GravityCompensationNode Class Reference

List of all members.

Public Member Functions
bool	getROSParameters ()
	GravityCompensationNode ()
void	publish_gripper_com_tf ()
void	topicCallback_ft_raw (const geometry_msgs::WrenchStamped::ConstPtr &msg)
void	topicCallback_imu (const sensor_msgs::Imu::ConstPtr &msg)
	~GravityCompensationNode ()
Public Attributes
ros::NodeHandle	n_
tf::TransformBroadcaster	tf_br_
ros::Publisher	topicPub_ft_compensated_
ros::Publisher	topicPub_ft_zeroed_
ros::Subscriber	topicSub_ft_raw_
ros::Subscriber	topicSub_imu_
Private Attributes
GravityCompensation *	m_g_comp
GravityCompensationParams *	m_g_comp_params
double	m_gripper_com_broadcast_frequency
sensor_msgs::Imu	m_imu
bool	m_received_imu

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Detailed Description

Definition at line 48 of file gravity_compensation_node.cpp.

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Constructor & Destructor Documentation

GravityCompensationNode::GravityCompensationNode

(

)

[inline]

implementation of topics to publish

Definition at line 63 of file gravity_compensation_node.cpp.

GravityCompensationNode::~GravityCompensationNode

(

)

[inline]

Definition at line 90 of file gravity_compensation_node.cpp.

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Member Function Documentation

bool GravityCompensationNode::getROSParameters

(

)

[inline]

Get F/T sensor bias

Definition at line 96 of file gravity_compensation_node.cpp.

void GravityCompensationNode::publish_gripper_com_tf

(

)

[inline]

Definition at line 269 of file gravity_compensation_node.cpp.

void GravityCompensationNode::topicCallback_ft_raw

(

const geometry_msgs::WrenchStamped::ConstPtr &

msg

)

[inline]

Definition at line 242 of file gravity_compensation_node.cpp.

void GravityCompensationNode::topicCallback_imu

(

const sensor_msgs::Imu::ConstPtr &

msg

)

[inline]

Definition at line 236 of file gravity_compensation_node.cpp.

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Member Data Documentation

GravityCompensation* GravityCompensationNode::m_g_comp [private]

Definition at line 293 of file gravity_compensation_node.cpp.

GravityCompensationParams* GravityCompensationNode::m_g_comp_params [private]

Definition at line 292 of file gravity_compensation_node.cpp.

double GravityCompensationNode::m_gripper_com_broadcast_frequency [private]

Definition at line 296 of file gravity_compensation_node.cpp.

sensor_msgs::Imu GravityCompensationNode::m_imu [private]

Definition at line 294 of file gravity_compensation_node.cpp.

bool GravityCompensationNode::m_received_imu [private]

Definition at line 295 of file gravity_compensation_node.cpp.

ros::NodeHandle GravityCompensationNode::n_

Definition at line 51 of file gravity_compensation_node.cpp.

tf::TransformBroadcaster GravityCompensationNode::tf_br_

Definition at line 60 of file gravity_compensation_node.cpp.

ros::Publisher GravityCompensationNode::topicPub_ft_compensated_

Definition at line 58 of file gravity_compensation_node.cpp.

ros::Publisher GravityCompensationNode::topicPub_ft_zeroed_

Definition at line 57 of file gravity_compensation_node.cpp.

ros::Subscriber GravityCompensationNode::topicSub_ft_raw_

Definition at line 55 of file gravity_compensation_node.cpp.

ros::Subscriber GravityCompensationNode::topicSub_imu_

Definition at line 54 of file gravity_compensation_node.cpp.

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

• gravity_compensation_node.cpp