diff --git a/CartesianForceController_8cpp.html b/CartesianForceController_8cpp.html
index 9255dbc..28045a3 100644
--- a/CartesianForceController_8cpp.html
+++ b/CartesianForceController_8cpp.html
@@ -3,12 +3,13 @@
@@ -63,17 +69,19 @@
8#include <base/samples/RigidBodyState.hpp>
9#include <base/samples/RigidBodyStateSE3.hpp>
+
13class CartesianForcePIDController;
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-
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18 friend class CartesianForceControllerBase;
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-
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@@ -89,59 +97,65 @@
39 virtual const base::VectorXd&
computeActivation(ActivationFunction& activation_function);
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43 return !base::isNaN(w.force(0)) && !base::isNaN(w.force(1)) && !base::isNaN(w.force(2)) &&
44 !base::isNaN(w.torque(0)) && !base::isNaN(w.torque(1)) && !base::isNaN(w.torque(2));
+
+
47 const base::VectorXd
wrenchToRaw(
const base::samples::Wrench& wrench, base::VectorXd& raw){
49 raw.segment(0,3) = wrench.force;
50 raw.segment(3,3) = wrench.torque;
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-
+
+
+
-
Definition: CartesianForceController.hpp:17
-
virtual const base::VectorXd & computeActivation(ActivationFunction &activation_function)
Definition: CartesianForceController.cpp:106
-
void errorHook()
Definition: CartesianForceController.cpp:47
-
CartesianForcePIDController * controller
Definition: CartesianForceController.hpp:59
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base::VectorXd setpoint_raw
Definition: CartesianForceController.hpp:57
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friend class CartesianForceControllerBase
Definition: CartesianForceController.hpp:18
-
std::string ft_sensor_name
Definition: CartesianForceController.hpp:56
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virtual void updateController()
Definition: CartesianForceController.cpp:98
-
void stopHook()
Definition: CartesianForceController.cpp:51
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bool isValid(const base::Wrench &w)
Definition: CartesianForceController.hpp:42
-
void cleanupHook()
Definition: CartesianForceController.cpp:55
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base::samples::Wrench feedback
Definition: CartesianForceController.hpp:54
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base::samples::Wrenches feedback_wrenches
Definition: CartesianForceController.hpp:55
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virtual bool readSetpoint()
Definition: CartesianForceController.cpp:85
-
void updateHook()
Definition: CartesianForceController.cpp:43
-
base::VectorXd ctrl_output_raw
Definition: CartesianForceController.hpp:57
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bool configureHook()
Definition: CartesianForceController.cpp:17
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virtual bool readFeedback()
Definition: CartesianForceController.cpp:60
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base::VectorXd feedback_raw
Definition: CartesianForceController.hpp:57
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~CartesianForceController()
Definition: CartesianForceController.hpp:23
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const base::VectorXd wrenchToRaw(const base::samples::Wrench &wrench, base::VectorXd &raw)
Definition: CartesianForceController.hpp:47
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base::samples::RigidBodyStateSE3 control_output
Definition: CartesianForceController.hpp:58
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base::samples::Wrench setpoint
Definition: CartesianForceController.hpp:54
-
bool startHook()
Definition: CartesianForceController.cpp:35
-
Definition: CartesianForceController.hpp:11
+
Definition CartesianForceController.hpp:17
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virtual const base::VectorXd & computeActivation(ActivationFunction &activation_function)
Definition CartesianForceController.cpp:106
+
void errorHook()
Definition CartesianForceController.cpp:47
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base::VectorXd setpoint_raw
Definition CartesianForceController.hpp:57
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std::string ft_sensor_name
Definition CartesianForceController.hpp:56
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virtual void updateController()
Definition CartesianForceController.cpp:98
+
void stopHook()
Definition CartesianForceController.cpp:51
+
bool isValid(const base::Wrench &w)
Definition CartesianForceController.hpp:42
+
void cleanupHook()
Definition CartesianForceController.cpp:55
+
base::samples::Wrench feedback
Definition CartesianForceController.hpp:54
+
base::samples::Wrenches feedback_wrenches
Definition CartesianForceController.hpp:55
+
virtual bool readSetpoint()
Definition CartesianForceController.cpp:85
+
void updateHook()
Definition CartesianForceController.cpp:43
+
base::VectorXd ctrl_output_raw
Definition CartesianForceController.hpp:57
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bool configureHook()
Definition CartesianForceController.cpp:17
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virtual bool readFeedback()
Definition CartesianForceController.cpp:60
+
base::VectorXd feedback_raw
Definition CartesianForceController.hpp:57
+
~CartesianForceController()
Definition CartesianForceController.hpp:23
+
const base::VectorXd wrenchToRaw(const base::samples::Wrench &wrench, base::VectorXd &raw)
Definition CartesianForceController.hpp:47
+
CartesianForceController(std::string const &name="ctrl_lib::CartesianForceController")
Definition CartesianForceController.cpp:9
+
wbc::CartesianForcePIDController * controller
Definition CartesianForceController.hpp:59
+
base::samples::RigidBodyStateSE3 control_output
Definition CartesianForceController.hpp:58
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base::samples::Wrench setpoint
Definition CartesianForceController.hpp:54
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bool startHook()
Definition CartesianForceController.cpp:35
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Definition CartesianForceController.hpp:11