InvJacCtrlImpl Class Reference

lbr_fri_ros2: lbr_fri_ros2::InvJacCtrlImpl Class Reference

lbr_fri_ros2

Collaboration diagram for lbr_fri_ros2::InvJacCtrlImpl:

Public Member Functions
	InvJacCtrlImpl (const std::string &robot_description, const InvJacCtrlParameters &parameters)

void	compute (const geometry_msgs::msg::Twist::SharedPtr &twist_target, const_jnt_array_t_ref q, jnt_array_t_ref dq)

void	compute (const_cart_array_t_ref twist_target, const_jnt_array_t_ref q, jnt_array_t_ref dq)

void	compute (const Eigen::Matrix< double, CARTESIAN_DOF, 1 > &twist_target, const_jnt_array_t_ref q, jnt_array_t_ref dq)

const std::unique_ptr< Kinematics > &	get_kinematics_ptr () const

void	log_info () const

Protected Member Functions
void	compute_impl_ (const_jnt_array_t_ref q, jnt_array_t_ref dq)

void	set_all_zero_ ()

Protected Attributes
InvJacCtrlParameters	parameters_

jnt_array_t	q_

std::unique_ptr< Kinematics >	kinematics_ptr_

Eigen::Matrix< double, N_JNTS, CARTESIAN_DOF >	jacobian_inv_

Eigen::Matrix< double, CARTESIAN_DOF, 1 >	twist_target_

Eigen::Matrix< double, N_JNTS, 1 >	q_gains_

Eigen::Matrix< double, CARTESIAN_DOF, 1 >	x_gains_

Static Protected Attributes
static constexpr char	LOGGER_NAME [] = "lbr_fri_ros2::InvJacCtrlImpl"

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

Public Member Functions