qlin/sas_robot_driver_franka
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minor uptimizeation

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This commit is contained in:
qlin1806
2024-07-20 16:06:49 -07:00
parent e263d34c0c
commit 79479ce982
7 changed files with 70 additions and 16 deletions
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7
include/sas_robot_driver_franka.h
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@@ -44,6 +44,7 @@
#include "robot_interface_franka.h"
#include <ros/common.h>
#include "sas_robot_dynamic_provider.h"
#include <thread>
using namespace DQ_robotics;
using namespace Eigen;
@@ -70,7 +71,7 @@ private:
std::shared_ptr<RobotInterfaceFranka> robot_driver_interface_sptr_ = nullptr;
RobotDynamicProvider* robot_dynamic_provider_;
qros::RobotDynamicProvider* robot_dynamic_provider_;
//Joint positions
VectorXd joint_positions_;
@@ -86,6 +87,8 @@ private:
void _update_stiffness_contact_and_pose() const;
public:
//const static int SLAVE_MODE_JOINT_CONTROL;
//const static int SLAVE_MODE_END_EFFECTOR_CONTROL;
@@ -95,7 +98,7 @@ public:
~RobotDriverFranka();
RobotDriverFranka(
RobotDynamicProvider* robot_dynamic_provider,
qros::RobotDynamicProvider* robot_dynamic_provider,
const RobotDriverFrankaConfiguration& configuration,
std::atomic_bool* break_loops
);