remove extra packages
This commit is contained in:
parent
12a1bfbfe8
commit
ed6d163e5b
4 changed files with 0 additions and 106 deletions
|
@ -1,35 +0,0 @@
|
||||||
cmake_minimum_required(VERSION 3.8)
|
|
||||||
project(cartesian_impedance_controller)
|
|
||||||
|
|
||||||
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
|
|
||||||
add_compile_options(-Wall -Wextra -Wpedantic)
|
|
||||||
endif()
|
|
||||||
|
|
||||||
# find dependencies
|
|
||||||
find_package(ament_cmake REQUIRED)
|
|
||||||
# uncomment the following section in order to fill in
|
|
||||||
# further dependencies manually.
|
|
||||||
# find_package(<dependency> REQUIRED)
|
|
||||||
|
|
||||||
# add_executable(cartesian_impedance_controller src/cartesian_impedance_controller.cpp)
|
|
||||||
# target_include_directories(cartesian_impedance_controller PUBLIC
|
|
||||||
# $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
|
|
||||||
# $<INSTALL_INTERFACE:include>)
|
|
||||||
# target_compile_features(cartesian_impedance_controller PUBLIC c_std_99 cxx_std_17) # Require C99 and C++17
|
|
||||||
|
|
||||||
# install(TARGETS cartesian_impedance_controller
|
|
||||||
# DESTINATION lib/${PROJECT_NAME})
|
|
||||||
|
|
||||||
if(BUILD_TESTING)
|
|
||||||
find_package(ament_lint_auto REQUIRED)
|
|
||||||
# the following line skips the linter which checks for copyrights
|
|
||||||
# comment the line when a copyright and license is added to all source files
|
|
||||||
set(ament_cmake_copyright_FOUND TRUE)
|
|
||||||
# the following line skips cpplint (only works in a git repo)
|
|
||||||
# comment the line when this package is in a git repo and when
|
|
||||||
# a copyright and license is added to all source files
|
|
||||||
set(ament_cmake_cpplint_FOUND TRUE)
|
|
||||||
ament_lint_auto_find_test_dependencies()
|
|
||||||
endif()
|
|
||||||
|
|
||||||
ament_package()
|
|
|
@ -1,39 +0,0 @@
|
||||||
#include <cartesian_controller_base/cartesian_controller_base.h>
|
|
||||||
#include <cartesian_force_controller/cartesian_force_controller.h>
|
|
||||||
#include <cartesian_motion_controller/cartesian_motion_controller.h>
|
|
||||||
#include <controller_interface/controller_interface.hpp>
|
|
||||||
|
|
||||||
namespace cartesian_impedance_controller
|
|
||||||
{
|
|
||||||
|
|
||||||
class CartesianImpedanceController :
|
|
||||||
public cartesian_motion_controller::CartesianMotionController,
|
|
||||||
public cartesian_force_controller::CartesianForceController
|
|
||||||
{
|
|
||||||
public:
|
|
||||||
CartesianImpedanceController();
|
|
||||||
|
|
||||||
virtual LifecycleNodeInterface::CallbackReturn on_init() override;
|
|
||||||
|
|
||||||
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_configure(
|
|
||||||
const rclcpp_lifecycle::State & previous_state) override;
|
|
||||||
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_activate(
|
|
||||||
const rclcpp_lifecycle::State & previous_state) override;
|
|
||||||
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_deactivate(
|
|
||||||
const rclcpp_lifecycle::State & previous_state) override;
|
|
||||||
controller_interface::return_type update(const rclcpp::Time & time, const rclcpp::Duration & period) override;
|
|
||||||
|
|
||||||
using Base = cartesian_controller_base::CartesianControllerBase;
|
|
||||||
using MotionBase = cartesian_motion_controller::CartesianMotionController;
|
|
||||||
using ForceBase = cartesian_force_controller::CartesianForceController;
|
|
||||||
|
|
||||||
private:
|
|
||||||
ctrl::Vector6D computeImpedance();
|
|
||||||
ctrl::Matrix6D m_stiffness;
|
|
||||||
ctrl::Matrix6D m_damping;
|
|
||||||
std::string m_compliance_ref_link;
|
|
||||||
|
|
||||||
|
|
||||||
};
|
|
||||||
|
|
||||||
}
|
|
|
@ -1,18 +0,0 @@
|
||||||
<?xml version="1.0"?>
|
|
||||||
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
|
|
||||||
<package format="3">
|
|
||||||
<name>cartesian_impedance_controller</name>
|
|
||||||
<version>0.0.0</version>
|
|
||||||
<description>TODO: Package description</description>
|
|
||||||
<maintainer email="ur.narmak@gmail.com">bill-finger</maintainer>
|
|
||||||
<license>TODO: License declaration</license>
|
|
||||||
|
|
||||||
<buildtool_depend>ament_cmake</buildtool_depend>
|
|
||||||
|
|
||||||
<test_depend>ament_lint_auto</test_depend>
|
|
||||||
<test_depend>ament_lint_common</test_depend>
|
|
||||||
|
|
||||||
<export>
|
|
||||||
<build_type>ament_cmake</build_type>
|
|
||||||
</export>
|
|
||||||
</package>
|
|
|
@ -1,14 +0,0 @@
|
||||||
#include "cartesian_controller_base/Utility.h"
|
|
||||||
#include "controller_interface/controller_interface.hpp"
|
|
||||||
#include <cartesian_impedance_controller/cartesian_impedance_controller.hpp>
|
|
||||||
|
|
||||||
namespace cartesian_impedance_controller
|
|
||||||
{
|
|
||||||
CartesianImpedanceController::CartesianImpedanceController()
|
|
||||||
: Base::CartesianControllerBase(),
|
|
||||||
MotionBase::CartesianMotionController(),
|
|
||||||
ForceBase::CartesianForceController()
|
|
||||||
{
|
|
||||||
}
|
|
||||||
|
|
||||||
}
|
|
Loading…
Add table
Add a link
Reference in a new issue