admittance_controller::AdmittanceController Class Reference

Inheritance diagram for admittance_controller::AdmittanceController:

Collaboration diagram for admittance_controller::AdmittanceController:

Public Member Functions
ADMITTANCE_CONTROLLER_PUBLIC controller_interface::CallbackReturn	on_init () override
	Extending interface with initialization method which is individual for each controller.
ADMITTANCE_CONTROLLER_PUBLIC controller_interface::InterfaceConfiguration	command_interface_configuration () const override
	Export configuration of required state interfaces.
ADMITTANCE_CONTROLLER_PUBLIC controller_interface::InterfaceConfiguration	state_interface_configuration () const override
	Export configuration of required state interfaces.
ADMITTANCE_CONTROLLER_PUBLIC controller_interface::CallbackReturn	on_configure (const rclcpp_lifecycle::State &previous_state) override
ADMITTANCE_CONTROLLER_PUBLIC controller_interface::CallbackReturn	on_activate (const rclcpp_lifecycle::State &previous_state) override
ADMITTANCE_CONTROLLER_PUBLIC controller_interface::CallbackReturn	on_deactivate (const rclcpp_lifecycle::State &previous_state) override
ADMITTANCE_CONTROLLER_PUBLIC controller_interface::CallbackReturn	on_cleanup (const rclcpp_lifecycle::State &previous_state) override
ADMITTANCE_CONTROLLER_PUBLIC controller_interface::CallbackReturn	on_error (const rclcpp_lifecycle::State &previous_state) override
ADMITTANCE_CONTROLLER_PUBLIC controller_interface::return_type	update_and_write_commands (const rclcpp::Time &time, const rclcpp::Duration &period) override
	Execute calculations of the controller and update command interfaces.
Public Member Functions inherited from controller_interface::ChainableControllerInterface
CONTROLLER_INTERFACE_PUBLIC return_type	update (const rclcpp::Time &time, const rclcpp::Duration &period) final
CONTROLLER_INTERFACE_PUBLIC bool	is_chainable () const final
	Get information if a controller is chainable.
CONTROLLER_INTERFACE_PUBLIC std::vector< hardware_interface::CommandInterface >	export_reference_interfaces () final
CONTROLLER_INTERFACE_PUBLIC bool	set_chained_mode (bool chained_mode) final
CONTROLLER_INTERFACE_PUBLIC bool	is_in_chained_mode () const final
	Get information if a controller is currently in chained mode.
Public Member Functions inherited from controller_interface::ControllerInterfaceBase
CONTROLLER_INTERFACE_PUBLIC void	assign_interfaces (std::vector< hardware_interface::LoanedCommandInterface > &&command_interfaces, std::vector< hardware_interface::LoanedStateInterface > &&state_interfaces)
CONTROLLER_INTERFACE_PUBLIC void	release_interfaces ()
virtual CONTROLLER_INTERFACE_PUBLIC return_type	init (const std::string &controller_name, const std::string &namespace_="", const rclcpp::NodeOptions &node_options=rclcpp::NodeOptions() .allow_undeclared_parameters(true) .automatically_declare_parameters_from_overrides(true))
CONTROLLER_INTERFACE_PUBLIC const rclcpp_lifecycle::State &	configure ()
	Custom configure method to read additional parameters for controller-nodes.
CONTROLLER_INTERFACE_PUBLIC std::shared_ptr< rclcpp_lifecycle::LifecycleNode >	get_node ()
CONTROLLER_INTERFACE_PUBLIC std::shared_ptr< rclcpp_lifecycle::LifecycleNode >	get_node () const
CONTROLLER_INTERFACE_PUBLIC const rclcpp_lifecycle::State &	get_state () const
CONTROLLER_INTERFACE_PUBLIC unsigned int	get_update_rate () const
template<typename ParameterT >
auto	auto_declare (const std::string &name, const ParameterT &default_value)
	Declare and initialize a parameter with a type.

Protected Types
template<typename T >
using	InterfaceReferences = std::vector< std::vector< std::reference_wrapper< T > > >

Protected Member Functions
std::vector< hardware_interface::CommandInterface >	on_export_reference_interfaces () override
controller_interface::return_type	update_reference_from_subscribers () override
	Update reference from input topics when not in chained mode.
void	read_state_from_hardware (trajectory_msgs::msg::JointTrajectoryPoint &state_current, geometry_msgs::msg::Wrench &ft_values)
	Read values from hardware interfaces and set corresponding fields of state_current and ft_values.
void	read_state_reference_interfaces (trajectory_msgs::msg::JointTrajectoryPoint &state)
	Set fields of state_reference with values from controllers exported position and velocity references.
void	write_state_to_hardware (const trajectory_msgs::msg::JointTrajectoryPoint &state_command)
	Write values from state_command to claimed hardware interfaces.
Protected Member Functions inherited from controller_interface::ChainableControllerInterface
virtual bool	on_set_chained_mode (bool chained_mode)
	Virtual method that each chainable controller should implement to switch chained mode.

Protected Attributes
size_t	num_joints_ = 0
std::vector< std::string >	command_joint_names_
InterfaceReferences< hardware_interface::LoanedCommandInterface >	joint_command_interface_
InterfaceReferences< hardware_interface::LoanedStateInterface >	joint_state_interface_
bool	has_position_state_interface_ = false
bool	has_velocity_state_interface_ = false
bool	has_acceleration_state_interface_ = false
bool	has_position_command_interface_ = false
bool	has_velocity_command_interface_ = false
bool	has_acceleration_command_interface_ = false
bool	has_effort_command_interface_ = false
const std::vector< std::string >	allowed_interface_types_
const std::vector< std::string >	allowed_reference_interfaces_types_
std::vector< std::reference_wrapper< double > >	position_reference_
std::vector< std::reference_wrapper< double > >	velocity_reference_
std::unique_ptr< admittance_controller::AdmittanceRule >	admittance_
std::unique_ptr< semantic_components::ForceTorqueSensor >	force_torque_sensor_
rclcpp::Subscription< trajectory_msgs::msg::JointTrajectoryPoint >::SharedPtr	input_joint_command_subscriber_
rclcpp::Publisher< control_msgs::msg::AdmittanceControllerState >::SharedPtr	s_publisher_
std::shared_ptr< admittance_controller::ParamListener >	parameter_handler_
std::shared_ptr< trajectory_msgs::msg::JointTrajectoryPoint >	joint_command_msg_
realtime_tools::RealtimeBuffer< std::shared_ptr< trajectory_msgs::msg::JointTrajectoryPoint > >	input_joint_command_
std::unique_ptr< realtime_tools::RealtimePublisher< ControllerStateMsg > >	state_publisher_
trajectory_msgs::msg::JointTrajectoryPoint	last_commanded_
trajectory_msgs::msg::JointTrajectoryPoint	last_reference_
trajectory_msgs::msg::JointTrajectoryPoint	reference_
trajectory_msgs::msg::JointTrajectoryPoint	joint_state_
trajectory_msgs::msg::JointTrajectoryPoint	reference_admittance_
geometry_msgs::msg::Wrench	ft_values_
Protected Attributes inherited from controller_interface::ChainableControllerInterface
std::vector< double >	reference_interfaces_
	Storage of values for reference interfaces.
Protected Attributes inherited from controller_interface::ControllerInterfaceBase
std::vector< hardware_interface::LoanedCommandInterface >	command_interfaces_
std::vector< hardware_interface::LoanedStateInterface >	state_interfaces_
unsigned int	update_rate_ = 0

Member Function Documentation

command_interface_configuration()

controller_interface::InterfaceConfiguration admittance_controller::AdmittanceController::command_interface_configuration ( ) const

overridevirtual

Export configuration of required state interfaces.

Allowed types of state interfaces are hardware_interface::POSITION, hardware_interface::VELOCITY, hardware_interface::ACCELERATION.

Implements controller_interface::ControllerInterfaceBase.

on_export_reference_interfaces()

std::vector< hardware_interface::CommandInterface > admittance_controller::AdmittanceController::on_export_reference_interfaces ( )

overrideprotectedvirtual

Virtual method that each chainable controller should implement to export its chainable interfaces. Each chainable controller implements this methods where all input (command) interfaces are exported. The method has the same meaning as export_command_interface method from hardware_interface::SystemInterface or hardware_interface::ActuatorInterface.

Returns

list of CommandInterfaces that other controller can use as their outputs.

Implements controller_interface::ChainableControllerInterface.

on_init()

controller_interface::CallbackReturn admittance_controller::AdmittanceController::on_init ( )

overridevirtual

Extending interface with initialization method which is individual for each controller.

Implements controller_interface::ControllerInterfaceBase.

state_interface_configuration()

controller_interface::InterfaceConfiguration admittance_controller::AdmittanceController::state_interface_configuration ( ) const

overridevirtual

Export configuration of required state interfaces.

Allowed types of state interfaces are hardware_interface::POSITION, hardware_interface::VELOCITY, hardware_interface::ACCELERATION.

Implements controller_interface::ControllerInterfaceBase.

update_and_write_commands()

controller_interface::return_type admittance_controller::AdmittanceController::update_and_write_commands ( const rclcpp::Time &  time, const rclcpp::Duration &  period  )

overridevirtual

Execute calculations of the controller and update command interfaces.

Update method for chainable controllers. In this method is valid to assume that \reference_interfaces_ hold the values for calculation of the commands in the current control step. This means that this method is called after \update_reference_from_subscribers if controller is not in chained mode.

Returns

return_type::OK if calculation and writing of interface is successfully, otherwise return_type::ERROR.

Implements controller_interface::ChainableControllerInterface.

update_reference_from_subscribers()

controller_interface::return_type admittance_controller::AdmittanceController::update_reference_from_subscribers ( )

overrideprotectedvirtual

Update reference from input topics when not in chained mode.

Each chainable controller implements this method to update reference from subscribers when not in chained mode.

Returns

return_type::OK if update is successfully, otherwise return_type::ERROR.

Implements controller_interface::ChainableControllerInterface.

Member Data Documentation

allowed_interface_types_

const std::vector<std::string> admittance_controller::AdmittanceController::allowed_interface_types_

protected

Initial value:

= {
    hardware_interface::HW_IF_POSITION, hardware_interface::HW_IF_VELOCITY,
    hardware_interface::HW_IF_ACCELERATION}

allowed_reference_interfaces_types_

const std::vector<std::string> admittance_controller::AdmittanceController::allowed_reference_interfaces_types_

protected

Initial value:

= {
    hardware_interface::HW_IF_POSITION, hardware_interface::HW_IF_VELOCITY}

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

• ros2_controllers/admittance_controller/include/admittance_controller/admittance_controller.hpp
• ros2_controllers/admittance_controller/src/admittance_controller.cpp