force_torque::FTRelay Namespace Reference

Classes
class	FTRelay
Functions
def	FTread_to_Force
def	kalman_update
	1D kalman filter update.
Variables
tuple	chan_vec3 = rospy.Publisher(ft_channel_name + '_Vec3', Vector3Stamped, tcp_nodelay=True)
tuple	channel = rospy.Publisher(ft_channel_name, FloatArray, tcp_nodelay=True)
tuple	channel2 = rospy.Publisher(ft_channel_name + '_raw', FloatArray, tcp_nodelay=True)
string	dest = 'name'
string	ft_channel_name = 'force_torque_'
tuple	ftserver = FTRelay()
tuple	ftvalue = ftc.binary_to_ft(data)
tuple	msg = ftserver.get_msg()
string	node_name = 'FTRelay_'
tuple	p = optparse.OptionParser()
list	P_force = [1., 1., 1.]
	response = StringServiceResponse))
string	service_name = '_set_ft'
list	xhat_force = [0., 0., 0., 0., 0., 0.]

---

Function Documentation

def force_torque.FTRelay.FTread_to_Force	(		ftval,
			frame_id
	)

Definition at line 46 of file FTRelay.py.

def force_torque.FTRelay.kalman_update	(		xhat,
			P,
			Q,
			R,
			z
	)

1D kalman filter update.

Definition at line 13 of file FTRelay.py.

---

Variable Documentation

tuple force_torque::FTRelay::chan_vec3 = rospy.Publisher(ft_channel_name + '_Vec3', Vector3Stamped, tcp_nodelay=True)

Definition at line 85 of file FTRelay.py.

tuple force_torque::FTRelay::channel = rospy.Publisher(ft_channel_name, FloatArray, tcp_nodelay=True)

Definition at line 83 of file FTRelay.py.

tuple force_torque::FTRelay::channel2 = rospy.Publisher(ft_channel_name + '_raw', FloatArray, tcp_nodelay=True)

Definition at line 84 of file FTRelay.py.

string force_torque::FTRelay::dest = 'name'

Definition at line 69 of file FTRelay.py.

string force_torque::FTRelay::ft_channel_name = 'force_torque_'

Definition at line 73 of file FTRelay.py.

tuple force_torque::FTRelay::ftserver = FTRelay()

Definition at line 76 of file FTRelay.py.

tuple force_torque::FTRelay::ftvalue = ftc.binary_to_ft(data)

Definition at line 93 of file FTRelay.py.

tuple force_torque::FTRelay::msg = ftserver.get_msg()

Definition at line 90 of file FTRelay.py.

string force_torque::FTRelay::node_name = 'FTRelay_'

Definition at line 72 of file FTRelay.py.

tuple force_torque::FTRelay::p = optparse.OptionParser()

Definition at line 67 of file FTRelay.py.

list force_torque::FTRelay::P_force = [1., 1., 1.]

Definition at line 87 of file FTRelay.py.

force_torque::FTRelay::response = StringServiceResponse))

Definition at line 81 of file FTRelay.py.

string force_torque::FTRelay::service_name = '_set_ft'

Definition at line 74 of file FTRelay.py.

list force_torque::FTRelay::xhat_force = [0., 0., 0., 0., 0., 0.]

Definition at line 88 of file FTRelay.py.