#include <RosTaxelsTransformNode.h>

Public Member Functions
void	Init (unsigned calibration_samples=0)
bool	IsCalibrateMode ()
	RosTaxelsTransformNode ()
void	SetCalibrateMode (bool on)
virtual	~RosTaxelsTransformNode ()
Static Public Attributes
static const double	MAX_VALUE = 30
Protected Member Functions
void	CalibrateBias (std::vector< int > values)
virtual m3skin_ros::RawTaxelArray	FilterRaw (const m3skin_ros::RawTaxelArray::ConstPtr &msg)
tf::Transform	GeometryTransformToTf (geometry_msgs::Transform &gtf)
void	GetLinkName ()
void	GetTaxelTransforms ()
void	TransformMessage (const m3skin_ros::RawTaxelArray::ConstPtr &msg)
Private Member Functions
double	GetUnbiased (unsigned value, unsigned index)
void	InitStaticVectors ()
Private Attributes
std::vector< double >	biases
bool	calibrating
std::vector< tf::Vector3 >	centers
std::vector< tf::Transform >	fullTfs
ros::ServiceClient	link_name_client
std::string	linkName
ros::ServiceClient	local_coords_client
ros::NodeHandle	n
std::vector< tf::Vector3 >	normals
unsigned	number_samples
unsigned	number_samples_target
ros::Publisher	publisher
ros::Subscriber	subscriber
std::vector < geometry_msgs::Transform >	transforms
Static Private Attributes
static const unsigned	number_taxels = 384

Detailed Description

Definition at line 34 of file RosTaxelsTransformNode.h.

Constructor & Destructor Documentation

m3::RosTaxelsTransformNode::RosTaxelsTransformNode ( )

Definition at line 231 of file RosTaxelsTransformNode.cpp.

m3::RosTaxelsTransformNode::~RosTaxelsTransformNode ( ) [virtual]

Definition at line 235 of file RosTaxelsTransformNode.cpp.

Member Function Documentation

void m3::RosTaxelsTransformNode::CalibrateBias ( std::vector< int > values ) [protected]

Update the average biases with the new values

Parameters:

values An array of raw taxel values

Definition at line 162 of file RosTaxelsTransformNode.cpp.

m3skin_ros::RawTaxelArray m3::RosTaxelsTransformNode::FilterRaw ( const m3skin_ros::RawTaxelArray::ConstPtr & msg ) [protected, virtual]

Filter the raw taxels array messages

Parameters:

msg	The input message to filter

Returns:: a filtered message

Definition at line 39 of file RosTaxelsTransformNode.cpp.

tf::Transform m3::RosTaxelsTransformNode::GeometryTransformToTf ( geometry_msgs::Transform & gtf ) [protected]

Converts a geometry_msgs/Transform to a tf::Transform

Parameters:

gtf	The geometry_msgs/Transform

Returns:: a tf::Transform object for the input

Definition at line 95 of file RosTaxelsTransformNode.cpp.

void m3::RosTaxelsTransformNode::GetLinkName ( ) [protected]

Fetches the link name The link name will be stored inside this object.

Definition at line 137 of file RosTaxelsTransformNode.cpp.

void m3::RosTaxelsTransformNode::GetTaxelTransforms ( ) [protected]

Fetches all the taxels tfs from the /skin_patch_forearm_right/taxels/srv/local_coord_frames service The transforms will be stored inside this object.

Definition at line 110 of file RosTaxelsTransformNode.cpp.

double m3::RosTaxelsTransformNode::GetUnbiased	(	unsigned	value,
		unsigned	index
	)		`[private]`

Returns:: The unbiased value of a taxel The bias vector should be contain a bias value for each taxel

Definition at line 27 of file RosTaxelsTransformNode.cpp.

void m3::RosTaxelsTransformNode::Init ( unsigned calibration_samples = 0 )

Initialize the ROS node.

Parameters:

calibration_samples The number of samples to collect before passing on the data If set to 0, no calibration phase will be carried on.

Definition at line 197 of file RosTaxelsTransformNode.cpp.

void m3::RosTaxelsTransformNode::InitStaticVectors ( ) [private]

Initialize the centers and normals vectors

Definition at line 126 of file RosTaxelsTransformNode.cpp.

bool m3::RosTaxelsTransformNode::IsCalibrateMode ( )

Returns:: true if currently calibrating

Definition at line 158 of file RosTaxelsTransformNode.cpp.

void m3::RosTaxelsTransformNode::SetCalibrateMode ( bool on )

Set the calibration mode to on or off.

Parameters:

on	True if is calibrating, False otherwise After being call, a calibration flag will be set and whenever a new message will be received, the calibration biases will be updated for each taxel.

Definition at line 149 of file RosTaxelsTransformNode.cpp.

void m3::RosTaxelsTransformNode::TransformMessage ( const m3skin_ros::RawTaxelArray::ConstPtr & msg ) [protected]

Publishes a TaxelArray message from the RawTaxelArray message

Parameters: