GravityCompensationNode Class Reference

Public Member Functions
bool	calibrateBiasSrvCallback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
bool	getROSParameters ()
	GravityCompensationNode ()
void	publish_gripper_com_tf ()
void	topicCallback_ft_raw (const geometry_msgs::WrenchStamped::ConstPtr &msg)
void	topicCallback_imu (const sensor_msgs::Imu::ConstPtr &msg)
	~GravityCompensationNode ()

Public Attributes
ros::ServiceServer	calibrate_bias_srv_server_
ros::NodeHandle	n_
tf::TransformBroadcaster	tf_br_
ros::Publisher	topicPub_ft_compensated_
ros::Publisher	topicPub_ft_zeroed_
ros::Subscriber	topicSub_ft_raw_
ros::Subscriber	topicSub_imu_

Private Attributes
unsigned int	m_calib_measurements
bool	m_calibrate_bias
Eigen::Matrix< double, 6, 1 >	m_ft_bias
GravityCompensation *	m_g_comp
GravityCompensationParams *	m_g_comp_params
double	m_gripper_com_broadcast_frequency
sensor_msgs::Imu	m_imu
bool	m_received_imu

Detailed Description

Definition at line 49 of file gravity_compensation_node.cpp.

Constructor & Destructor Documentation

GravityCompensationNode::GravityCompensationNode ( )

inline

implementation of topics to publish

Definition at line 66 of file gravity_compensation_node.cpp.

GravityCompensationNode::~GravityCompensationNode ( )

inline

Definition at line 99 of file gravity_compensation_node.cpp.

Member Function Documentation

bool GravityCompensationNode::calibrateBiasSrvCallback ( std_srvs::Empty::Request &  req, std_srvs::Empty::Response &  res  )

inline

Definition at line 325 of file gravity_compensation_node.cpp.

bool GravityCompensationNode::getROSParameters ( )

inline

Get F/T sensor bias

Definition at line 105 of file gravity_compensation_node.cpp.

void GravityCompensationNode::publish_gripper_com_tf ( )

inline

Definition at line 302 of file gravity_compensation_node.cpp.

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

inline

Definition at line 251 of file gravity_compensation_node.cpp.

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

inline

Definition at line 245 of file gravity_compensation_node.cpp.

Member Data Documentation

ros::ServiceServer GravityCompensationNode::calibrate_bias_srv_server_

Definition at line 61 of file gravity_compensation_node.cpp.

unsigned int GravityCompensationNode::m_calib_measurements

private

Definition at line 341 of file gravity_compensation_node.cpp.

bool GravityCompensationNode::m_calibrate_bias

private

Definition at line 340 of file gravity_compensation_node.cpp.

Eigen::Matrix<double, 6, 1> GravityCompensationNode::m_ft_bias

private

Definition at line 342 of file gravity_compensation_node.cpp.

GravityCompensation* GravityCompensationNode::m_g_comp

private

Definition at line 335 of file gravity_compensation_node.cpp.

GravityCompensationParams* GravityCompensationNode::m_g_comp_params

private

Definition at line 334 of file gravity_compensation_node.cpp.

double GravityCompensationNode::m_gripper_com_broadcast_frequency

private

Definition at line 338 of file gravity_compensation_node.cpp.

sensor_msgs::Imu GravityCompensationNode::m_imu

private

Definition at line 336 of file gravity_compensation_node.cpp.

bool GravityCompensationNode::m_received_imu

private

Definition at line 337 of file gravity_compensation_node.cpp.

ros::NodeHandle GravityCompensationNode::n_

Definition at line 52 of file gravity_compensation_node.cpp.

tf::TransformBroadcaster GravityCompensationNode::tf_br_

Definition at line 63 of file gravity_compensation_node.cpp.

ros::Publisher GravityCompensationNode::topicPub_ft_compensated_

Definition at line 59 of file gravity_compensation_node.cpp.

ros::Publisher GravityCompensationNode::topicPub_ft_zeroed_

Definition at line 58 of file gravity_compensation_node.cpp.

ros::Subscriber GravityCompensationNode::topicSub_ft_raw_

Definition at line 56 of file gravity_compensation_node.cpp.

ros::Subscriber GravityCompensationNode::topicSub_imu_

Definition at line 55 of file gravity_compensation_node.cpp.

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

• gravity_compensation_node.cpp