NJointKeypointsAdmittanceController Class Reference

Brief description of class NJointKeypointsAdmittanceController. More...

#include <armarx/control/njoint_controller/task_space/KeypointsAdmittanceController.h>

+ Inheritance diagram for NJointKeypointsAdmittanceController:

Public Types

using ConfigPtrT = NJointTaskspaceControllerConfigPtr
 
- Public Types inherited from NJointControllerWithTripleBuffer< law::KeypointsAdmittanceController::Config >
using LockGuardType = std::lock_guard< std::recursive_mutex >
 
using MutexType = std::recursive_mutex
 
- Public Types inherited from NJointControllerBase
using ConfigPtrT = NJointControllerConfigPtr
 
using GenerateConfigDescriptionFunctionSignature = WidgetDescription::WidgetPtr(*)(const VirtualRobot::RobotPtr &, const std::map< std::string, ConstControlDevicePtr > &controlDevices, const std::map< std::string, ConstSensorDevicePtr > &sensorDevices)
 
template<class ConfigPrtType >
using GenerateConfigFromVariantsFunctionSignature = ConfigPrtType(*)(const StringVariantBaseMap &)
 
- Public Types inherited from ManagedIceObject
using PeriodicTaskPtr = IceUtil::Handle< SimplePeriodicTask< std::function< void(void)> >>
 

Public Member Functions

void calibrateFTSensor (const Ice::Current &) override
 
std::string getClassName (const Ice::Current &) const override
 
std::string getKinematicChainName (const Ice::Current &) override
 
 NJointKeypointsAdmittanceController (const RobotUnitPtr &robotUnit, const NJointControllerConfigPtr &config, const VirtualRobot::RobotPtr &)
 
void reconfigureController (const std::string &filename, const Ice::Current &iceCurrent=Ice::emptyCurrent) override
 set control target More...
 
void rtRun (const IceUtil::Time &sensorValuesTimestamp, const IceUtil::Time &timeSinceLastIteration) override
 TODO make protected and use attorneys. More...
 
void setControlParameters (const std::string &, const Eigen::VectorXf &, const Ice::Current &) override
 
void setForceTorqueBaseline (const Eigen::Vector3f &, const Eigen::Vector3f &, const Ice::Current &) override
 ft sensor More...
 
void setKeypointsParameters (const std::string &name, const Eigen::VectorXf &value, const Ice::Current &) override
 
void setTCPCoMInFTFrame (const Eigen::Vector3f &, const Ice::Current &) override
 
void setTCPMass (Ice::Float, const Ice::Current &) override
 
void toggleGravityCompensation (const bool toggle, const Ice::Current &) override
 
- Public Member Functions inherited from NJointControllerWithTripleBuffer< law::KeypointsAdmittanceController::Config >
 NJointControllerWithTripleBuffer (const law::KeypointsAdmittanceController::Config &initialCommands=law::KeypointsAdmittanceController::Config())
 
void rtSwapBufferAndRun (const IceUtil::Time &sensorValuesTimestamp, const IceUtil::Time &timeSinceLastIteration) override
 
- Public Member Functions inherited from NJointControllerBase
void activateController (const Ice::Current &=Ice::emptyCurrent) final override
 
void callDescribedFunction (const std::string &, const StringVariantBaseMap &, const Ice::Current &=Ice::emptyCurrent) override
 
void deactivateAndDeleteController (const Ice::Current &=Ice::emptyCurrent) final override
 
void deactivateController (const Ice::Current &=Ice::emptyCurrent) final override
 
void deleteController (const Ice::Current &=Ice::emptyCurrent) final override
 
const std::map< std::string, const JointController * > & getControlDevicesUsedJointController ()
 
const std::vector< char > & getControlDeviceUsedBitmap () const
 
StringStringDictionary getControlDeviceUsedControlModeMap (const Ice::Current &=Ice::emptyCurrent) const final override
 
const std::vector< std::size_t > & getControlDeviceUsedIndices () const
 
NJointControllerDescription getControllerDescription (const Ice::Current &=Ice::emptyCurrent) const final override
 
NJointControllerDescriptionWithStatus getControllerDescriptionWithStatus (const Ice::Current &=Ice::emptyCurrent) const final override
 
NJointControllerStatus getControllerStatus (const Ice::Current &=Ice::emptyCurrent) const final override
 
WidgetDescription::StringWidgetDictionary getFunctionDescriptions (const Ice::Current &=Ice::emptyCurrent) const override
 
std::string getInstanceName (const Ice::Current &=Ice::emptyCurrent) const final override
 
bool hasControllerError (const Ice::Current &=Ice::emptyCurrent) const final override
 
bool isControllerActive (const Ice::Current &=Ice::emptyCurrent) const final override
 
bool isControllerRequested (const Ice::Current &=Ice::emptyCurrent) const final override
 
bool isDeletable (const Ice::Current &=Ice::emptyCurrent) const final override
 
std::optional< std::vector< char > > isNotInConflictWith (const NJointControllerBasePtr &other) const
 
std::optional< std::vector< char > > isNotInConflictWith (const std::vector< char > &used) const
 
 NJointControllerBase ()
 
ConstControlDevicePtr peekControlDevice (const std::string &deviceName) const
 Get a const ptr to the given ControlDevice. More...
 
ConstSensorDevicePtr peekSensorDevice (const std::string &deviceName) const
 Get a const ptr to the given SensorDevice. More...
 
const std::string & rtGetClassName () const
 Returns the class name. More...
 
const std::vector< std::size_t > & rtGetControlDeviceUsedIndices () const
 Returns the indices of all ControlDevice's this NJointControllerBase calculates a ControlTarget for. More...
 
bool rtGetErrorState () const
 Sets the error state to true. More...
 
const std::string & rtGetInstanceName () const
 Returns the instance name. More...
 
std::size_t rtGetNumberOfUsedControlDevices () const
 Returns the number of used ControlDevices. More...
 
const VirtualRobot::RobotPtrrtGetRobot ()
 TODO make protected and use attorneys. More...
 
const std::vector< VirtualRobot::RobotNodePtr > & rtGetRobotNodes ()
 Returns the nodes of the virtual robot used by this NJointControllerBase in the rtRun. More...
 
bool rtUsesControlDevice (std::size_t deviceIndex) const
 Returns whether this NJointControllerBase calculates a ControlTarget for the given ControlDevice. More...
 
ControlTargetBaseuseControlTarget (const std::string &deviceName, const std::string &controlMode)
 Declares to calculate the ControlTarget for the given ControlDevice in the given ControlMode when rtRun is called. More...
 
template<class T >
TuseControlTarget (const std::string &deviceName, const std::string &controlMode)
 Declares to calculate the ControlTarget for the given ControlDevice in the given ControlMode when rtRun is called. More...
 
template<class T >
const TuseSensorValue (const std::string &deviceName) const
 Get a const ptr to the given SensorDevice's SensorValue. More...
 
const SensorValueBaseuseSensorValue (const std::string &sensorDeviceName) const
 Get a const ptr to the given SensorDevice's SensorValue. More...
 
const VirtualRobot::RobotPtruseSynchronizedRtRobot (bool updateCollisionModel=false)
 Requests a VirtualRobot for use in rtRun *. More...
 
 ~NJointControllerBase () override
 
- Public Member Functions inherited from ManagedIceObject
void enableProfiler (bool enable)
 setProfiler allows setting ManagedIceObject::profiler to a new instance (if the new instance is actually not a null pointer) More...
 
std::string generateSubObjectName (const std::string &subObjectName)
 Generates a unique name for a sub object from a general name. More...
 
ArmarXManagerPtr getArmarXManager () const
 Returns the ArmarX manager used to add and remove components. More...
 
ManagedIceObjectConnectivity getConnectivity () const
 Retrieve connectivity of the object (topcis as well as proxies) More...
 
IceManagerPtr getIceManager () const
 Returns the IceManager. More...
 
VariantBasePtr getMetaInfo (const std::string &id)
 
StringVariantBaseMap getMetaInfoMap () const
 
std::string getName () const
 Retrieve name of object. More...
 
Ice::ObjectAdapterPtr getObjectAdapter () const
 Returns object's Ice adapter. More...
 
ArmarXObjectSchedulerPtr getObjectScheduler () const
 
PeriodicTaskPtr getPeriodicTask (const std::string &name)
 
Profiler::ProfilerPtr getProfiler () const
 getProfiler returns an instance of armarx::Profiler More...
 
template<class ProxyTarg , class... Args>
void getProxy (const char *name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&...args)
 
template<class ProxyType >
ProxyType getProxy (const std::string &name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
 Retrieves a proxy object. More...
 
template<class ProxyTarg , class... Args>
void getProxy (const std::string &name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&...args)
 
template<class ProxyTarg , class... Args>
void getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const char *name, Args &&...args)
 
template<class ProxyTarg , class... Args>
void getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const std::string &name, Args &&...args)
 Assigns a proxy to proxy. More...
 
Ice::ObjectPrx getProxy (long timeoutMs=0, bool waitForScheduler=true) const
 Returns the proxy of this object (optionally it waits for the proxy) More...
 
template<class Prx >
Prx getProxy (long timeoutMs=0, bool waitForScheduler=true) const
 
template<class ProxyType >
void getProxy (ProxyType &proxy, const char *name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
 Overload to allow using string literals as name (solve ambiguous overload). More...
 
template<class Prx >
void getProxy (Prx &prx, long timeoutMs=0, bool waitForScheduler=true) const
 
int getState () const
 Retrieve current state of the ManagedIceObject. More...
 
template<class TopicProxyType >
TopicProxyType getTopic (const std::string &name)
 Returns a proxy of the specified topic. More...
 
template<class TopicProxyType >
void getTopic (TopicProxyType &topicProxy, const std::string &name)
 Assigns a proxy of the specified topic to topicProxy. More...
 
std::vector< std::string > getUnresolvedDependencies () const
 returns the names of all unresolved dependencies More...
 
 ManagedIceObject (ManagedIceObject const &other)
 
void offeringTopic (const std::string &name)
 Registers a topic for retrival after initialization. More...
 
void preambleGetTopic (std::string const &name)
 
void setMetaInfo (const std::string &id, const VariantBasePtr &value)
 Allows to set meta information that can be queried live via Ice interface on the ArmarXManager. More...
 
void startPeriodicTask (const std::string &uniqueName, std::function< void(void)> f, int periodMs, bool assureMeanInterval=false, bool forceSystemTime=true)
 
bool stopPeriodicTask (const std::string &name)
 
bool unsubscribeFromTopic (const std::string &name)
 Unsubscribe from a topic. More...
 
bool usingProxy (const std::string &name, const std::string &endpoints="")
 Registers a proxy for retrieval after initialization and adds it to the dependency list. More...
 
void usingTopic (const std::string &name, bool orderedPublishing=false)
 Registers a proxy for subscription after initialization. More...
 
void waitForObjectScheduler ()
 Waits until the ObjectScheduler could resolve all dependencies. More...
 
void waitForProxy (std::string const &name, bool addToDependencies)
 
- Public Member Functions inherited from Logging
SpamFilterDataPtr deactivateSpam (float deactivationDurationSec=10.0f, const std::string &identifier="", bool deactivate=true) const
 disables the logging for the current line for the given amount of seconds. More...
 
MessageTypeT getEffectiveLoggingLevel () const
 
 Logging ()
 
void setLocalMinimumLoggingLevel (MessageTypeT level)
 With setLocalMinimumLoggingLevel the minimum verbosity-level of log-messages can be set. More...
 
void setTag (const LogTag &tag)
 
void setTag (const std::string &tagName)
 
virtual ~Logging ()
 

Protected Member Functions

virtual void additionalTask ()
 
void onInitNJointController () override
 
void onPublish (const SensorAndControl &, const DebugDrawerInterfacePrx &, const DebugObserverInterfacePrx &) override
 
void rtPreActivateController () override
 This function is called before the controller is activated. More...
 
- Protected Member Functions inherited from NJointControllerWithTripleBuffer< law::KeypointsAdmittanceController::Config >
law::KeypointsAdmittanceController::Config & getWriterControlStruct ()
 
void reinitTripleBuffer (const law::KeypointsAdmittanceController::Config &initial)
 
const law::KeypointsAdmittanceController::Config & rtGetControlStruct () const
 
bool rtUpdateControlStruct ()
 
void setControlStruct (const law::KeypointsAdmittanceController::Config &newStruct)
 
void writeControlStruct ()
 
- Protected Member Functions inherited from NJointControllerBase
std::string getDefaultName () const override
 
ThreadPoolPtr getThreadPool () const
 
void onConnectComponent () final
 
virtual void onConnectNJointController ()
 
void onDisconnectComponent () final
 
virtual void onDisconnectNJointController ()
 
void onExitComponent () final
 
virtual void onExitNJointController ()
 
void onInitComponent () final
 
virtual void onPublishActivation (const DebugDrawerInterfacePrx &, const DebugObserverInterfacePrx &)
 
virtual void onPublishDeactivation (const DebugDrawerInterfacePrx &, const DebugObserverInterfacePrx &)
 
virtual void rtPostDeactivateController ()
 This function is called after the controller is deactivated. More...
 
void rtSetErrorState ()
 Sets the error state to true. More...
 
template<typename Task >
void runTask (const std::string &taskName, Task &&task)
 Executes a given task in a separate thread from the Application ThreadPool. More...
 
- Protected Member Functions inherited from ManagedIceObject
template<class PluginT , class... ParamsT>
PluginT * addPlugin (const std::string prefix="", ParamsT &&...params)
 
template<class PluginT , class... ParamsT>
void addPlugin (PluginT *&targ, const std::string prefix="", ParamsT &&...params)
 
template<class PluginT , class... ParamsT>
void addPlugin (std::experimental::observer_ptr< PluginT > &targ, const std::string prefix="", ParamsT &&...params)
 
Ice::CommunicatorPtr getCommunicator () const
 
std::unique_ptr< ManagedIceObjectPlugin > & getPluginPointer (std::type_info const &type, std::string const &prefix)
 
 ManagedIceObject ()
 Protected default constructor. More...
 
virtual void postOnConnectComponent ()
 
virtual void postOnDisconnectComponent ()
 
virtual void postOnExitComponent ()
 
virtual void postOnInitComponent ()
 
virtual void preOnConnectComponent ()
 
virtual void preOnDisconnectComponent ()
 
virtual void preOnExitComponent ()
 
virtual void preOnInitComponent ()
 
bool removeProxyDependency (const std::string &name)
 This function removes the dependency of this object on the in parameter name specified object. More...
 
void setName (std::string name)
 Override name of well-known object. More...
 
void terminate ()
 Initiates termination of this IceManagedObject. More...
 
 ~ManagedIceObject () override
 
- Protected Member Functions inherited from Logging
bool checkLogLevel (MessageTypeT level) const
 
const LogSenderPtrgetLogSender () const
 Retrieve log sender. More...
 
LogSenderPtr loghelper (const char *file, int line, const char *function) const
 

Protected Attributes

std::string configFileName
 variables More...
 
law::KeypointsAdmittanceController controller
 
TripleBuffer< law::KeypointsAdmittanceController::Status > controlStatusBuffer
 set buffers More...
 
common::FTSensor ftsensor
 
TripleBuffer< common::FTSensor::FTBufferData > ftSensorBuffer
 
std::vector< std::string > jointNames
 
std::string kinematicChainName
 
std::vector< const SensorValue1DoFActuatorPosition * > positionSensors
 
std::atomic_bool rtFirstRun = true
 
std::atomic_bool rtReady = false
 
std::vector< ControlTarget1DoFActuatorTorque * > targets
 
std::vector< const SensorValue1DoFActuatorTorque * > torqueSensors
 devices More...
 
std::vector< const SensorValue1DoFActuatorVelocity * > velocitySensors
 
- Protected Attributes inherited from NJointControllerWithTripleBuffer< law::KeypointsAdmittanceController::Config >
MutexType controlDataMutex
 
- Protected Attributes inherited from NJointControllerBase
std::map< std::string, std::shared_ptr< ThreadPool::Handle > > threadHandles
 
std::mutex threadHandlesMutex
 
- Protected Attributes inherited from Logging
MessageTypeT minimumLoggingLevel
 
SpamFilterDataPtr spamFilter
 
LogTag tag
 

Additional Inherited Members

- Static Public Member Functions inherited from NJointControllerBase
template<class ItT >
static std::optional< std::vector< char > > AreNotInConflict (ItT first, ItT last)
 
- Static Public Member Functions inherited from ManagedIceObject
static std::string generateSubObjectName (const std::string &superObjectName, const std::string &subObjectName)
 Generates a unique name for a sub object from a general name and unique name. More...
 
static std::string GetObjectStateAsString (int state)
 
- Static Public Attributes inherited from NJointControllerBase
static const NJointControllerBasePtr NullPtr {nullptr}
 
- Static Public Attributes inherited from ManagedIceObject
static const ManagedIceObjectPtr NullPtr
 A nullptr to be used when a const ref to a nullptr is required. More...
 

Detailed Description

Brief description of class NJointKeypointsAdmittanceController.

Detailed description of class NJointKeypointsAdmittanceController.

Definition at line 53 of file KeypointsAdmittanceController.h.

Member Typedef Documentation

◆ ConfigPtrT

using ConfigPtrT = NJointTaskspaceControllerConfigPtr

Definition at line 58 of file KeypointsAdmittanceController.h.

Constructor & Destructor Documentation

◆ NJointKeypointsAdmittanceController()

NJointKeypointsAdmittanceController ( const RobotUnitPtr &  robotUnit,
const NJointControllerConfigPtr &  config,
const VirtualRobot::RobotPtr  
)

Definition at line 34 of file KeypointsAdmittanceController.cpp.

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Member Function Documentation

◆ additionalTask()

virtual void additionalTask ( )
inlineprotectedvirtual

Reimplemented in NJointKeypointsAdmittanceMPController.

Definition at line 80 of file KeypointsAdmittanceController.h.

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◆ calibrateFTSensor()

void calibrateFTSensor ( const Ice::Current &  )
override

Definition at line 441 of file KeypointsAdmittanceController.cpp.

◆ getClassName()

std::string getClassName ( const Ice::Current &  ) const
overridevirtual

Implements NJointControllerBase.

Reimplemented in NJointKeypointsAdmittanceMPController.

Definition at line 132 of file KeypointsAdmittanceController.cpp.

◆ getKinematicChainName()

std::string getKinematicChainName ( const Ice::Current &  )
override

Definition at line 137 of file KeypointsAdmittanceController.cpp.

◆ onInitNJointController()

void onInitNJointController ( )
overrideprotectedvirtual

Reimplemented from NJointControllerBase.

Definition at line 142 of file KeypointsAdmittanceController.cpp.

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◆ onPublish()

void onPublish ( const SensorAndControl ,
const DebugDrawerInterfacePrx ,
const DebugObserverInterfacePrx debugObs 
)
overrideprotectedvirtual

Reimplemented from NJointControllerBase.

Definition at line 229 of file KeypointsAdmittanceController.cpp.

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◆ reconfigureController()

void reconfigureController ( const std::string &  filename,
const Ice::Current &  iceCurrent = Ice::emptyCurrent 
)
override

set control target

Definition at line 331 of file KeypointsAdmittanceController.cpp.

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◆ rtPreActivateController()

void rtPreActivateController ( )
overrideprotectedvirtual

This function is called before the controller is activated.

You can use it to activate a thread again (DO NOT SPAWN NEW THREADS!) e.g. via a std::atomic_bool.

Reimplemented from NJointControllerBase.

Reimplemented in NJointKeypointsAdmittanceMPController.

Definition at line 453 of file KeypointsAdmittanceController.cpp.

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◆ rtRun()

void rtRun ( const IceUtil::Time &  sensorValuesTimestamp,
const IceUtil::Time &  timeSinceLastIteration 
)
overridevirtual

TODO make protected and use attorneys.

for debug output

Implements SynchronousNJointController.

Definition at line 160 of file KeypointsAdmittanceController.cpp.

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◆ setControlParameters()

void setControlParameters ( const std::string &  name,
const Eigen::VectorXf &  value,
const Ice::Current &   
)
override

Definition at line 370 of file KeypointsAdmittanceController.cpp.

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◆ setForceTorqueBaseline()

void setForceTorqueBaseline ( const Eigen::Vector3f &  forceBaseline,
const Eigen::Vector3f &  torqueBaseline,
const Ice::Current &   
)
override

ft sensor

Definition at line 420 of file KeypointsAdmittanceController.cpp.

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◆ setKeypointsParameters()

void setKeypointsParameters ( const std::string &  name,
const Eigen::VectorXf &  value,
const Ice::Current &   
)
override

Definition at line 340 of file KeypointsAdmittanceController.cpp.

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◆ setTCPCoMInFTFrame()

void setTCPCoMInFTFrame ( const Eigen::Vector3f &  tcpCoMInFTSensorFrame,
const Ice::Current &   
)
override

Definition at line 434 of file KeypointsAdmittanceController.cpp.

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◆ setTCPMass()

void setTCPMass ( Ice::Float  mass,
const Ice::Current &   
)
override

Definition at line 427 of file KeypointsAdmittanceController.cpp.

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◆ toggleGravityCompensation()

void toggleGravityCompensation ( const bool  toggle,
const Ice::Current &   
)
override

you also need to re-calibrate ft sensor

Definition at line 446 of file KeypointsAdmittanceController.cpp.

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Member Data Documentation

◆ configFileName

std::string configFileName
protected

variables

Definition at line 93 of file KeypointsAdmittanceController.h.

◆ controller

law::KeypointsAdmittanceController controller
protected

Definition at line 95 of file KeypointsAdmittanceController.h.

◆ controlStatusBuffer

TripleBuffer<law::KeypointsAdmittanceController::Status> controlStatusBuffer
protected

set buffers

Definition at line 99 of file KeypointsAdmittanceController.h.

◆ ftsensor

common::FTSensor ftsensor
protected

Definition at line 96 of file KeypointsAdmittanceController.h.

◆ ftSensorBuffer

TripleBuffer<common::FTSensor::FTBufferData> ftSensorBuffer
protected

Definition at line 100 of file KeypointsAdmittanceController.h.

◆ jointNames

std::vector<std::string> jointNames
protected

Definition at line 94 of file KeypointsAdmittanceController.h.

◆ kinematicChainName

std::string kinematicChainName
protected

Definition at line 103 of file KeypointsAdmittanceController.h.

◆ positionSensors

std::vector<const SensorValue1DoFActuatorPosition*> positionSensors
protected

Definition at line 87 of file KeypointsAdmittanceController.h.

◆ rtFirstRun

std::atomic_bool rtFirstRun = true
protected

Definition at line 102 of file KeypointsAdmittanceController.h.

◆ rtReady

std::atomic_bool rtReady = false
protected

Definition at line 104 of file KeypointsAdmittanceController.h.

◆ targets

std::vector<ControlTarget1DoFActuatorTorque*> targets
protected

Definition at line 88 of file KeypointsAdmittanceController.h.

◆ torqueSensors

std::vector<const SensorValue1DoFActuatorTorque*> torqueSensors
protected

devices

Definition at line 85 of file KeypointsAdmittanceController.h.

◆ velocitySensors

std::vector<const SensorValue1DoFActuatorVelocity*> velocitySensors
protected

Definition at line 86 of file KeypointsAdmittanceController.h.


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