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

Constructor & Destructor Documentation

VelocityControllerHelper() [1/2]

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

VelocityControllerHelper() [2/2]

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

Member Function Documentation

cleanup()

void cleanup

(

)

init()

void init

(

)

setNullSpaceControl()

void setNullSpaceControl

(

bool

enabled

)

setTargetVelocity()

void setTargetVelocity

(

const Eigen::Vector6f &

cv

)

Member Data Documentation

config

NJointCartesianVelocityControllerWithRampConfigPtr config

controller

NJointCartesianVelocityControllerWithRampInterfacePrx controller

controllerCreated

bool controllerCreated = false

controllerName

std::string controllerName

initialKp

float initialKp

robotUnit

RobotUnitInterfacePrx robotUnit

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

• RobotAPI/libraries/RobotStatechartHelpers/VelocityControllerHelper.h
• RobotAPI/libraries/RobotStatechartHelpers/VelocityControllerHelper.cpp