FTCalibNode Class Reference

List of all members.

Public Member Functions
void	addMeasurement ()
void	averageFTMeas ()
bool	finished ()
	FTCalibNode ()
void	getCalib (double &mass, Eigen::Vector3d &COM_pos, Eigen::Vector3d &f_bias, Eigen::Vector3d &t_bias)
bool	getPose (const std::string &pose_param_name, Eigen::Matrix< double, 6, 1 > &pose)
bool	getROSParameters ()
void	init ()
bool	moveNextPose ()
void	saveCalibData ()
void	saveMeasurements (geometry_msgs::Vector3Stamped gravity, geometry_msgs::WrenchStamped ft_meas)
void	topicCallback_ft_raw (const geometry_msgs::WrenchStamped::ConstPtr &msg)
void	topicCallback_imu (const sensor_msgs::Imu::ConstPtr &msg)
	~FTCalibNode ()
Public Attributes
ros::NodeHandle	n_
ros::AsyncSpinner *	spinner
ros::Subscriber	topicSub_Accelerometer_
ros::Subscriber	topicSub_ft_raw_
Private Attributes
std::string	m_calib_file_dir
std::string	m_calib_file_name
bool	m_finished
geometry_msgs::WrenchStamped	m_ft_avg
FTCalib *	m_ft_calib
unsigned int	m_ft_counter
geometry_msgs::WrenchStamped	m_ft_raw
move_group_interface::MoveGroup *	m_group
sensor_msgs::Imu	m_imu
std::string	m_meas_file_dir
std::string	m_meas_file_name
std::string	m_moveit_group_name
int	m_number_random_poses
unsigned int	m_pose_counter
std::string	m_poses_frame_id
bool	m_random_poses
bool	m_received_ft
bool	m_received_imu
tf::TransformListener *	m_tf_listener

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Detailed Description

Definition at line 55 of file ft_calib_node.cpp.

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Constructor & Destructor Documentation

FTCalibNode::FTCalibNode

(

)

[inline]

Definition at line 65 of file ft_calib_node.cpp.

FTCalibNode::~FTCalibNode

(

)

[inline]

Definition at line 88 of file ft_calib_node.cpp.

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Member Function Documentation

void FTCalibNode::addMeasurement

(

)

[inline]

Definition at line 397 of file ft_calib_node.cpp.

void FTCalibNode::averageFTMeas

(

)

[inline]

Definition at line 474 of file ft_calib_node.cpp.

bool FTCalibNode::finished

(

)

[inline]

Definition at line 375 of file ft_calib_node.cpp.

void FTCalibNode::getCalib	(	double &	mass,
		Eigen::Vector3d &	COM_pos,
		Eigen::Vector3d &	f_bias,
		Eigen::Vector3d &	t_bias
	)		[inline]

Definition at line 447 of file ft_calib_node.cpp.

bool FTCalibNode::getPose	(	const std::string &	pose_param_name,
		Eigen::Matrix< double, 6, 1 > &	pose
	)		[inline]

Definition at line 285 of file ft_calib_node.cpp.

bool FTCalibNode::getROSParameters

(

)

[inline]

Definition at line 98 of file ft_calib_node.cpp.

void FTCalibNode::init

(

)

[inline]

Definition at line 216 of file ft_calib_node.cpp.

bool FTCalibNode::moveNextPose

(

)

[inline]

Definition at line 223 of file ft_calib_node.cpp.

void FTCalibNode::saveCalibData

(

)

[inline]

Definition at line 313 of file ft_calib_node.cpp.

void FTCalibNode::saveMeasurements	(	geometry_msgs::Vector3Stamped	gravity,
		geometry_msgs::WrenchStamped	ft_meas
	)		[inline]

Definition at line 358 of file ft_calib_node.cpp.

void FTCalibNode::topicCallback_ft_raw

(

const geometry_msgs::WrenchStamped::ConstPtr &

msg

)

[inline]

Definition at line 380 of file ft_calib_node.cpp.

void FTCalibNode::topicCallback_imu

(

const sensor_msgs::Imu::ConstPtr &

msg

)

[inline]

Definition at line 389 of file ft_calib_node.cpp.

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Member Data Documentation

std::string FTCalibNode::m_calib_file_dir [private]

Definition at line 533 of file ft_calib_node.cpp.

std::string FTCalibNode::m_calib_file_name [private]

Definition at line 529 of file ft_calib_node.cpp.

bool FTCalibNode::m_finished [private]

Definition at line 507 of file ft_calib_node.cpp.

geometry_msgs::WrenchStamped FTCalibNode::m_ft_avg [private]

Definition at line 517 of file ft_calib_node.cpp.

FTCalib* FTCalibNode::m_ft_calib [private]

Definition at line 513 of file ft_calib_node.cpp.

unsigned int FTCalibNode::m_ft_counter [private]

Definition at line 505 of file ft_calib_node.cpp.

geometry_msgs::WrenchStamped FTCalibNode::m_ft_raw [private]

Definition at line 516 of file ft_calib_node.cpp.

move_group_interface::MoveGroup* FTCalibNode::m_group [private]

Definition at line 502 of file ft_calib_node.cpp.

sensor_msgs::Imu FTCalibNode::m_imu [private]

Definition at line 520 of file ft_calib_node.cpp.

std::string FTCalibNode::m_meas_file_dir [private]

Definition at line 540 of file ft_calib_node.cpp.

std::string FTCalibNode::m_meas_file_name [private]

Definition at line 536 of file ft_calib_node.cpp.

std::string FTCalibNode::m_moveit_group_name [private]

Definition at line 526 of file ft_calib_node.cpp.

int FTCalibNode::m_number_random_poses [private]

Definition at line 551 of file ft_calib_node.cpp.

unsigned int FTCalibNode::m_pose_counter [private]

Definition at line 504 of file ft_calib_node.cpp.

std::string FTCalibNode::m_poses_frame_id [private]

Definition at line 543 of file ft_calib_node.cpp.

bool FTCalibNode::m_random_poses [private]

Definition at line 547 of file ft_calib_node.cpp.

bool FTCalibNode::m_received_ft [private]

Definition at line 509 of file ft_calib_node.cpp.

bool FTCalibNode::m_received_imu [private]

Definition at line 510 of file ft_calib_node.cpp.

tf::TransformListener* FTCalibNode::m_tf_listener [private]

Definition at line 522 of file ft_calib_node.cpp.

ros::NodeHandle FTCalibNode::n_

Definition at line 60 of file ft_calib_node.cpp.

ros::AsyncSpinner* FTCalibNode::spinner

Definition at line 61 of file ft_calib_node.cpp.

ros::Subscriber FTCalibNode::topicSub_Accelerometer_

Definition at line 63 of file ft_calib_node.cpp.

ros::Subscriber FTCalibNode::topicSub_ft_raw_

Definition at line 62 of file ft_calib_node.cpp.

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

• ft_calib_node.cpp