FTParamsInternal Class Reference

#include <wg06.h>

List of all members.

Public Member Functions
double &	calibration_coeff (unsigned row, unsigned col)
const double &	calibration_coeff (unsigned row, unsigned col) const
	FTParamsInternal ()
double &	gain (unsigned ch_num)
const double &	gain (unsigned ch_num) const
bool	getDoubleArray (XmlRpc::XmlRpcValue params, const char *name, double *results, unsigned len)
bool	getRosParams (ros::NodeHandle nh)
	Grabs ft rosparams from a given node hande namespace.
double &	offset (unsigned ch_num)
const double &	offset (unsigned ch_num) const
void	print () const
Protected Attributes
double	calibration_coeff_ [36]
double	gains_ [6]
double	offsets_ [6]

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Detailed Description

Definition at line 84 of file wg06.h.

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Constructor & Destructor Documentation

FTParamsInternal::FTParamsInternal

(

)

Definition at line 697 of file wg06.cpp.

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Member Function Documentation

double& FTParamsInternal::calibration_coeff	(	unsigned	row,
		unsigned	col
	)			[inline]

Definition at line 90 of file wg06.h.

const double& FTParamsInternal::calibration_coeff	(	unsigned	row,
		unsigned	col
	)			const [inline]

Definition at line 89 of file wg06.h.

double& FTParamsInternal::gain

(

unsigned

ch_num

)

[inline]

Definition at line 96 of file wg06.h.

const double& FTParamsInternal::gain

(

unsigned

ch_num

)

const [inline]

Definition at line 95 of file wg06.h.

bool FTParamsInternal::getDoubleArray	(	XmlRpc::XmlRpcValue	params,
		const char *	name,
		double *	results,
		unsigned	len
	)

Definition at line 735 of file wg06.cpp.

bool FTParamsInternal::getRosParams

(

ros::NodeHandle

nh

)

Grabs ft rosparams from a given node hande namespace.

The force/torque parameters consist of 6x ADC offset values 6x6 gain matrix as 6-elment array of 6-element arrays of doubles

Returns:

True, if there are no problems.

Definition at line 778 of file wg06.cpp.

double& FTParamsInternal::offset

(

unsigned

ch_num

)

[inline]

Definition at line 93 of file wg06.h.

const double& FTParamsInternal::offset

(

unsigned

ch_num

)

const [inline]

Definition at line 92 of file wg06.h.

void FTParamsInternal::print

(

)

const

Definition at line 714 of file wg06.cpp.

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Member Data Documentation

double FTParamsInternal::calibration_coeff_[36] [protected]

Definition at line 103 of file wg06.h.

double FTParamsInternal::gains_[6] [protected]

Definition at line 105 of file wg06.h.

double FTParamsInternal::offsets_[6] [protected]

Definition at line 104 of file wg06.h.

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

• wg06.h
• wg06.cpp