AdmittanceControllerState class final
Admittance parameters
control_msgs/msg/AdmittanceControllerState
Constructors
- AdmittanceControllerState({Float64MultiArray? mass, Float64MultiArray? damping, Float64MultiArray? stiffness, Quaternion? rotBaseControl, RosTransformStamped? refTransBaseFt, Int8MultiArray? selectedAxes, StringMsg? ftSensorFrame, RosTransformStamped? admittancePosition, TwistStamped? admittanceAcceleration, TwistStamped? admittanceVelocity, WrenchStamped? wrenchBase, JointState? jointState})
-
AdmittanceControllerState.fromJson(Map<
String, Object?> json) -
factory
Properties
- admittanceAcceleration → TwistStamped
-
calculated admittance acceleration in cartesian space
final
- admittancePosition → RosTransformStamped
-
calculated admittance position in cartesian space
final
- admittanceVelocity → TwistStamped
-
calculated admittance velocity in cartesian space
final
- damping → Float64MultiArray
-
6-vector of damping terms used in the admittance calculation
final
- ftSensorFrame → StringMsg
-
name of the force torque frame
final
- hashCode → int
-
The hash code for this object.
no setteroverride
- jointState → JointState
-
calculated admittance offsets in joint space
final
- mass → Float64MultiArray
-
6-vector of mass terms used in the admittance calculation
final
- refTransBaseFt → RosTransformStamped
-
force torque sensor transform at the reference joint configuration
final
- rosType → String
-
The fully qualified ROS type name, e.g.
geometry_msgs/msg/Twist.no setter - rotBaseControl → Quaternion
-
quaternion describing the orientation of the control frame
final
- runtimeType → Type
-
A representation of the runtime type of the object.
no setterinherited
- selectedAxes → Int8MultiArray
-
6-vector of 0/1 describing if admittance is enable in the corresponding control frame axis
final
- stiffness → Float64MultiArray
-
6-vector of stiffness terms used in the admittance calculation
final
- wrenchBase → WrenchStamped
-
wrench used in the admittance calculation
final
Methods
-
noSuchMethod(
Invocation invocation) → dynamic -
Invoked when a nonexistent method or property is accessed.
inherited
-
toJson(
) → Map< String, Object?> - The rosbridge JSON representation of this message.
-
toString(
) → String -
A string representation of this object.
override
Operators
-
operator ==(
Object other) → bool -
The equality operator.
override