Public Member Functions | Public Attributes | Private Member Functions | Private Attributes
pressureObserver Class Reference

#include <pressure_observer.h>

List of all members.

Public Member Functions

bool checkPlaceContact (double dF)
int checkSideImpact (double dF)
bool checkSlip (double slip_motion_limit=0.007, double slip_force_limit=0.18)
bool graspContact (int contactsDesired)
 pressureObserver (pr2_hardware_interface::PressureSensor *left, pr2_hardware_interface::PressureSensor *right)
void spin ()
void updateBrokenSensorStatus ()
void updateZeros2 ()
 ~pressureObserver ()

Public Attributes

bool broken_sensor
double cellLoading_left
double cellLoading_right
double forceLightest
double hpForceTrigger
bool left_contact
double lfForce_left
double lfForce_right
double padForce_cur
double padForce_cur_nonbiased
double padForce_left_cur
double padForce_left_cur_nonbiased
double padForce_left_prev
double padForce_right_cur
double padForce_right_cur_nonbiased
double padForce_right_prev
bool placeContact
pr2_gripper_sensor_msgs::PR2GripperPressureData pressure_bp
pr2_gripper_sensor_msgs::PR2GripperPressureData pressure_cur_bias
pr2_gripper_sensor_msgs::PR2GripperPressureData pressure_current
pr2_gripper_sensor_msgs::PR2GripperPressureData pressure_current_zerod
pr2_gripper_sensor_msgs::PR2GripperPressureData pressure_now
pr2_gripper_sensor_msgs::PR2GripperPressureData pressure_prev
pr2_gripper_sensor_msgs::PR2GripperPressureData pressure_prev_bias
pr2_gripper_sensor_msgs::PR2GripperPressureData pressure_prev_zerod
pr2_gripper_sensor_msgs::PR2GripperPressureData pressure_thresh_current
pr2_gripper_sensor_msgs::PR2GripperPressureData pressure_thresh_now
pr2_gripper_sensor_msgs::PR2GripperPressureData pressure_thresh_prev
digitalFilterpressureLFFilt_left [22]
digitalFilterpressureLFFilt_right [22]
bool right_contact
double totalLoading
double totalLoading_left
double totalLoading_prev
double totalLoading_right

Private Member Functions

void bias_estimator ()
void getPadCentroid (boost::array< double, 22 > pressureArray, double *x, double *y)
double getPadForce (boost::array< double, 22 > pressureArray)
void updateContactState ()
bool updatePressureState ()
void updateTotalLoading ()
void updateXYCentroids ()
void zero ()

Private Attributes

double dt
pr2_hardware_interface::PressureSensorleft_finger
pr2_hardware_interface::PressureSensorright_finger
int subSample_cnt
int subSample_steps
double time_cur
double time_prev
int zero_cnt
pr2_gripper_sensor_msgs::PR2GripperPressureData zero_offset
int zero_samples

Detailed Description

Definition at line 50 of file pressure_observer.h.


Constructor & Destructor Documentation

Definition at line 329 of file pressure_observer.cpp.

Definition at line 383 of file pressure_observer.cpp.


Member Function Documentation

Definition at line 78 of file pressure_observer.cpp.

Definition at line 103 of file pressure_observer.cpp.

Definition at line 113 of file pressure_observer.cpp.

bool pressureObserver::checkSlip ( double  slip_motion_limit = 0.007,
double  slip_force_limit = 0.18 
)

Definition at line 314 of file pressure_observer.cpp.

void pressureObserver::getPadCentroid ( boost::array< double, 22 >  pressureArray,
double *  x,
double *  y 
) [private]

Definition at line 284 of file pressure_observer.cpp.

double pressureObserver::getPadForce ( boost::array< double, 22 >  pressureArray) [private]

Definition at line 190 of file pressure_observer.cpp.

bool pressureObserver::graspContact ( int  contactsDesired)

Definition at line 129 of file pressure_observer.cpp.

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void pressureObserver::zero ( ) [private]

Definition at line 219 of file pressure_observer.cpp.


Member Data Documentation

Definition at line 77 of file pressure_observer.h.

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Definition at line 73 of file pressure_observer.h.

double pressureObserver::dt [private]

Definition at line 114 of file pressure_observer.h.

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Definition at line 79 of file pressure_observer.h.

pr2_gripper_sensor_msgs::PR2GripperPressureData pressureObserver::pressure_bp

Definition at line 87 of file pressure_observer.h.

pr2_gripper_sensor_msgs::PR2GripperPressureData pressureObserver::pressure_cur_bias

Definition at line 86 of file pressure_observer.h.

pr2_gripper_sensor_msgs::PR2GripperPressureData pressureObserver::pressure_current

Definition at line 83 of file pressure_observer.h.

pr2_gripper_sensor_msgs::PR2GripperPressureData pressureObserver::pressure_current_zerod

Definition at line 85 of file pressure_observer.h.

pr2_gripper_sensor_msgs::PR2GripperPressureData pressureObserver::pressure_now

Definition at line 83 of file pressure_observer.h.

pr2_gripper_sensor_msgs::PR2GripperPressureData pressureObserver::pressure_prev

Definition at line 83 of file pressure_observer.h.

pr2_gripper_sensor_msgs::PR2GripperPressureData pressureObserver::pressure_prev_bias

Definition at line 86 of file pressure_observer.h.

pr2_gripper_sensor_msgs::PR2GripperPressureData pressureObserver::pressure_prev_zerod

Definition at line 85 of file pressure_observer.h.

pr2_gripper_sensor_msgs::PR2GripperPressureData pressureObserver::pressure_thresh_current

Definition at line 84 of file pressure_observer.h.

pr2_gripper_sensor_msgs::PR2GripperPressureData pressureObserver::pressure_thresh_now

Definition at line 84 of file pressure_observer.h.

pr2_gripper_sensor_msgs::PR2GripperPressureData pressureObserver::pressure_thresh_prev

Definition at line 84 of file pressure_observer.h.

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double pressureObserver::time_cur [private]

Definition at line 113 of file pressure_observer.h.

double pressureObserver::time_prev [private]

Definition at line 113 of file pressure_observer.h.

Definition at line 72 of file pressure_observer.h.

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Definition at line 72 of file pressure_observer.h.

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Definition at line 110 of file pressure_observer.h.

pr2_gripper_sensor_msgs::PR2GripperPressureData pressureObserver::zero_offset [private]

Definition at line 111 of file pressure_observer.h.

Definition at line 109 of file pressure_observer.h.


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


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