ForceTorqueSensorSim Class Reference

#include <force_torque_sensor_sim.h>

Public Member Functions
	ForceTorqueSensorSim (ros::NodeHandle &nh)
void	init_sensor ()

Protected Member Functions
void	filterFTData ()
void	pullFTData (const ros::TimerEvent &event)
void	subscribeData (const geometry_msgs::Twist::ConstPtr &msg)
virtual void	updateFTData (const ros::TimerEvent &event)=0

Protected Attributes
geometry_msgs::WrenchStamped	joystick_data
ati_force_torque::NodeConfigurationParameters	node_params_
ati_force_torque::PublishConfigurationParameters	pub_params_
std::string	sensor_frame_
geometry_msgs::WrenchStamped	threshold_filtered_force
std::string	transform_frame_
geometry_msgs::WrenchStamped	transformed_data

Private Member Functions
bool	transform_wrench (std::string goal_frame, std::string source_frame, geometry_msgs::Wrench wrench, geometry_msgs::Wrench *transformed)

Private Attributes
uint	_num_transform_errors
ros::Subscriber	force_input_subscriber
ros::Timer	ftPullTimer_
ros::Timer	ftUpdateTimer_
bool	is_pub_sensor_data_ =false
bool	is_pub_transformed_data_ =false
ros::NodeHandle	nh_
tf2_ros::Buffer *	p_tfBuffer
tf2_ros::TransformListener *	p_tfListener
ros::Publisher	sensor_data_pub_
ros::Publisher	transformed_data_pub_

Detailed Description

Definition at line 65 of file force_torque_sensor_sim.h.

Constructor & Destructor Documentation

ForceTorqueSensorSim::ForceTorqueSensorSim

(

ros::NodeHandle &

nh

)

Definition at line 45 of file force_torque_sensor_sim.cpp.

Member Function Documentation

void ForceTorqueSensorSim::filterFTData ( )

protected

Definition at line 115 of file force_torque_sensor_sim.cpp.

void ForceTorqueSensorSim::init_sensor

(

)

Definition at line 67 of file force_torque_sensor_sim.cpp.

void ForceTorqueSensorSim::pullFTData ( const ros::TimerEvent &  event )

protected

Definition at line 81 of file force_torque_sensor_sim.cpp.

void ForceTorqueSensorSim::subscribeData ( const geometry_msgs::Twist::ConstPtr &  msg )

protected

Definition at line 72 of file force_torque_sensor_sim.cpp.

bool ForceTorqueSensorSim::transform_wrench ( std::string  goal_frame, std::string  source_frame, geometry_msgs::Wrench  wrench, geometry_msgs::Wrench *  transformed  )

private

Definition at line 86 of file force_torque_sensor_sim.cpp.

virtual void ForceTorqueSensorSim::updateFTData ( const ros::TimerEvent &  event )

protectedpure virtual

Member Data Documentation

uint ForceTorqueSensorSim::_num_transform_errors

private

Definition at line 88 of file force_torque_sensor_sim.h.

ros::Subscriber ForceTorqueSensorSim::force_input_subscriber

private

Definition at line 87 of file force_torque_sensor_sim.h.

ros::Timer ForceTorqueSensorSim::ftPullTimer_

private

Definition at line 93 of file force_torque_sensor_sim.h.

ros::Timer ForceTorqueSensorSim::ftUpdateTimer_

private

Definition at line 93 of file force_torque_sensor_sim.h.

bool ForceTorqueSensorSim::is_pub_sensor_data_ =false

private

Definition at line 95 of file force_torque_sensor_sim.h.

bool ForceTorqueSensorSim::is_pub_transformed_data_ =false

private

Definition at line 94 of file force_torque_sensor_sim.h.

geometry_msgs::WrenchStamped ForceTorqueSensorSim::joystick_data

protected

Definition at line 81 of file force_torque_sensor_sim.h.

ros::NodeHandle ForceTorqueSensorSim::nh_

private

Definition at line 91 of file force_torque_sensor_sim.h.

ati_force_torque::NodeConfigurationParameters ForceTorqueSensorSim::node_params_

protected

Definition at line 75 of file force_torque_sensor_sim.h.

tf2_ros::Buffer* ForceTorqueSensorSim::p_tfBuffer

private

Definition at line 89 of file force_torque_sensor_sim.h.

tf2_ros::TransformListener* ForceTorqueSensorSim::p_tfListener

private

Definition at line 90 of file force_torque_sensor_sim.h.

ati_force_torque::PublishConfigurationParameters ForceTorqueSensorSim::pub_params_

protected

Definition at line 76 of file force_torque_sensor_sim.h.

ros::Publisher ForceTorqueSensorSim::sensor_data_pub_

private

Definition at line 92 of file force_torque_sensor_sim.h.

std::string ForceTorqueSensorSim::sensor_frame_

protected

Definition at line 74 of file force_torque_sensor_sim.h.

geometry_msgs::WrenchStamped ForceTorqueSensorSim::threshold_filtered_force

protected

Definition at line 81 of file force_torque_sensor_sim.h.

std::string ForceTorqueSensorSim::transform_frame_

protected

Definition at line 73 of file force_torque_sensor_sim.h.

geometry_msgs::WrenchStamped ForceTorqueSensorSim::transformed_data

protected

Definition at line 81 of file force_torque_sensor_sim.h.

ros::Publisher ForceTorqueSensorSim::transformed_data_pub_

private

Definition at line 92 of file force_torque_sensor_sim.h.

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

• force_torque_sensor_sim.h
• force_torque_sensor_sim.cpp