Public Member Functions | Public Attributes
FTParamsInternal Class Reference

#include <wg06.h>

List of all members.

Public Member Functions

const double & calibration_coeff (unsigned row, unsigned col) const
double & calibration_coeff (unsigned row, unsigned col)
 FTParamsInternal ()
const double & gain (unsigned ch_num) const
double & gain (unsigned ch_num)
bool getDoubleArray (XmlRpc::XmlRpcValue params, const char *name, double *results, unsigned len)
bool getRosParams (ros::NodeHandle nh)
 Grabs ft rosparams from a given node hande namespace.
const double & offset (unsigned ch_num) const
double & offset (unsigned ch_num)
void print () const

Public Attributes

double calibration_coeff_ [36]
double gains_ [6]
double offsets_ [6]

Detailed Description

Definition at line 86 of file wg06.h.


Constructor & Destructor Documentation

Definition at line 1071 of file wg06.cpp.


Member Function Documentation

const double& FTParamsInternal::calibration_coeff ( unsigned  row,
unsigned  col 
) const [inline]

Definition at line 91 of file wg06.h.

double& FTParamsInternal::calibration_coeff ( unsigned  row,
unsigned  col 
) [inline]

Definition at line 92 of file wg06.h.

const double& FTParamsInternal::gain ( unsigned  ch_num) const [inline]

Definition at line 97 of file wg06.h.

double& FTParamsInternal::gain ( unsigned  ch_num) [inline]

Definition at line 98 of file wg06.h.

bool FTParamsInternal::getDoubleArray ( XmlRpc::XmlRpcValue  params,
const char *  name,
double *  results,
unsigned  len 
)

Definition at line 1109 of file wg06.cpp.

Grabs ft rosparams from a given node hande namespace.

The force/torque parameters consist of 6x ADC offset values 6x6 gain matrix as 6-elment array of 6-element arrays of doubles

Returns:
True, if there are no problems.

Definition at line 1152 of file wg06.cpp.

const double& FTParamsInternal::offset ( unsigned  ch_num) const [inline]

Definition at line 94 of file wg06.h.

double& FTParamsInternal::offset ( unsigned  ch_num) [inline]

Definition at line 95 of file wg06.h.

void FTParamsInternal::print ( ) const

Definition at line 1088 of file wg06.cpp.


Member Data Documentation

Definition at line 104 of file wg06.h.

Definition at line 106 of file wg06.h.

Definition at line 105 of file wg06.h.


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


ethercat_hardware
Author(s): Rob Wheeler , Derek King
autogenerated on Fri Aug 28 2015 12:09:44