acceleration_observer.h
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00035  *  \author Joe Romano
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00037 //@author  Joe Romano
00038 //@email   joeromano@gmail.com
00039 //@brief   acceleration_observer.cpp - file to read the hand mounted 
00040 //         accelerometer in the pr2 and do some simple processing to 
00041 //         make the data more accessible to higher-level code
00042 
00043 #include <pr2_hardware_interface/hardware_interface.h>
00044 #include <pr2_gripper_sensor_controller/digitalFilter.h>
00045 
00046 #ifndef _ACCELERATION_OBSERVER
00047 #define _ACCELERATION_OBSERVER
00048 
00049 
00050 class accelerationObserver{
00051   
00052   public:
00053     // functions
00054     accelerationObserver(pr2_hardware_interface::Accelerometer* accelerometerHandle);  // ctor
00055     ~accelerationObserver();                    // default destructor
00056     void spin();                                // method to update sensor data. should run at 1khz
00057     bool checkPlaceContact(double dAcc);
00058     double aX_bp, aY_bp, aZ_bp;                 // bandpassed acceleration data                    
00059     double aX_lp, aY_lp, aZ_lp;                 // lowpassed acceleration data
00060     double readingTime;
00061 
00062     digitalFilter *accBPFilt[3];
00063     digitalFilter *accLPFilt[3];
00064     bool placeContact;
00065 
00066   private:
00067     pr2_hardware_interface::Accelerometer* accHandle;
00068 
00069 };
00070 
00071 #endif // _ACCELERATION_OBSERVER


pr2_gripper_sensor_controller
Author(s): Joe Romano
autogenerated on Thu Jun 6 2019 18:02:06