#include <simpson_integrator.h>

Public Member Functions
void	resetIntegration ()
	SimpsonIntegrator (const uint8_t dof, const double integrator_smoothing=0.2)
bool	updateIntegration (const KDL::JntArray &q_dot_ik, const KDL::JntArray &current_q, std::vector< double > &pos, std::vector< double > &vel)
	~SimpsonIntegrator ()
Private Attributes
uint8_t	dof_
double	integrator_smoothing_
ros::Time	last_update_time_
std::vector < MovingAvgBase_double_t * >	ma_pos_
std::vector < MovingAvgBase_double_t * >	ma_vel_
std::vector< double >	vel_before_last_
std::vector< double >	vel_last_

Detailed Description

Definition at line 29 of file simpson_integrator.h.

Constructor & Destructor Documentation

SimpsonIntegrator::SimpsonIntegrator	(	const uint8_t	dof,
		const double	integrator_smoothing = `0.2`
	)		`[inline, explicit]`

nh_ = ros::NodeHandle("simpson_debug"); q_dot_ik_pub_ = nh_.advertise<std_msgs::Float64MultiArray>("q_dot_ik", 1); q_dot_avg_pub_ = nh_.advertise<std_msgs::Float64MultiArray>("q_dot_avg", 1); q_simpson_pub_ = nh_.advertise<std_msgs::Float64MultiArray>("q_simpson", 1); q_simpson_avg_pub_ = nh_.advertise<std_msgs::Float64MultiArray>("q_simpson_avg", 1);

Definition at line 32 of file simpson_integrator.h.

SimpsonIntegrator::~SimpsonIntegrator ( ) [inline]

Definition at line 50 of file simpson_integrator.h.

Member Function Documentation

void SimpsonIntegrator::resetIntegration ( ) [inline]

Definition at line 53 of file simpson_integrator.h.

bool SimpsonIntegrator::updateIntegration	(	const KDL::JntArray &	q_dot_ik,
		const KDL::JntArray &	current_q,
		std::vector< double > &	pos,
		std::vector< double > &	vel
	)		`[inline]`

std_msgs::Float64MultiArray q_dot_ik_msg; std_msgs::Float64MultiArray q_dot_avg_msg;

q_dot_ik_msg.data.push_back(q_dot_ik(i)); q_dot_avg_msg.data.push_back(q_dot_avg(i));

std_msgs::Float64MultiArray q_simpson_msg; std_msgs::Float64MultiArray q_simpson_avg_msg;

q_simpson_msg.data.push_back(integration_value); q_simpson_avg_msg.data.push_back(avg_pos);

q_dot_ik_pub_.publish(q_dot_ik_msg); q_dot_avg_pub_.publish(q_dot_avg_msg); q_simpson_pub_.publish(q_simpson_msg); q_simpson_avg_pub_.publish(q_simpson_avg_msg);

Definition at line 67 of file simpson_integrator.h.