FTCalibNode Class Reference

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
moveit::planning_interface::MoveGroupInterface *	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

Detailed Description

Definition at line 55 of file ft_calib_node.cpp.

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.

Member Function Documentation

void FTCalibNode::addMeasurement ( )

inline

Definition at line 398 of file ft_calib_node.cpp.

void FTCalibNode::averageFTMeas ( )

inline

Definition at line 477 of file ft_calib_node.cpp.

bool FTCalibNode::finished ( )

inline

Definition at line 376 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 450 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 286 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 224 of file ft_calib_node.cpp.

void FTCalibNode::saveCalibData ( )

inline

Definition at line 314 of file ft_calib_node.cpp.

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

inline

Definition at line 359 of file ft_calib_node.cpp.

void FTCalibNode::topicCallback_ft_raw ( const geometry_msgs::WrenchStamped::ConstPtr &  msg )

inline

Definition at line 381 of file ft_calib_node.cpp.

void FTCalibNode::topicCallback_imu ( const sensor_msgs::Imu::ConstPtr &  msg )

inline

Definition at line 390 of file ft_calib_node.cpp.

Member Data Documentation

std::string FTCalibNode::m_calib_file_dir

private

Definition at line 536 of file ft_calib_node.cpp.

std::string FTCalibNode::m_calib_file_name

private

Definition at line 532 of file ft_calib_node.cpp.

bool FTCalibNode::m_finished

private

Definition at line 510 of file ft_calib_node.cpp.

geometry_msgs::WrenchStamped FTCalibNode::m_ft_avg

private

Definition at line 520 of file ft_calib_node.cpp.

FTCalib* FTCalibNode::m_ft_calib

private

Definition at line 516 of file ft_calib_node.cpp.

unsigned int FTCalibNode::m_ft_counter

private

Definition at line 508 of file ft_calib_node.cpp.

geometry_msgs::WrenchStamped FTCalibNode::m_ft_raw

private

Definition at line 519 of file ft_calib_node.cpp.

moveit::planning_interface::MoveGroupInterface* FTCalibNode::m_group

private

Definition at line 505 of file ft_calib_node.cpp.

sensor_msgs::Imu FTCalibNode::m_imu

private

Definition at line 523 of file ft_calib_node.cpp.

std::string FTCalibNode::m_meas_file_dir

private

Definition at line 543 of file ft_calib_node.cpp.

std::string FTCalibNode::m_meas_file_name

private

Definition at line 539 of file ft_calib_node.cpp.

std::string FTCalibNode::m_moveit_group_name

private

Definition at line 529 of file ft_calib_node.cpp.

int FTCalibNode::m_number_random_poses

private

Definition at line 554 of file ft_calib_node.cpp.

unsigned int FTCalibNode::m_pose_counter

private

Definition at line 507 of file ft_calib_node.cpp.

std::string FTCalibNode::m_poses_frame_id

private

Definition at line 546 of file ft_calib_node.cpp.

bool FTCalibNode::m_random_poses

private

Definition at line 550 of file ft_calib_node.cpp.

bool FTCalibNode::m_received_ft

private

Definition at line 512 of file ft_calib_node.cpp.

bool FTCalibNode::m_received_imu

private

Definition at line 513 of file ft_calib_node.cpp.

tf::TransformListener* FTCalibNode::m_tf_listener

private

Definition at line 525 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.

---

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

• ft_calib_node.cpp