Public Member Functions | Private Member Functions | Private Attributes | Static Private Attributes
NetftUtilsLean Class Reference

#include <netft_utils_lean.h>

List of all members.

Public Member Functions

bool biasSensor (bool toBias)
void getRawData (geometry_msgs::WrenchStamped &data)
void getToolData (geometry_msgs::WrenchStamped &data)
void getWorldData (geometry_msgs::WrenchStamped &data)
bool initialize (double rate, std::string world, std::string ft, double force=60.0, double torque=6.0)
bool isReady ()
bool isRunning ()
 NetftUtilsLean (ros::NodeHandle *nh)
bool run ()
bool setFilter (bool toFilter, double deltaT, double cutoffFreq)
void setFTAddress (std::string ftAddress)
void setFTTopic (std::string ftTopic)
bool setMax (double fMaxU, double tMaxU, double fMaxB, double tMaxB)
bool setThreshold (double fThresh, double tThresh)
bool setUserInput (std::string world, std::string ft, double force, double torque)
void stop ()
bool waitForData (double timeout)
 ~NetftUtilsLean ()

Private Member Functions

void applyThreshold (double &value, double thresh)
void checkMaxForce ()
void copyWrench (geometry_msgs::WrenchStamped &in, geometry_msgs::WrenchStamped &out, geometry_msgs::WrenchStamped &bias)
void dataCallback (const geometry_msgs::WrenchStamped::ConstPtr &msg)
bool monitorData ()
void netftCallback (const geometry_msgs::WrenchStamped &data)
void transformFrame (geometry_msgs::WrenchStamped in_data, geometry_msgs::WrenchStamped &out_data, char target_frame)
bool update ()

Private Attributes

geometry_msgs::WrenchStamped bias
int cancel_count
netft_utils::Cancel cancel_msg
int cancel_wait
double cutoffFrequency
double cycleRate
ros::Publisher data_pub
double deltaTFilter
double forceMaxB
double forceMaxU
std::string ft_frame
ros::Subscriber ft_sub
tf::StampedTransform ft_to_world
std::string ftAddress
std::string ftTopic
bool hasData
bool isActive
bool isBiased
bool isFilterOn
bool isInit
bool isNewBias
bool lpExists
std::future< bool > monitorThread
< netft_rdt_driver::NetFTRDTDriver
ros::Publisher netft_cancel_pub
bool newFilter
geometry_msgs::WrenchStamped raw_data_tool
geometry_msgs::WrenchStamped raw_topic_data
geometry_msgs::WrenchStamped tf_data_tool
geometry_msgs::WrenchStamped tf_data_world
geometry_msgs::WrenchStamped threshold
bool toMonitor
double torqueMaxB
double torqueMaxU
bool toUpdate
std::future< bool > updateThread
bool waitingForTransform
std::string world_frame
geometry_msgs::WrenchStamped zero_wrench

Static Private Attributes

static const bool DEBUG_DATA = true
static const int MAX_CANCEL = 5
static const int MAX_WAIT = 100

Detailed Description

This program takes force/torque data and applies transforms to usable data

Definition at line 19 of file netft_utils_lean.h.

Constructor & Destructor Documentation

Definition at line 19 of file netft_utils_lean.cpp.

Definition at line 46 of file netft_utils_lean.cpp.

Member Function Documentation

void NetftUtilsLean::applyThreshold ( double &  value,
double  thresh 
) [private]

Definition at line 314 of file netft_utils_lean.cpp.

bool NetftUtilsLean::biasSensor ( bool  toBias)

Definition at line 416 of file netft_utils_lean.cpp.

void NetftUtilsLean::checkMaxForce ( ) [private]

Definition at line 519 of file netft_utils_lean.cpp.

void NetftUtilsLean::copyWrench ( geometry_msgs::WrenchStamped &  in,
geometry_msgs::WrenchStamped &  out,
geometry_msgs::WrenchStamped &  bias 
) [private]

Definition at line 302 of file netft_utils_lean.cpp.

void NetftUtilsLean::dataCallback ( const geometry_msgs::WrenchStamped::ConstPtr &  msg) [private]

Definition at line 190 of file netft_utils_lean.cpp.

void NetftUtilsLean::getRawData ( geometry_msgs::WrenchStamped &  data)

Definition at line 582 of file netft_utils_lean.cpp.

void NetftUtilsLean::getToolData ( geometry_msgs::WrenchStamped &  data)

Definition at line 587 of file netft_utils_lean.cpp.

void NetftUtilsLean::getWorldData ( geometry_msgs::WrenchStamped &  data)

Definition at line 592 of file netft_utils_lean.cpp.

bool NetftUtilsLean::initialize ( double  rate,
std::string  world,
std::string  ft,
double  force = 60.0,
double  torque = 6.0 

Definition at line 53 of file netft_utils_lean.cpp.

Definition at line 204 of file netft_utils_lean.cpp.

Definition at line 597 of file netft_utils_lean.cpp.

bool NetftUtilsLean::monitorData ( ) [private]

Definition at line 159 of file netft_utils_lean.cpp.

void NetftUtilsLean::netftCallback ( const geometry_msgs::WrenchStamped &  data) [private]

Definition at line 353 of file netft_utils_lean.cpp.

Definition at line 120 of file netft_utils_lean.cpp.

bool NetftUtilsLean::setFilter ( bool  toFilter,
double  deltaT,
double  cutoffFreq 

Definition at line 473 of file netft_utils_lean.cpp.

void NetftUtilsLean::setFTAddress ( std::string  ftAddress)

Definition at line 572 of file netft_utils_lean.cpp.

void NetftUtilsLean::setFTTopic ( std::string  ftTopic)

Definition at line 577 of file netft_utils_lean.cpp.

bool NetftUtilsLean::setMax ( double  fMaxU,
double  tMaxU,
double  fMaxB,
double  tMaxB 

Definition at line 490 of file netft_utils_lean.cpp.

bool NetftUtilsLean::setThreshold ( double  fThresh,
double  tThresh 

Definition at line 507 of file netft_utils_lean.cpp.

bool NetftUtilsLean::setUserInput ( std::string  world,
std::string  ft,
double  force,
double  torque 

Definition at line 219 of file netft_utils_lean.cpp.

Definition at line 153 of file netft_utils_lean.cpp.

void NetftUtilsLean::transformFrame ( geometry_msgs::WrenchStamped  in_data,
geometry_msgs::WrenchStamped &  out_data,
char  target_frame 
) [private]

Definition at line 322 of file netft_utils_lean.cpp.

bool NetftUtilsLean::update ( ) [private]

Definition at line 256 of file netft_utils_lean.cpp.

bool NetftUtilsLean::waitForData ( double  timeout)

Definition at line 209 of file netft_utils_lean.cpp.

Member Data Documentation

geometry_msgs::WrenchStamped NetftUtilsLean::bias [private]

Definition at line 75 of file netft_utils_lean.h.

Definition at line 92 of file netft_utils_lean.h.

netft_utils::Cancel NetftUtilsLean::cancel_msg [private]

Definition at line 89 of file netft_utils_lean.h.

Definition at line 93 of file netft_utils_lean.h.

Definition at line 64 of file netft_utils_lean.h.

double NetftUtilsLean::cycleRate [private]

Definition at line 58 of file netft_utils_lean.h.

Definition at line 104 of file netft_utils_lean.h.

const bool NetftUtilsLean::DEBUG_DATA = true [static, private]

Definition at line 125 of file netft_utils_lean.h.

double NetftUtilsLean::deltaTFilter [private]

Definition at line 63 of file netft_utils_lean.h.

double NetftUtilsLean::forceMaxB [private]

Definition at line 94 of file netft_utils_lean.h.

double NetftUtilsLean::forceMaxU [private]

Definition at line 96 of file netft_utils_lean.h.

std::string NetftUtilsLean::ft_frame [private]

Definition at line 72 of file netft_utils_lean.h.

Definition at line 100 of file netft_utils_lean.h.

Definition at line 70 of file netft_utils_lean.h.

std::string NetftUtilsLean::ftAddress [private]

Definition at line 49 of file netft_utils_lean.h.

std::string NetftUtilsLean::ftTopic [private]

Definition at line 50 of file netft_utils_lean.h.

bool NetftUtilsLean::hasData [private]

Definition at line 52 of file netft_utils_lean.h.

bool NetftUtilsLean::isActive [private]

Definition at line 86 of file netft_utils_lean.h.

bool NetftUtilsLean::isBiased [private]

Definition at line 83 of file netft_utils_lean.h.

Definition at line 62 of file netft_utils_lean.h.

bool NetftUtilsLean::isInit [private]

Definition at line 51 of file netft_utils_lean.h.

bool NetftUtilsLean::isNewBias [private]

Definition at line 84 of file netft_utils_lean.h.

Definition at line 69 of file netft_utils_lean.h.

Definition at line 61 of file netft_utils_lean.h.

bool NetftUtilsLean::lpExists [private]

Definition at line 66 of file netft_utils_lean.h.

const int NetftUtilsLean::MAX_CANCEL = 5 [static, private]

Definition at line 90 of file netft_utils_lean.h.

const int NetftUtilsLean::MAX_WAIT = 100 [static, private]

Definition at line 91 of file netft_utils_lean.h.

std::future<bool> NetftUtilsLean::monitorThread [private]

Definition at line 111 of file netft_utils_lean.h.

Definition at line 46 of file netft_utils_lean.h.

Definition at line 55 of file netft_utils_lean.h.

Definition at line 103 of file netft_utils_lean.h.

bool NetftUtilsLean::newFilter [private]

Definition at line 65 of file netft_utils_lean.h.

geometry_msgs::WrenchStamped NetftUtilsLean::raw_data_tool [private]

Definition at line 76 of file netft_utils_lean.h.

geometry_msgs::WrenchStamped NetftUtilsLean::raw_topic_data [private]

Definition at line 81 of file netft_utils_lean.h.

geometry_msgs::WrenchStamped NetftUtilsLean::tf_data_tool [private]

Definition at line 78 of file netft_utils_lean.h.

geometry_msgs::WrenchStamped NetftUtilsLean::tf_data_world [private]

Definition at line 77 of file netft_utils_lean.h.

geometry_msgs::WrenchStamped NetftUtilsLean::threshold [private]

Definition at line 80 of file netft_utils_lean.h.

bool NetftUtilsLean::toMonitor [private]

Definition at line 114 of file netft_utils_lean.h.

double NetftUtilsLean::torqueMaxB [private]

Definition at line 95 of file netft_utils_lean.h.

double NetftUtilsLean::torqueMaxU [private]

Definition at line 97 of file netft_utils_lean.h.

bool NetftUtilsLean::toUpdate [private]

Definition at line 113 of file netft_utils_lean.h.

std::future<bool> NetftUtilsLean::updateThread [private]

Definition at line 112 of file netft_utils_lean.h.

Definition at line 85 of file netft_utils_lean.h.

std::string NetftUtilsLean::world_frame [private]

Definition at line 71 of file netft_utils_lean.h.

geometry_msgs::WrenchStamped NetftUtilsLean::zero_wrench [private]

Definition at line 79 of file netft_utils_lean.h.

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

Author(s): Alex von Sternberg , Derek King, Andy Zelenak
autogenerated on Sat Jul 15 2017 02:45:58