VelocityControllerHelper Class Reference

#include <RobotAPI/libraries/RobotStatechartHelpers/VelocityControllerHelper.h>

Public Member Functions

void cleanup ()
void init ()
void setNullSpaceControl (bool enabled)
void setTargetVelocity (const Eigen::Vector6f &cv)
 VelocityControllerHelper (const RobotUnitInterfacePrx &robotUnit, const std::string &nodeSetName, const std::string &controllerName)
 VelocityControllerHelper (const RobotUnitInterfacePrx &robotUnit, NJointCartesianVelocityControllerWithRampConfigPtr config, const std::string &controllerName)

Public Attributes

NJointCartesianVelocityControllerWithRampConfigPtr config
NJointCartesianVelocityControllerWithRampInterfacePrx controller
bool controllerCreated = false
std::string controllerName
float initialKp
RobotUnitInterfacePrx robotUnit

Detailed Description

Definition at line 38 of file VelocityControllerHelper.h.

Constructor & Destructor Documentation

◆ VelocityControllerHelper() [1/2]

VelocityControllerHelper ( const RobotUnitInterfacePrx robotUnit,
const std::string &  nodeSetName,
const std::string &  controllerName 

Definition at line 30 of file VelocityControllerHelper.cpp.

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◆ VelocityControllerHelper() [2/2]

VelocityControllerHelper ( const RobotUnitInterfacePrx robotUnit,
NJointCartesianVelocityControllerWithRampConfigPtr  config,
const std::string &  controllerName 

Definition at line 37 of file VelocityControllerHelper.cpp.

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Member Function Documentation

◆ cleanup()

void cleanup ( )

Definition at line 79 of file VelocityControllerHelper.cpp.

◆ init()

void init ( )

Definition at line 44 of file VelocityControllerHelper.cpp.

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◆ setNullSpaceControl()

void setNullSpaceControl ( bool  enabled)

Definition at line 65 of file VelocityControllerHelper.cpp.

◆ setTargetVelocity()

void setTargetVelocity ( const Eigen::Vector6f cv)

Definition at line 60 of file VelocityControllerHelper.cpp.

Member Data Documentation

◆ config

NJointCartesianVelocityControllerWithRampConfigPtr config

Definition at line 52 of file VelocityControllerHelper.h.

◆ controller

NJointCartesianVelocityControllerWithRampInterfacePrx controller

Definition at line 53 of file VelocityControllerHelper.h.

◆ controllerCreated

bool controllerCreated = false

Definition at line 56 of file VelocityControllerHelper.h.

◆ controllerName

std::string controllerName

Definition at line 55 of file VelocityControllerHelper.h.

◆ initialKp

float initialKp

Definition at line 58 of file VelocityControllerHelper.h.

◆ robotUnit

Definition at line 54 of file VelocityControllerHelper.h.

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