Public Member Functions | Private Attributes
R2RosTreeId Class Reference

#include <R2RosTreeId.hpp>

List of all members.

Public Member Functions

void baseFrameCallback (const nasa_r2_common_msgs::StringArray &msg)
void forceCallback (const nasa_r2_common_msgs::WrenchState &msg)
void imuCallback (const sensor_msgs::Imu &msg)
void jointStateCallback (const sensor_msgs::JointState &msg)
 R2RosTreeId (std::string urdf, ros::NodeHandle &nh)
bool setGravity (double x, double y, double z, std::string frame, std::string mode)
void trajCallback (const sensor_msgs::JointState &msg)
virtual ~R2RosTreeId ()

Private Attributes

KDL::Twist a_in
sensor_msgs::JointState actualStateMsg
bool argos
std::string baseFrame
ros::Subscriber baseFrameIn
nasa_r2_common_msgs::StringArray baseMsg
std::string bfCmd
double bfFactor
nasa_r2_common_msgs::StringArray completionMsg
ros::Publisher completionOut
nasa_r2_common_msgs::WrenchState emptyForceMsg
sensor_msgs::JointState emptyTrajMsg
KDL::Wrench f_out
ros::Subscriber forceIn
nasa_r2_common_msgs::WrenchState forceMsg
std::vector< double > gravity
KDL::Vector gravity_kdl
std::string gravityBase
std::string gravityFrame
KDL::Frame gravityXform
KDL::RigidBodyInertia I_out
KdlTreeId id
std::string idMode
ros::Subscriber imuIn
sensor_msgs::Imu imuInMsg
ros::Publisher inertiaOut
JointDynamicsData jd
sensor_msgs::JointState jointInertiaMsg
ros::Subscriber jointStateIn
sensor_msgs::JointState jointTorqueMsg
double loopRate
bool newBase
RosMsgTreeId rmt
nasa_r2_common_msgs::WrenchState segForceMsg
ros::Publisher segForceOut
ros::Publisher torqueOut
ros::Subscriber trajIn
sensor_msgs::JointState trajStateMsg
bool useImu
KDL::Twist v_in
double yankLimBFF
KDL::Twist zeroTwist

Detailed Description

Definition at line 13 of file R2RosTreeId.hpp.

Constructor & Destructor Documentation

R2RosTreeId::R2RosTreeId ( std::string  urdf,
ros::NodeHandle &  nh 
)

Definition at line 3 of file R2RosTreeId.cpp.

virtual R2RosTreeId::~R2RosTreeId ( ) [inline, virtual]

Definition at line 17 of file R2RosTreeId.hpp.

Member Function Documentation

void R2RosTreeId::baseFrameCallback ( const nasa_r2_common_msgs::StringArray &  msg)

Definition at line 54 of file R2RosTreeId.cpp.

void R2RosTreeId::forceCallback ( const nasa_r2_common_msgs::WrenchState &  msg)

Definition at line 68 of file R2RosTreeId.cpp.

void R2RosTreeId::imuCallback ( const sensor_msgs::Imu &  msg)

Definition at line 78 of file R2RosTreeId.cpp.

void R2RosTreeId::jointStateCallback ( const sensor_msgs::JointState &  msg)

Definition at line 83 of file R2RosTreeId.cpp.

bool R2RosTreeId::setGravity ( double  x,
double  y,
double  z,
std::string  frame,
std::string  mode 
)

Definition at line 31 of file R2RosTreeId.cpp.

void R2RosTreeId::trajCallback ( const sensor_msgs::JointState &  msg)

Definition at line 73 of file R2RosTreeId.cpp.

Member Data Documentation

KDL::Twist R2RosTreeId::a_in [private]

Definition at line 67 of file R2RosTreeId.hpp.

sensor_msgs::JointState R2RosTreeId::actualStateMsg [private]

Definition at line 36 of file R2RosTreeId.hpp.

bool R2RosTreeId::argos [private]

Definition at line 60 of file R2RosTreeId.hpp.

std::string R2RosTreeId::baseFrame [private]

Definition at line 65 of file R2RosTreeId.hpp.

ros::Subscriber R2RosTreeId::baseFrameIn [private]

Definition at line 44 of file R2RosTreeId.hpp.

nasa_r2_common_msgs::StringArray R2RosTreeId::baseMsg [private]

Definition at line 34 of file R2RosTreeId.hpp.

std::string R2RosTreeId::bfCmd [private]

Definition at line 65 of file R2RosTreeId.hpp.

double R2RosTreeId::bfFactor [private]

Definition at line 66 of file R2RosTreeId.hpp.

nasa_r2_common_msgs::StringArray R2RosTreeId::completionMsg [private]

Definition at line 34 of file R2RosTreeId.hpp.

ros::Publisher R2RosTreeId::completionOut [private]

Definition at line 53 of file R2RosTreeId.hpp.

nasa_r2_common_msgs::WrenchState R2RosTreeId::emptyForceMsg [private]

Definition at line 35 of file R2RosTreeId.hpp.

sensor_msgs::JointState R2RosTreeId::emptyTrajMsg [private]

Definition at line 37 of file R2RosTreeId.hpp.

KDL::Wrench R2RosTreeId::f_out [private]

Definition at line 68 of file R2RosTreeId.hpp.

ros::Subscriber R2RosTreeId::forceIn [private]

Definition at line 45 of file R2RosTreeId.hpp.

nasa_r2_common_msgs::WrenchState R2RosTreeId::forceMsg [private]

Definition at line 35 of file R2RosTreeId.hpp.

std::vector<double> R2RosTreeId::gravity [private]

Definition at line 56 of file R2RosTreeId.hpp.

KDL::Vector R2RosTreeId::gravity_kdl [private]

Definition at line 57 of file R2RosTreeId.hpp.

std::string R2RosTreeId::gravityBase [private]

Definition at line 61 of file R2RosTreeId.hpp.

std::string R2RosTreeId::gravityFrame [private]

Definition at line 58 of file R2RosTreeId.hpp.

KDL::Frame R2RosTreeId::gravityXform [private]

Definition at line 59 of file R2RosTreeId.hpp.

KDL::RigidBodyInertia R2RosTreeId::I_out [private]

Definition at line 69 of file R2RosTreeId.hpp.

KdlTreeId R2RosTreeId::id [private]

Definition at line 30 of file R2RosTreeId.hpp.

std::string R2RosTreeId::idMode [private]

Definition at line 61 of file R2RosTreeId.hpp.

ros::Subscriber R2RosTreeId::imuIn [private]

Definition at line 48 of file R2RosTreeId.hpp.

sensor_msgs::Imu R2RosTreeId::imuInMsg [private]

Definition at line 40 of file R2RosTreeId.hpp.

ros::Publisher R2RosTreeId::inertiaOut [private]

Definition at line 51 of file R2RosTreeId.hpp.

JointDynamicsData R2RosTreeId::jd [private]

Definition at line 31 of file R2RosTreeId.hpp.

sensor_msgs::JointState R2RosTreeId::jointInertiaMsg [private]

Definition at line 39 of file R2RosTreeId.hpp.

ros::Subscriber R2RosTreeId::jointStateIn [private]

Definition at line 46 of file R2RosTreeId.hpp.

sensor_msgs::JointState R2RosTreeId::jointTorqueMsg [private]

Definition at line 38 of file R2RosTreeId.hpp.

double R2RosTreeId::loopRate [private]

Definition at line 62 of file R2RosTreeId.hpp.

bool R2RosTreeId::newBase [private]

Definition at line 70 of file R2RosTreeId.hpp.

RosMsgTreeId R2RosTreeId::rmt [private]

Definition at line 29 of file R2RosTreeId.hpp.

nasa_r2_common_msgs::WrenchState R2RosTreeId::segForceMsg [private]

Definition at line 35 of file R2RosTreeId.hpp.

ros::Publisher R2RosTreeId::segForceOut [private]

Definition at line 52 of file R2RosTreeId.hpp.

ros::Publisher R2RosTreeId::torqueOut [private]

Definition at line 50 of file R2RosTreeId.hpp.

ros::Subscriber R2RosTreeId::trajIn [private]

Definition at line 47 of file R2RosTreeId.hpp.

sensor_msgs::JointState R2RosTreeId::trajStateMsg [private]

Definition at line 37 of file R2RosTreeId.hpp.

bool R2RosTreeId::useImu [private]

Definition at line 60 of file R2RosTreeId.hpp.

KDL::Twist R2RosTreeId::v_in [private]

Definition at line 67 of file R2RosTreeId.hpp.

double R2RosTreeId::yankLimBFF [private]

Definition at line 62 of file R2RosTreeId.hpp.

KDL::Twist R2RosTreeId::zeroTwist [private]

Definition at line 67 of file R2RosTreeId.hpp.

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

r2_controllers_ros
Author(s): Allison Thackston
autogenerated on Mon Oct 6 2014 02:46:50