ForceTorqueSensorSim Class Reference

#include <force_torque_sensor_sim.h>

Inheritance diagram for ForceTorqueSensorSim:

List of all members.

Public Member Functions
	ForceTorqueSensorSim (ros::NodeHandle &nh)
void	init_sensor ()
Protected Member Functions
void	filterFTData ()
void	pullFTData (const ros::TimerEvent &event)
void	subscribeData (const geometry_msgs::Twist::ConstPtr &msg)
virtual void	updateFTData (const ros::TimerEvent &event)=0
Protected Attributes
geometry_msgs::WrenchStamped	joystick_data
ati_force_torque::NodeConfigurationParameters	node_params_
ati_force_torque::PublishConfigurationParameters	pub_params_
std::string	sensor_frame_
geometry_msgs::WrenchStamped	threshold_filtered_force
std::string	transform_frame_
geometry_msgs::WrenchStamped	transformed_data
Private Member Functions
bool	transform_wrench (std::string goal_frame, std::string source_frame, geometry_msgs::Wrench wrench, geometry_msgs::Wrench *transformed)
Private Attributes
uint	_num_transform_errors
ros::Subscriber	force_input_subscriber
ros::Timer	ftPullTimer_
ros::Timer	ftUpdateTimer_
bool	is_pub_sensor_data_ = false
bool	is_pub_transformed_data_ = false
ros::NodeHandle	nh_
tf2_ros::Buffer *	p_tfBuffer
tf2_ros::TransformListener *	p_tfListener
ros::Publisher	sensor_data_pub_
ros::Publisher	transformed_data_pub_

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Detailed Description

Definition at line 65 of file force_torque_sensor_sim.h.

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Constructor & Destructor Documentation

ForceTorqueSensorSim::ForceTorqueSensorSim

(

ros::NodeHandle &

nh

)

Definition at line 45 of file force_torque_sensor_sim.cpp.

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Member Function Documentation

void ForceTorqueSensorSim::filterFTData

(

)

[protected]

void ForceTorqueSensorSim::init_sensor

(

)

void ForceTorqueSensorSim::pullFTData

(

const ros::TimerEvent &

event

)

[protected]

void ForceTorqueSensorSim::subscribeData

(

const geometry_msgs::Twist::ConstPtr &

msg

)

[protected]

bool ForceTorqueSensorSim::transform_wrench	(	std::string	goal_frame,
		std::string	source_frame,
		geometry_msgs::Wrench	wrench,
		geometry_msgs::Wrench *	transformed
	)		[private]

virtual void ForceTorqueSensorSim::updateFTData

(

const ros::TimerEvent &

event

)

[protected, pure virtual]

Implemented in ForceTorqueSensorHandleSim.

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Member Data Documentation

uint ForceTorqueSensorSim::_num_transform_errors [private]

Definition at line 88 of file force_torque_sensor_sim.h.

ros::Subscriber ForceTorqueSensorSim::force_input_subscriber [private]

Definition at line 87 of file force_torque_sensor_sim.h.

ros::Timer ForceTorqueSensorSim::ftPullTimer_ [private]

Definition at line 93 of file force_torque_sensor_sim.h.

ros::Timer ForceTorqueSensorSim::ftUpdateTimer_ [private]

Definition at line 93 of file force_torque_sensor_sim.h.

bool ForceTorqueSensorSim::is_pub_sensor_data_ = false [private]

Definition at line 95 of file force_torque_sensor_sim.h.

bool ForceTorqueSensorSim::is_pub_transformed_data_ = false [private]

Definition at line 94 of file force_torque_sensor_sim.h.

geometry_msgs::WrenchStamped ForceTorqueSensorSim::joystick_data [protected]

Definition at line 81 of file force_torque_sensor_sim.h.

ros::NodeHandle ForceTorqueSensorSim::nh_ [private]

Definition at line 91 of file force_torque_sensor_sim.h.

ati_force_torque::NodeConfigurationParameters ForceTorqueSensorSim::node_params_ [protected]

Definition at line 75 of file force_torque_sensor_sim.h.

tf2_ros::Buffer* ForceTorqueSensorSim::p_tfBuffer [private]

Definition at line 89 of file force_torque_sensor_sim.h.

tf2_ros::TransformListener* ForceTorqueSensorSim::p_tfListener [private]

Definition at line 90 of file force_torque_sensor_sim.h.

ati_force_torque::PublishConfigurationParameters ForceTorqueSensorSim::pub_params_ [protected]

Definition at line 76 of file force_torque_sensor_sim.h.

ros::Publisher ForceTorqueSensorSim::sensor_data_pub_ [private]

Definition at line 92 of file force_torque_sensor_sim.h.

std::string ForceTorqueSensorSim::sensor_frame_ [protected]

Definition at line 74 of file force_torque_sensor_sim.h.

geometry_msgs::WrenchStamped ForceTorqueSensorSim::threshold_filtered_force [protected]

Definition at line 81 of file force_torque_sensor_sim.h.

std::string ForceTorqueSensorSim::transform_frame_ [protected]

Definition at line 73 of file force_torque_sensor_sim.h.

geometry_msgs::WrenchStamped ForceTorqueSensorSim::transformed_data [protected]

Definition at line 81 of file force_torque_sensor_sim.h.

ros::Publisher ForceTorqueSensorSim::transformed_data_pub_ [private]

Definition at line 92 of file force_torque_sensor_sim.h.

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

• force_torque_sensor_sim.h
• force_torque_sensor_sim.cpp