NetftUtils Class Reference

#include <netft_utils.h>

Public Member Functions
void	initialize ()
	NetftUtils (ros::NodeHandle nh)
void	setUserInput (std::string world, std::string ft, double force, double torque)
void	update ()
	~NetftUtils ()

Private Member Functions
void	applyThreshold (double &value, double thresh)
void	checkMaxForce ()
bool	compensateForGravity (netft_utils::SetBias::Request &req, netft_utils::SetBias::Response &res)
void	copyWrench (geometry_msgs::WrenchStamped &in, geometry_msgs::WrenchStamped &out, geometry_msgs::WrenchStamped &bias)
bool	fixedOrientationBias (netft_utils::SetBias::Request &req, netft_utils::SetBias::Response &res)
bool	getWeight (netft_utils::GetDouble::Request &req, netft_utils::GetDouble::Response &res)
void	netftCallback (const geometry_msgs::WrenchStamped::ConstPtr &data)
bool	setFilter (netft_utils::SetFilter::Request &req, netft_utils::SetFilter::Response &res)
bool	setMax (netft_utils::SetMax::Request &req, netft_utils::SetMax::Response &res)
bool	setThreshold (netft_utils::SetThreshold::Request &req, netft_utils::SetThreshold::Response &res)
bool	setWeightBias (netft_utils::SetBias::Request &req, netft_utils::SetBias::Response &res)
void	transformFrame (geometry_msgs::WrenchStamped in_data, geometry_msgs::WrenchStamped &out_data, char target_frame)

Private Attributes
geometry_msgs::WrenchStamped	bias
ros::ServiceServer	bias_service
int	cancel_count
netft_utils::Cancel	cancel_msg
int	cancel_wait
double	cutoffFrequency
double	deltaTFilter
ros::ServiceServer	filter_service
double	forceMaxB
double	forceMaxU
std::string	ft_frame
tf::StampedTransform	ft_to_world
ros::ServiceServer	get_weight_service
ros::ServiceServer	gravity_comp_service
bool	isBiased
bool	isFilterOn
bool	isGravityBiased
bool	isNewBias
bool	isNewGravityBias
tf::TransformListener *	listener
LPFilter *	lp
ros::NodeHandle	n
ros::Publisher	netft_cancel_pub
ros::Publisher	netft_raw_world_data_pub
ros::Publisher	netft_tool_data_pub
ros::Publisher	netft_world_data_pub
bool	newFilter
double	payloadLeverArm
double	payloadWeight
ros::Subscriber	raw_data_sub
geometry_msgs::WrenchStamped	raw_data_tool
geometry_msgs::WrenchStamped	raw_data_world
ros::ServiceServer	set_max_service
geometry_msgs::WrenchStamped	tf_data_tool
geometry_msgs::WrenchStamped	tf_data_world
ros::ServiceServer	theshold_service
geometry_msgs::WrenchStamped	threshold
double	torqueMaxB
double	torqueMaxU
geometry_msgs::WrenchStamped	weight_bias
ros::ServiceServer	weight_bias_service
std::string	world_frame
geometry_msgs::WrenchStamped	zero_wrench

Static Private Attributes
static const int	MAX_CANCEL = 5
static const int	MAX_WAIT = 100

Detailed Description

This program takes force/torque data and applies transforms to usable data

Definition at line 22 of file netft_utils.h.

Constructor & Destructor Documentation

NetftUtils::NetftUtils

(

ros::NodeHandle

nh

)

Definition at line 73 of file netft_utils.cpp.

NetftUtils::~NetftUtils

(

)

Definition at line 94 of file netft_utils.cpp.

Member Function Documentation

void NetftUtils::applyThreshold ( double &  value, double  thresh  )

private

Definition at line 199 of file netft_utils.cpp.

void NetftUtils::checkMaxForce ( )

private

Definition at line 445 of file netft_utils.cpp.

bool NetftUtils::compensateForGravity ( netft_utils::SetBias::Request &  req, netft_utils::SetBias::Response &  res  )

private

Definition at line 349 of file netft_utils.cpp.

void NetftUtils::copyWrench ( geometry_msgs::WrenchStamped &  in, geometry_msgs::WrenchStamped &  out, geometry_msgs::WrenchStamped &  bias  )

private

Definition at line 187 of file netft_utils.cpp.

bool NetftUtils::fixedOrientationBias ( netft_utils::SetBias::Request &  req, netft_utils::SetBias::Response &  res  )

private

Definition at line 322 of file netft_utils.cpp.

bool NetftUtils::getWeight ( netft_utils::GetDouble::Request &  req, netft_utils::GetDouble::Response &  res  )

private

Definition at line 422 of file netft_utils.cpp.

void NetftUtils::initialize

(

)

Definition at line 100 of file netft_utils.cpp.

void NetftUtils::netftCallback ( const geometry_msgs::WrenchStamped::ConstPtr &  data )

private

Definition at line 239 of file netft_utils.cpp.

bool NetftUtils::setFilter ( netft_utils::SetFilter::Request &  req, netft_utils::SetFilter::Response &  res  )

private

Definition at line 379 of file netft_utils.cpp.

bool NetftUtils::setMax ( netft_utils::SetMax::Request &  req, netft_utils::SetMax::Response &  res  )

private

Definition at line 396 of file netft_utils.cpp.

bool NetftUtils::setThreshold ( netft_utils::SetThreshold::Request &  req, netft_utils::SetThreshold::Response &  res  )

private

Definition at line 431 of file netft_utils.cpp.

void NetftUtils::setUserInput	(	std::string	world,
		std::string	ft,
		double	force,
		double	torque
	)

Definition at line 137 of file netft_utils.cpp.

bool NetftUtils::setWeightBias ( netft_utils::SetBias::Request &  req, netft_utils::SetBias::Response &  res  )

private

Definition at line 407 of file netft_utils.cpp.

void NetftUtils::transformFrame ( geometry_msgs::WrenchStamped  in_data, geometry_msgs::WrenchStamped &  out_data, char  target_frame  )

private

Definition at line 207 of file netft_utils.cpp.

void NetftUtils::update

(

)

Definition at line 151 of file netft_utils.cpp.

Member Data Documentation

geometry_msgs::WrenchStamped NetftUtils::bias

private

Definition at line 50 of file netft_utils.h.

ros::ServiceServer NetftUtils::bias_service

private

Definition at line 90 of file netft_utils.h.

int NetftUtils::cancel_count

private

Definition at line 71 of file netft_utils.h.

netft_utils::Cancel NetftUtils::cancel_msg

private

Definition at line 68 of file netft_utils.h.

int NetftUtils::cancel_wait

private

Definition at line 72 of file netft_utils.h.

double NetftUtils::cutoffFrequency

private

Definition at line 40 of file netft_utils.h.

double NetftUtils::deltaTFilter

private

Definition at line 39 of file netft_utils.h.

ros::ServiceServer NetftUtils::filter_service

private

Definition at line 96 of file netft_utils.h.

double NetftUtils::forceMaxB

private

Definition at line 73 of file netft_utils.h.

double NetftUtils::forceMaxU

private

Definition at line 75 of file netft_utils.h.

std::string NetftUtils::ft_frame

private

Definition at line 47 of file netft_utils.h.

tf::StampedTransform NetftUtils::ft_to_world

private

Definition at line 45 of file netft_utils.h.

ros::ServiceServer NetftUtils::get_weight_service

private

Definition at line 95 of file netft_utils.h.

ros::ServiceServer NetftUtils::gravity_comp_service

private

Definition at line 91 of file netft_utils.h.

bool NetftUtils::isBiased

private

Definition at line 62 of file netft_utils.h.

bool NetftUtils::isFilterOn

private

Definition at line 38 of file netft_utils.h.

bool NetftUtils::isGravityBiased

private

Definition at line 65 of file netft_utils.h.

bool NetftUtils::isNewBias

private

Definition at line 63 of file netft_utils.h.

bool NetftUtils::isNewGravityBias

private

Definition at line 64 of file netft_utils.h.

tf::TransformListener* NetftUtils::listener

private

Definition at line 44 of file netft_utils.h.

LPFilter* NetftUtils::lp

private

Definition at line 37 of file netft_utils.h.

const int NetftUtils::MAX_CANCEL = 5

staticprivate

Definition at line 69 of file netft_utils.h.

const int NetftUtils::MAX_WAIT = 100

staticprivate

Definition at line 70 of file netft_utils.h.

ros::NodeHandle NetftUtils::n

private

Definition at line 34 of file netft_utils.h.

ros::Publisher NetftUtils::netft_cancel_pub

private

Definition at line 85 of file netft_utils.h.

ros::Publisher NetftUtils::netft_raw_world_data_pub

private

Definition at line 82 of file netft_utils.h.

ros::Publisher NetftUtils::netft_tool_data_pub

private

Definition at line 84 of file netft_utils.h.

ros::Publisher NetftUtils::netft_world_data_pub

private

Definition at line 83 of file netft_utils.h.

bool NetftUtils::newFilter

private

Definition at line 41 of file netft_utils.h.

double NetftUtils::payloadLeverArm

private

Definition at line 60 of file netft_utils.h.

double NetftUtils::payloadWeight

private

Definition at line 59 of file netft_utils.h.

ros::Subscriber NetftUtils::raw_data_sub

private

Definition at line 79 of file netft_utils.h.

geometry_msgs::WrenchStamped NetftUtils::raw_data_tool

private

Definition at line 53 of file netft_utils.h.

geometry_msgs::WrenchStamped NetftUtils::raw_data_world

private

Definition at line 52 of file netft_utils.h.

ros::ServiceServer NetftUtils::set_max_service

private

Definition at line 92 of file netft_utils.h.

geometry_msgs::WrenchStamped NetftUtils::tf_data_tool

private

Definition at line 55 of file netft_utils.h.

geometry_msgs::WrenchStamped NetftUtils::tf_data_world

private

Definition at line 54 of file netft_utils.h.

ros::ServiceServer NetftUtils::theshold_service

private

Definition at line 93 of file netft_utils.h.

geometry_msgs::WrenchStamped NetftUtils::threshold

private

Definition at line 57 of file netft_utils.h.

double NetftUtils::torqueMaxB

private

Definition at line 74 of file netft_utils.h.

double NetftUtils::torqueMaxU

private

Definition at line 76 of file netft_utils.h.

geometry_msgs::WrenchStamped NetftUtils::weight_bias

private

Definition at line 51 of file netft_utils.h.

ros::ServiceServer NetftUtils::weight_bias_service

private

Definition at line 94 of file netft_utils.h.

std::string NetftUtils::world_frame

private

Definition at line 46 of file netft_utils.h.

geometry_msgs::WrenchStamped NetftUtils::zero_wrench

private

Definition at line 56 of file netft_utils.h.

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

• netft_utils.h
• netft_utils.cpp