Public Member Functions
	ATIForceTorqueSensorTWE ()

Eigen::MatrixXd	getCurrentForceTorqueRaw ()

void	getCurrentForceTorqueRaw (double force_x_N, double force_y_N, double force_z_N, double torque_x_Nm, double torque_y_Nm, double torque_z_Nm)

Eigen::MatrixXd	getCurrentForceTorqueScaled ()

void	getCurrentForceTorqueScaled (double force_x_N, double force_y_N, double force_z_N, double torque_x_Nm, double torque_y_Nm, double torque_z_Nm)

bool	initialize (const std::string &ft_data_path, const std::string &ft_data_key, const std::string &ft_frame_id, const std::string &ft_raw_publish_name, const std::string &ft_scaled_publish_name)

void	setCurrentVoltageOutput (double voltage0, double voltage1, double voltage2, double voltage3, double voltage4, double voltage5)

void	setCurrentVoltageOutput (Eigen::MatrixXd voltage)

void	setCurrentVoltageOutputPublish (double voltage0, double voltage1, double voltage2, double voltage3, double voltage4, double voltage5)

void	setCurrentVoltageOutputPublish (Eigen::MatrixXd voltage)

void	setNullForceTorque (Eigen::MatrixXd _ft_null)

void	setScaleFactror (double ft_scale_factor)

void	setScaleParam (double ft_scale_factor, Eigen::MatrixXd ft_null)

	~ATIForceTorqueSensorTWE ()

Private Member Functions
bool	parseFTData (const std::string &ft_data_path, const std::string &ft_data_key)

Private Attributes
Eigen::MatrixXd	ft_coeff_mat_

Eigen::MatrixXd	ft_current_volatge_

std::string	ft_frame_id_

Eigen::MatrixXd	ft_null_

Eigen::MatrixXd	ft_raw_

geometry_msgs::WrenchStamped	ft_raw_msg_

ros::Publisher	ft_raw_pub_

std::string	ft_raw_publish_name_

double	ft_scale_factor_

boost::mutex	ft_scale_param_mutex_

Eigen::MatrixXd	ft_scaled_

geometry_msgs::WrenchStamped	ft_scaled_msg_

ros::Publisher	ft_scaled_pub_

std::string	ft_scaled_publish_name_

Eigen::MatrixXd	ft_unload_volatge_

bool	is_ft_raw_published_

bool	is_ft_scaled_published_

Detailed Description

Constructor & Destructor Documentation

ATIForceTorqueSensorTWE::ATIForceTorqueSensorTWE ( )

ATIForceTorqueSensorTWE::~ATIForceTorqueSensorTWE ( )

Eigen::MatrixXd ATIForceTorqueSensorTWE::getCurrentForceTorqueRaw ( )

void ATIForceTorqueSensorTWE::getCurrentForceTorqueRaw	(	double *	force_x_N,
		double *	force_y_N,
		double *	force_z_N,
		double *	torque_x_Nm,
		double *	torque_y_Nm,
		double *	torque_z_Nm
	)

Eigen::MatrixXd ATIForceTorqueSensorTWE::getCurrentForceTorqueScaled ( )

void ATIForceTorqueSensorTWE::getCurrentForceTorqueScaled	(	double *	force_x_N,
		double *	force_y_N,
		double *	force_z_N,
		double *	torque_x_Nm,
		double *	torque_y_Nm,
		double *	torque_z_Nm
	)

bool ATIForceTorqueSensorTWE::initialize	(	const std::string &	ft_data_path,
		const std::string &	ft_data_key,
		const std::string &	ft_frame_id,
		const std::string &	ft_raw_publish_name,
		const std::string &	ft_scaled_publish_name
	)

bool ATIForceTorqueSensorTWE::parseFTData	(	const std::string &	ft_data_path,
		const std::string &	ft_data_key
	)

private

void ATIForceTorqueSensorTWE::setCurrentVoltageOutput	(	double	voltage0,
		double	voltage1,
		double	voltage2,
		double	voltage3,
		double	voltage4,
		double	voltage5
	)

void ATIForceTorqueSensorTWE::setCurrentVoltageOutput ( Eigen::MatrixXd voltage )

void ATIForceTorqueSensorTWE::setCurrentVoltageOutputPublish	(	double	voltage0,
		double	voltage1,
		double	voltage2,
		double	voltage3,
		double	voltage4,
		double	voltage5
	)