GravityCompensation Class Reference

#include <gravity_compensation.h>

Public Member Functions
bool	Compensate (const geometry_msgs::WrenchStamped &ft_zeroed, const sensor_msgs::Imu &gravity, geometry_msgs::WrenchStamped &ft_compensated)
	GravityCompensation (GravityCompensationParams *g_comp_params)
void	Zero (const geometry_msgs::WrenchStamped &ft_raw, geometry_msgs::WrenchStamped &ft_zeroed)
virtual	~GravityCompensation ()

Private Attributes
GravityCompensationParams *	m_g_comp_params
tf::TransformListener *	m_tf_listener

Detailed Description

Definition at line 45 of file gravity_compensation.h.

Constructor & Destructor Documentation

GravityCompensation::GravityCompensation

(

GravityCompensationParams *

g_comp_params

)

Definition at line 43 of file gravity_compensation.cpp.

GravityCompensation::~GravityCompensation ( )

virtual

Definition at line 49 of file gravity_compensation.cpp.

Member Function Documentation

bool GravityCompensation::Compensate	(	const geometry_msgs::WrenchStamped &	ft_zeroed,
		const sensor_msgs::Imu &	gravity,
		geometry_msgs::WrenchStamped &	ft_compensated
	)

Definition at line 70 of file gravity_compensation.cpp.

void GravityCompensation::Zero	(	const geometry_msgs::WrenchStamped &	ft_raw,
		geometry_msgs::WrenchStamped &	ft_zeroed
	)

Definition at line 55 of file gravity_compensation.cpp.

Member Data Documentation

GravityCompensationParams* GravityCompensation::m_g_comp_params

private

Definition at line 66 of file gravity_compensation.h.

tf::TransformListener* GravityCompensation::m_tf_listener

private

Definition at line 67 of file gravity_compensation.h.

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

• gravity_compensation.h
• gravity_compensation.cpp