283a8b75f7e65ee03839a18b54f18
franka_hw::TriggerRate
rate_trigger_
classfranka__example__controllers_1_1ModelExampleController.html
aff2c4d48db198405dd9f4366cdedb82f
TeleopGripperClient
classTeleopGripperClient.html
bool
init
classTeleopGripperClient.html
a2aad10e96b7eacb842722a6dbe8f10cf
(const std::shared_ptr< ros::NodeHandle > &pnh)
TeleopGripperClient
classTeleopGripperClient.html
ac95ed0dc7bfe7738e1e4431c97b69cf6
()
bool
homingGripper
classTeleopGripperClient.html
a39be65586bbb7501676e5f3f4268daa7
()
void
subscriberCallback
classTeleopGripperClient.html
a038904b3b2096025ec175250323d275b
(const sensor_msgs::JointState &msg)
void
teleopGripperParamCallback
classTeleopGripperClient.html
a4c4f3ccd50b453c42a1fe1c4a8ab2e9a
(const franka_example_controllers::teleop_gripper_paramConfig &config, uint32_t)
std::mutex
dynamic_reconfigure_mutex_
classTeleopGripperClient.html
a49684d35173ea92293c50f85eb8d2a53
ros::NodeHandle
dynamic_reconfigure_teleop_gripper_param_node_
classTeleopGripperClient.html
ab75f56e1fd26bee8a426e0e1f5b6b5b5
std::unique_ptr< dynamic_reconfigure::Server< franka_example_controllers::teleop_gripper_paramConfig > >
dynamic_server_teleop_gripper_param_
classTeleopGripperClient.html
a5760f1f4f8a11ec9b5927b4f731b425c
HomingClient
follower_homing_client_
classTeleopGripperClient.html
aa39d8c834810b577d2edc97f46ff3e04
GraspClient
grasp_client_
classTeleopGripperClient.html
a53d78e79541566efc13681820a412708
double
grasp_epsilon_inner_
classTeleopGripperClient.html
aeffa9919e80f0e4a030511ef61244d38
double
grasp_epsilon_outer_scaling_
classTeleopGripperClient.html
afe0a1e0fb2bfe28c2a0fb5a96d9fdab9
double
grasp_force_
classTeleopGripperClient.html
a64241ec4e6af12193e6338e9dcbd60bf
bool
grasping_
classTeleopGripperClient.html
a86b01bcf6fb77e547a24d13eb225f906
bool
gripper_homed_
classTeleopGripperClient.html
a34d824705a3d0a8b1db65ab32597c756
HomingClient
leader_homing_client_
classTeleopGripperClient.html
a4888295d505f5ed870605ac79af4e04a
ros::Subscriber
leader_sub_
classTeleopGripperClient.html
ac75e3986525814d789f6734da12c63a5
double
max_width_
classTeleopGripperClient.html
a6a9bb514eb93c529ebe959778f5e3dd9
MoveClient
move_client_
classTeleopGripperClient.html
a2905f905b40d456c7c1513443ef2ce80
double
move_speed_
classTeleopGripperClient.html
a200e0637b838ebd4cccf4320663caec1
double
start_pos_grasping_
classTeleopGripperClient.html
ae86377133c17469a5ee9afd508ca65dc
double
start_pos_opening_
classTeleopGripperClient.html
a3a328bd0a3b14863afbfc6eb0ca74cb9
StopClient
stop_client_
classTeleopGripperClient.html
ac205d6f56e3e1b5bcf18c7d86ec0d9c0
std::mutex
subscriber_mutex_
classTeleopGripperClient.html
a9e1bd42b4b3bad0d50616d52517e95bf
franka_example_controllers::TeleopJointPDExampleController
classfranka__example__controllers_1_1TeleopJointPDExampleController.html
MultiInterfaceController< hardware_interface::EffortJointInterface, franka_hw::FrankaStateInterface >
franka_example_controllers::TeleopJointPDExampleController::FrankaDataContainer
bool
init
classfranka__example__controllers_1_1TeleopJointPDExampleController.html
ae70228e8a3670b6c780ac0f1a986f411
(hardware_interface::RobotHW *robot_hw, ros::NodeHandle &node_handle) override
void
starting
classfranka__example__controllers_1_1TeleopJointPDExampleController.html
a653ab884c684dbe7bcbfec5dda4e51a0
(const ros::Time &) override
void
update
classfranka__example__controllers_1_1TeleopJointPDExampleController.html
ab40026839a17b639a2caddd20fd8d90f
(const ros::Time &, const ros::Duration &period) override
Eigen::Matrix< double, 7, 7 >
Matrix7d
classfranka__example__controllers_1_1TeleopJointPDExampleController.html
ada6f1e8d477ec0c33147662033f3b067
Eigen::Matrix< double, 6, 1 >
Vector6d
classfranka__example__controllers_1_1TeleopJointPDExampleController.html
a0e36b762a60128d9378e841620171403
Eigen::Matrix< double, 7, 1 >
Vector7d
classfranka__example__controllers_1_1TeleopJointPDExampleController.html
a01132f9866dba4906f1adbdab585d844
bool
initArm
classfranka__example__controllers_1_1TeleopJointPDExampleController.html
aac172de1a735bf5b2123400169dbb269
(hardware_interface::RobotHW *robot_hw, FrankaDataContainer &arm_data, const std::string &arm_id, const std::vector< std::string > &joint_names)
void
publishFollowerContact
classfranka__example__controllers_1_1TeleopJointPDExampleController.html
a46b70e007dc7136ccef8cac50c9270f3
()
void
publishFollowerTarget
classfranka__example__controllers_1_1TeleopJointPDExampleController.html
a9f3a431a6906c18deb2b01584101c60e
()
void
publishLeaderContact
classfranka__example__controllers_1_1TeleopJointPDExampleController.html
a36dd08ef8337d79a7ad88a077abc268e
()
void
publishLeaderTarget
classfranka__example__controllers_1_1TeleopJointPDExampleController.html
a24267088af6111730fa0ffcb0196bb66
()
double
rampParameter
classfranka__example__controllers_1_1TeleopJointPDExampleController.html
abcad302259ab04eb1cd899fa0f2c8791
(const double &x, const double &neg_x_asymptote, const double &pos_x_asymptote, const double &shift_along_x, const double &increase_factor)
Vector7d
saturateAndLimit
classfranka__example__controllers_1_1TeleopJointPDExampleController.html
ad634ff0e3f31865ce42dce60e1270858
(const Vector7d &x_calc, const Vector7d &x_last, const Vector7d &x_max, const Vector7d &dx_max, const double &delta_t)
void
teleopParamCallback
classfranka__example__controllers_1_1TeleopJointPDExampleController.html
ade5dc23af0a50aad118c68fbdb00e466
(franka_example_controllers::teleop_paramConfig &config, uint32_t level)
void
updateArm
classfranka__example__controllers_1_1TeleopJointPDExampleController.html
a591b54f9eb004da66767c35fc3c76ed1
(FrankaDataContainer &arm_data)
Vector7d
ddq_max_lower_
classfranka__example__controllers_1_1TeleopJointPDExampleController.html
a14b836d616823245b4e0aba481785476
Vector7d
ddq_max_upper_
classfranka__example__controllers_1_1TeleopJointPDExampleController.html
aea578827aa75e18f0cd74b2585739884
bool
debug_
classfranka__example__controllers_1_1TeleopJointPDExampleController.html
a971ff3e7935a31655ce41d2a06955f2b
double
decrease_factor_
classfranka__example__controllers_1_1TeleopJointPDExampleController.html
a92674e220c84b5311b68e0445490f580
Vector7d
dq_max_lower_
classfranka__example__controllers_1_1TeleopJointPDExampleController.html
a08885f262a496ebc924281c43749698d
Vector7d
dq_max_upper_
classfranka__example__controllers_1_1TeleopJointPDExampleController.html
a44339bce17629ce9e7bd6b12dd346e74
Vector7d
dq_target_
classfranka__example__controllers_1_1TeleopJointPDExampleController.html
abc4d05dfb212ebc8431cd9e66385dae5
Vector7d
dq_target_last_
classfranka__example__controllers_1_1TeleopJointPDExampleController.html
a905146f5c2e8b027ee5eeb3d4e77bc7c
Vector7d
dq_unsaturated_
classfranka__example__controllers_1_1TeleopJointPDExampleController.html
abd8e3911411e0f322a79ed2e581d85f1
std::mutex
dynamic_reconfigure_mutex_
classfranka__example__controllers_1_1TeleopJointPDExampleController.html
a2de0ba011b7ff81bad21b0eb8f1918aa
ros::NodeHandle
dynamic_reconfigure_teleop_param_node_
classfranka__example__controllers_1_1TeleopJointPDExampleController.html
a025978e6a6f02c8888f914ef7683ba4b
std::unique_ptr< dynamic_reconfigure::Server< franka_example_controllers::teleop_paramConfig > >
dynamic_server_teleop_param_
classfranka__example__controllers_1_1TeleopJointPDExampleController.html
ace5b568e114b93c16a4bf7842cc7029c
realtime_tools::RealtimePublisher< std_msgs::Float64 >
follower_contact_pub_
classfranka__example__controllers_1_1TeleopJointPDExampleController.html
acecb029dcdfe267480340cb7daf92daa
FrankaDataContainer
follower_data_
classfranka__example__controllers_1_1TeleopJointPDExampleController.html
a00dda250cb5a706bb95cf750d099e45c
double
follower_stiffness_scaling_
classfranka__example__controllers_1_1TeleopJointPDExampleController.html
a8b20697433201ad2beaf1df73997dc23
realtime_tools::RealtimePublisher< sensor_msgs::JointState >
follower_target_pub_
classfranka__example__controllers_1_1TeleopJointPDExampleController.html
ab3d37d5a3643f302099d50046d60fad4
double
force_feedback_guiding_
classfranka__example__controllers_1_1TeleopJointPDExampleController.html
a9a59946e97ee4b85fd6f899eeab94295
double
force_feedback_idle_
classfranka__example__controllers_1_1TeleopJointPDExampleController.html
a98c8b24ba645984f8bbd32aafc8575a2
Vector7d
k_d_follower_
classfranka__example__controllers_1_1TeleopJointPDExampleController.html
a88194030bcf331df4c8129b1f34380a7
Vector7d
k_d_leader_
classfranka__example__controllers_1_1TeleopJointPDExampleController.html
aa8c371f55d1abf70ea68807f59f92397
Vector7d
k_dq_
classfranka__example__controllers_1_1TeleopJointPDExampleController.html
ab54836c0f5409828fdb4970e91841cf5
Vector7d
k_p_follower_
classfranka__example__controllers_1_1TeleopJointPDExampleController.html
a8b1579c603b69db8bfcc26a28f749b68
realtime_tools::RealtimePublisher< std_msgs::Float64 >
leader_contact_pub_
classfranka__example__controllers_1_1TeleopJointPDExampleController.html
a6b38970410d87bc643f2d4a58733896a
double
leader_damping_scaling_
classfranka__example__controllers_1_1TeleopJointPDExampleController.html
a3c91f757279d0cf4e288a538ce7b45c5
FrankaDataContainer
leader_data_
classfranka__example__controllers_1_1TeleopJointPDExampleController.html
a54ecd5b873f167d1d68c69404b4e99a0
realtime_tools::RealtimePublisher< sensor_msgs::JointState >
leader_target_pub_
classfranka__example__controllers_1_1TeleopJointPDExampleController.html
ab234f8985f544fb24c64046cab8948fd
franka_hw::TriggerRate
publish_rate_
classfranka__example__controllers_1_1TeleopJointPDExampleController.html
a8a2e46e7d3dbb43f8cca3763435d474f
Vector7d
q_target_
classfranka__example__controllers_1_1TeleopJointPDExampleController.html
a922d7395d839a0e35ac2cd91b857f616
Vector7d
q_target_last_
classfranka__example__controllers_1_1TeleopJointPDExampleController.html
a7de4cd1ac346704baf8a8736db0ae7b6
double
velocity_ramp_increase_
classfranka__example__controllers_1_1TeleopJointPDExampleController.html
a143a1c5c9859ef4bd6ed3ebc252ed8fa
double
velocity_ramp_shift_
classfranka__example__controllers_1_1TeleopJointPDExampleController.html
a78f033fc366e61fe8a2835ca12dbeec9
dual_arm_interactive_marker
namespacedual__arm__interactive__marker.html
def
centering_pose_callback
namespacedual__arm__interactive__marker.html
ab9a8983192953298e4070e5fa215d6bd
(msg)
def
left_franka_state_callback
namespacedual__arm__interactive__marker.html
a2b8c14b515389640fd0dfcd9f542bf73
(msg)
def
make_sphere
namespacedual__arm__interactive__marker.html
a4a4776e18d30b02fcd5aa69cea3e7f87
(scale=0.3)
def
process_feedback
namespacedual__arm__interactive__marker.html
afedda6582fc6f2b0bd5c4c1e16dc9251
(feedback)
def
publish_target_pose
namespacedual__arm__interactive__marker.html
afe5736dcfad3f21203ce12db0eaf6c87
()
def
reset_marker_pose_blocking
namespacedual__arm__interactive__marker.html
aa2f3e89c8afccb99a7aceee8024f7d6d
()
def
right_franka_state_callback
namespacedual__arm__interactive__marker.html
a45661200829d9728f63a363b7dc340c0
(msg)
always_visible
namespacedual__arm__interactive__marker.html
a0c4e88aa8a5fd1ea5f74912786ce11f3
args
namespacedual__arm__interactive__marker.html
a6e82d86ff9b8fe95975de7900f8e2aa3
bool
centering_frame_ready
namespacedual__arm__interactive__marker.html
ad58577105bcd5d623c1cc9eb2e3c72ac
control
namespacedual__arm__interactive__marker.html
a3ec82817bea92c3e2ce70682f3b6d2ab
description
namespacedual__arm__interactive__marker.html
a8908f0309762fc6b58438bbe9df01ac6
frame_id
namespacedual__arm__interactive__marker.html
aaa5e3e8f0a8e125d0f02f2d971d0694a
bool
has_error
namespacedual__arm__interactive__marker.html
a91bdb7838358a5dc012220bdda750474
help
namespacedual__arm__interactive__marker.html
a551f6886fb11c8c7022dabbaff35194e
int_marker
namespacedual__arm__interactive__marker.html
a2eebfc53764d8ec847c6f9e58b4a3558
interaction_mode
namespacedual__arm__interactive__marker.html
abe224eacf607f80c0bb2c0f5389d5996
left_arm_id
namespacedual__arm__interactive__marker.html
ace8a93e369537d92f17b9861d31cb885
bool
left_has_error
namespacedual__arm__interactive__marker.html
aa91188fad3c0fe29eb194de0749d679b
left_state_sub
namespacedual__arm__interactive__marker.html
ab3eaf7e9c4ecbae1e8dd0814de4cafe1
marker_pose
namespacedual__arm__interactive__marker.html
ae1dc1823850439ceb0256e842fe101af
name
namespacedual__arm__interactive__marker.html
a784e31cc90b2e3c4eca59faf857bbc06
nargs
namespacedual__arm__interactive__marker.html
a870908ca0a91fc8808dfe9e398e0f8b6
parser
namespacedual__arm__interactive__marker.html
a5cac52437015f562072ed9f81a317214
pose
namespacedual__arm__interactive__marker.html
ad1096317d9fe655130ffd6bda9645bbd
pose_pub
namespacedual__arm__interactive__marker.html
a1cf87b0dd85b2d2e96272ec48965cb5c
required
namespacedual__arm__interactive__marker.html
abafb62c73e0ce1d3e29223d4b249b2cd
right_arm_id
namespacedual__arm__interactive__marker.html
a80a58bbac980f1ea20a26676176c5413
bool
right_has_error
namespacedual__arm__interactive__marker.html
a54051039c162d3e6850c7975a2798c43
right_state_sub
namespacedual__arm__interactive__marker.html
ab5b828c74287f71cf83aa46ffc2fc94b
scale
namespacedual__arm__interactive__marker.html
aeb3429c5c8fc1b6838571accb54813bb
server
namespacedual__arm__interactive__marker.html
a5eaefed5ff5ae605348f4193b53733a9
w
namespacedual__arm__interactive__marker.html
a586f29d31b76a5c3a968627bf51129c7
x
namespacedual__arm__interactive__marker.html
a622e063064f4b6c5718471de259adb6d
y
namespacedual__arm__interactive__marker.html
a3f9e7d16da8f43f59095da0393541a11
z
namespacedual__arm__interactive__marker.html
aee749b160baf172d0162bc67af46c52d
franka_example_controllers
namespacefranka__example__controllers.html
franka_example_controllers::CartesianImpedanceExampleController
franka_example_controllers::CartesianPoseExampleController
franka_example_controllers::CartesianVelocityExampleController
franka_example_controllers::DualArmCartesianImpedanceExampleController
franka_example_controllers::ElbowExampleController
franka_example_controllers::ForceExampleController
franka_example_controllers::FrankaDataContainer
franka_example_controllers::JointImpedanceExampleController
franka_example_controllers::JointPositionExampleController
franka_example_controllers::JointVelocityExampleController
franka_example_controllers::ModelExampleController
franka_example_controllers::TeleopJointPDExampleController
void
pseudoInverse
namespacefranka__example__controllers.html
a2ddd8676f7f9bbbbccd48929abcd367a
(const Eigen::MatrixXd &M_, Eigen::MatrixXd &M_pinv_, bool damped=true)
interactive_marker
namespaceinteractive__marker.html
def
franka_state_callback
namespaceinteractive__marker.html
a3ca26991be43b2dfab3662fab7d29557
(msg)
def
processFeedback
namespaceinteractive__marker.html
a6d5c00570a7279d0c91ed3fe895d2eb3
(feedback)
def
publisherCallback
namespaceinteractive__marker.html
a151d11429957edda146dfd5184be9cc4
(msg, link_name)
control
namespaceinteractive__marker.html
a8fd433e78cfd74cc72adf0682a6138ee
description
namespaceinteractive__marker.html
a8d5149395ebebadc404797fba74b4fbf
frame_id
namespaceinteractive__marker.html
ac2bed062650fc4b024b550a1176d9913
bool
initial_pose_found
namespaceinteractive__marker.html
af538086dc1c352610f3169b49839a050
int_marker
namespaceinteractive__marker.html
ae29f4fcac0d5d63e0fe4542ec4b3fc65
interaction_mode
namespaceinteractive__marker.html
ae2bafebdee41a12635569a296fa3bf6e
link_name
namespaceinteractive__marker.html
ad4be871390c9720f44a629c719c96923
listener
namespaceinteractive__marker.html
a0e579ab555212bb5e2c9f8a675b7618a
marker_pose
namespaceinteractive__marker.html
ab05cd11b66bc37f2aee6ea4ee9d9899a
name
namespaceinteractive__marker.html
a447655961b3d3ca3c5a2a9d3d769436d
pose
namespaceinteractive__marker.html
a06e4691dc5f93e0da6dc9a6efa8d99b5
pose_pub
namespaceinteractive__marker.html
a8e8c3785e42901a7610214ff727338ac
list
position_limits
namespaceinteractive__marker.html
aae45ba5b707ff3b4546ae4bbb9b49b39
scale
namespaceinteractive__marker.html
ae2c7b9865bba9817db3359dba96e4507
server
namespaceinteractive__marker.html
a0913a920340099e56f9b000d508380eb
state_sub
namespaceinteractive__marker.html
a260de5ba27646b7e6840abc1819deea8
w
namespaceinteractive__marker.html
a762d2be287d5bc9ccc79401f4c401bd3
x
namespaceinteractive__marker.html
acda52804aef30b460a72fb21ee01d69d
y
namespaceinteractive__marker.html
a5e45ec67a60dd2f10e5b53a9274e4730
z
namespaceinteractive__marker.html
ae4fadbd064c862c7bd45695a76bb0af4
move_to_start
namespacemove__to__start.html
commander
namespacemove__to__start.html
af67697aff402aaf18bd07b21927ad26c
index
index