ImFusion::Robotics::CartesianSetpointTorqueController Class Reference

Inheritance diagram for ImFusion::Robotics::CartesianSetpointTorqueController:

Public Member Functions
	CartesianSetpointTorqueController (std::unique_ptr< TorqueControllerParametersInterface > params, DynamicsInterface &modelInterface)
virtual MotionStep< JointTorques >	operator() (const ControlIterationInfo &controlIterationInfo, const isom3 &world_T_effector_desired)=0
Public Member Functions inherited from ImFusion::Robotics::TorqueControllerBase
	TorqueControllerBase (std::unique_ptr< TorqueControllerParametersInterface > params, std::unique_ptr< DynamicsInterface > ownedModelInterface)
	TorqueControllerBase (std::unique_ptr< TorqueControllerParametersInterface > params, DynamicsInterface &modelInterface)
bool	init (const RobotState &state)
TorqueControllerParametersInterface *	parameters ()
template<typename ParametersType>
ParametersType *	typedParameters ()

Additional Inherited Members
Protected Member Functions inherited from ImFusion::Robotics::TorqueControllerBase
virtual bool	initImpl ()=0
Protected Attributes inherited from ImFusion::Robotics::TorqueControllerBase
bool	m_inited = false
size_t	m_numberOfJoints = 0
std::unique_ptr< const RobotState >	m_initState
std::unique_ptr< TorqueControllerParametersInterface >	m_parameters
std::unique_ptr< DynamicsInterface >	m_ownedModelInterface
DynamicsInterface &	m_dynamicsInterface

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

• RoboticsPlugin/Include/ImFusion/Robotics/Control/RobotControl.h