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#include <RosCartesianAccelerationPIDProxy.h>
Public Member Functions | |
RosCartesianAccelerationPIDProxy (const std::string &robot_name, const std::string &controller_name, const std::string &task_name) | |
~RosCartesianAccelerationPIDProxy () | |
std::shared_ptr< RosPIDControllerProxy > | pid () |
void | setDesired (const Eigen::Matrix4d &cartesian_position_traj, const orca::math::Vector6d &cartesian_velocity_traj, const orca::math::Vector6d &cartesian_acceleration_traj) |
orca::math::Vector6d | getCommand () |
Eigen::Matrix4d | getCurrentCartesianPose () |
orca::math::Vector6d | getCurrentCartesianVelocity () |
Eigen::Matrix4d | getDesiredCartesianPose () |
orca::math::Vector6d | getDesiredCartesianVelocity () |
orca::math::Vector6d | getDesiredCartesianAcceleration () |
void | print () |
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RosWrapperBase (const std::string &robot_name, const std::string &controller_name="", const std::string &obj_name="", const std::string &generic_prefix="") | |
virtual | ~RosWrapperBase () |
std::string | getRobotName () |
std::string | getControllerName () |
std::string | getGenericPrefix () |
std::string | getObjectName () |
std::shared_ptr< ros::NodeHandle > | getNodeHandle () |
std::string | getNamespacePrefix () |
std::string | getRobotNamespacePrefix () |
RosCartesianAccelerationPIDProxy::RosCartesianAccelerationPIDProxy | ( | const std::string & | robot_name, |
const std::string & | controller_name, | ||
const std::string & | task_name | ||
) |
RosCartesianAccelerationPIDProxy::~RosCartesianAccelerationPIDProxy | ( | ) |
orca::math::Vector6d RosCartesianAccelerationPIDProxy::getCommand | ( | ) |
Eigen::Matrix4d RosCartesianAccelerationPIDProxy::getCurrentCartesianPose | ( | ) |
orca::math::Vector6d RosCartesianAccelerationPIDProxy::getCurrentCartesianVelocity | ( | ) |
orca::math::Vector6d RosCartesianAccelerationPIDProxy::getDesiredCartesianAcceleration | ( | ) |
Eigen::Matrix4d RosCartesianAccelerationPIDProxy::getDesiredCartesianPose | ( | ) |
orca::math::Vector6d RosCartesianAccelerationPIDProxy::getDesiredCartesianVelocity | ( | ) |
std::shared_ptr< RosPIDControllerProxy > RosCartesianAccelerationPIDProxy::pid | ( | ) |
void RosCartesianAccelerationPIDProxy::print | ( | ) |
void RosCartesianAccelerationPIDProxy::setDesired | ( | const Eigen::Matrix4d & | cartesian_position_traj, |
const orca::math::Vector6d & | cartesian_velocity_traj, | ||
const orca::math::Vector6d & | cartesian_acceleration_traj | ||
) |