pressureObserver Class Reference

#include <pressure_observer.h>

List of all members.

Public Member Functions
bool	checkPlaceContact (double dF)
int	checkSideImpact (double dF)
bool	checkSlip (double slip_motion_limit=0.007, double slip_force_limit=0.18)
bool	graspContact (int contactsDesired)
	pressureObserver (pr2_hardware_interface::PressureSensor *left, pr2_hardware_interface::PressureSensor *right)
void	spin ()
void	updateBrokenSensorStatus ()
void	updateZeros2 ()
	~pressureObserver ()
Public Attributes
bool	broken_sensor
double	cellLoading_left
double	cellLoading_right
double	forceLightest
double	hpForceTrigger
bool	left_contact
double	lfForce_left
double	lfForce_right
double	padForce_cur
double	padForce_cur_nonbiased
double	padForce_left_cur
double	padForce_left_cur_nonbiased
double	padForce_left_prev
double	padForce_right_cur
double	padForce_right_cur_nonbiased
double	padForce_right_prev
bool	placeContact
pr2_gripper_sensor_msgs::PR2GripperPressureData	pressure_bp
pr2_gripper_sensor_msgs::PR2GripperPressureData	pressure_cur_bias
pr2_gripper_sensor_msgs::PR2GripperPressureData	pressure_current
pr2_gripper_sensor_msgs::PR2GripperPressureData	pressure_current_zerod
pr2_gripper_sensor_msgs::PR2GripperPressureData	pressure_now
pr2_gripper_sensor_msgs::PR2GripperPressureData	pressure_prev
pr2_gripper_sensor_msgs::PR2GripperPressureData	pressure_prev_bias
pr2_gripper_sensor_msgs::PR2GripperPressureData	pressure_prev_zerod
pr2_gripper_sensor_msgs::PR2GripperPressureData	pressure_thresh_current
pr2_gripper_sensor_msgs::PR2GripperPressureData	pressure_thresh_now
pr2_gripper_sensor_msgs::PR2GripperPressureData	pressure_thresh_prev
digitalFilter *	pressureLFFilt_left [22]
digitalFilter *	pressureLFFilt_right [22]
bool	right_contact
double	totalLoading
double	totalLoading_left
double	totalLoading_prev
double	totalLoading_right
Private Member Functions
void	bias_estimator ()
void	getPadCentroid (boost::array< double, 22 > pressureArray, double *x, double *y)
double	getPadForce (boost::array< double, 22 > pressureArray)
void	updateContactState ()
bool	updatePressureState ()
void	updateTotalLoading ()
void	updateXYCentroids ()
void	zero ()
Private Attributes
double	dt
pr2_hardware_interface::PressureSensor *	left_finger
pr2_hardware_interface::PressureSensor *	right_finger
int	subSample_cnt
int	subSample_steps
double	time_cur
double	time_prev
int	zero_cnt
pr2_gripper_sensor_msgs::PR2GripperPressureData	zero_offset
int	zero_samples

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Detailed Description

Definition at line 50 of file pressure_observer.h.

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Constructor & Destructor Documentation

pressureObserver::pressureObserver	(	pr2_hardware_interface::PressureSensor *	left,
		pr2_hardware_interface::PressureSensor *	right
	)

Definition at line 329 of file pressure_observer.cpp.

pressureObserver::~pressureObserver

(

)

Definition at line 383 of file pressure_observer.cpp.

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Member Function Documentation

void pressureObserver::bias_estimator

(

)

[private]

Definition at line 78 of file pressure_observer.cpp.

bool pressureObserver::checkPlaceContact

(

double

dF

)

Definition at line 103 of file pressure_observer.cpp.

int pressureObserver::checkSideImpact

(

double

dF

)

Definition at line 113 of file pressure_observer.cpp.

bool pressureObserver::checkSlip	(	double	slip_motion_limit = 0.007,
		double	slip_force_limit = 0.18
	)

Definition at line 314 of file pressure_observer.cpp.

void pressureObserver::getPadCentroid	(	boost::array< double, 22 >	pressureArray,
		double *	x,
		double *	y
	)		[private]

Definition at line 284 of file pressure_observer.cpp.

double pressureObserver::getPadForce

(

boost::array< double, 22 >

pressureArray

)

[private]

Definition at line 190 of file pressure_observer.cpp.

bool pressureObserver::graspContact

(

int

contactsDesired

)

Definition at line 129 of file pressure_observer.cpp.

void pressureObserver::spin

(

)

Definition at line 44 of file pressure_observer.cpp.

void pressureObserver::updateBrokenSensorStatus

(

)

Definition at line 66 of file pressure_observer.cpp.

void pressureObserver::updateContactState

(

)

[private]

Definition at line 147 of file pressure_observer.cpp.

bool pressureObserver::updatePressureState

(

)

[private]

Definition at line 235 of file pressure_observer.cpp.

void pressureObserver::updateTotalLoading

(

)

[private]

Definition at line 164 of file pressure_observer.cpp.

void pressureObserver::updateXYCentroids

(

)

[private]

Definition at line 305 of file pressure_observer.cpp.

void pressureObserver::updateZeros2

(

)

Definition at line 206 of file pressure_observer.cpp.

void pressureObserver::zero

(

)

[private]

Definition at line 219 of file pressure_observer.cpp.

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Member Data Documentation

bool pressureObserver::broken_sensor

Definition at line 77 of file pressure_observer.h.

double pressureObserver::cellLoading_left

Definition at line 73 of file pressure_observer.h.

double pressureObserver::cellLoading_right

Definition at line 73 of file pressure_observer.h.

double pressureObserver::dt [private]

Definition at line 114 of file pressure_observer.h.

double pressureObserver::forceLightest

Definition at line 74 of file pressure_observer.h.

double pressureObserver::hpForceTrigger

Definition at line 75 of file pressure_observer.h.

bool pressureObserver::left_contact

Definition at line 78 of file pressure_observer.h.

pr2_hardware_interface::PressureSensor* pressureObserver::left_finger [private]

Definition at line 104 of file pressure_observer.h.

double pressureObserver::lfForce_left

Definition at line 76 of file pressure_observer.h.

double pressureObserver::lfForce_right

Definition at line 76 of file pressure_observer.h.

double pressureObserver::padForce_cur

Definition at line 65 of file pressure_observer.h.

double pressureObserver::padForce_cur_nonbiased

Definition at line 66 of file pressure_observer.h.

double pressureObserver::padForce_left_cur

Definition at line 67 of file pressure_observer.h.

double pressureObserver::padForce_left_cur_nonbiased

Definition at line 68 of file pressure_observer.h.

double pressureObserver::padForce_left_prev

Definition at line 67 of file pressure_observer.h.

double pressureObserver::padForce_right_cur

Definition at line 69 of file pressure_observer.h.

double pressureObserver::padForce_right_cur_nonbiased

Definition at line 70 of file pressure_observer.h.

double pressureObserver::padForce_right_prev

Definition at line 69 of file pressure_observer.h.

bool pressureObserver::placeContact

Definition at line 79 of file pressure_observer.h.

pr2_gripper_sensor_msgs::PR2GripperPressureData pressureObserver::pressure_bp

Definition at line 87 of file pressure_observer.h.

pr2_gripper_sensor_msgs::PR2GripperPressureData pressureObserver::pressure_cur_bias

Definition at line 86 of file pressure_observer.h.

pr2_gripper_sensor_msgs::PR2GripperPressureData pressureObserver::pressure_current

Definition at line 83 of file pressure_observer.h.

pr2_gripper_sensor_msgs::PR2GripperPressureData pressureObserver::pressure_current_zerod

Definition at line 85 of file pressure_observer.h.

pr2_gripper_sensor_msgs::PR2GripperPressureData pressureObserver::pressure_now

Definition at line 83 of file pressure_observer.h.

pr2_gripper_sensor_msgs::PR2GripperPressureData pressureObserver::pressure_prev

Definition at line 83 of file pressure_observer.h.

pr2_gripper_sensor_msgs::PR2GripperPressureData pressureObserver::pressure_prev_bias

Definition at line 86 of file pressure_observer.h.

pr2_gripper_sensor_msgs::PR2GripperPressureData pressureObserver::pressure_prev_zerod

Definition at line 85 of file pressure_observer.h.

pr2_gripper_sensor_msgs::PR2GripperPressureData pressureObserver::pressure_thresh_current

Definition at line 84 of file pressure_observer.h.

pr2_gripper_sensor_msgs::PR2GripperPressureData pressureObserver::pressure_thresh_now

Definition at line 84 of file pressure_observer.h.

pr2_gripper_sensor_msgs::PR2GripperPressureData pressureObserver::pressure_thresh_prev

Definition at line 84 of file pressure_observer.h.

digitalFilter* pressureObserver::pressureLFFilt_left[22]

Definition at line 89 of file pressure_observer.h.

digitalFilter* pressureObserver::pressureLFFilt_right[22]

Definition at line 90 of file pressure_observer.h.

bool pressureObserver::right_contact

Definition at line 78 of file pressure_observer.h.

pr2_hardware_interface::PressureSensor* pressureObserver::right_finger [private]

Definition at line 105 of file pressure_observer.h.

int pressureObserver::subSample_cnt [private]

Definition at line 107 of file pressure_observer.h.

int pressureObserver::subSample_steps [private]

Definition at line 108 of file pressure_observer.h.

double pressureObserver::time_cur [private]

Definition at line 113 of file pressure_observer.h.

double pressureObserver::time_prev [private]

Definition at line 113 of file pressure_observer.h.

double pressureObserver::totalLoading

Definition at line 72 of file pressure_observer.h.

double pressureObserver::totalLoading_left

Definition at line 71 of file pressure_observer.h.

double pressureObserver::totalLoading_prev

Definition at line 72 of file pressure_observer.h.

double pressureObserver::totalLoading_right

Definition at line 71 of file pressure_observer.h.

int pressureObserver::zero_cnt [private]

Definition at line 110 of file pressure_observer.h.

pr2_gripper_sensor_msgs::PR2GripperPressureData pressureObserver::zero_offset [private]

Definition at line 111 of file pressure_observer.h.

int pressureObserver::zero_samples [private]

Definition at line 109 of file pressure_observer.h.

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

• pressure_observer.h
• pressure_observer.cpp