NetftUtilsLean Class Reference

#include <netft_utils_lean.h>

Public Member Functions
bool	biasSensor (bool toBias)
void	getRawData (geometry_msgs::WrenchStamped &data)
void	getToolData (geometry_msgs::WrenchStamped &data)
void	getWorldData (geometry_msgs::WrenchStamped &data)
bool	initialize (double rate, std::string world, std::string ft, double force=60.0, double torque=6.0)
bool	isReady ()
bool	isRunning ()
	NetftUtilsLean (ros::NodeHandle *nh)
bool	run ()
bool	setFilter (bool toFilter, double deltaT, double cutoffFreq)
void	setFTAddress (std::string ftAddress)
void	setFTTopic (std::string ftTopic)
bool	setMax (double fMaxU, double tMaxU, double fMaxB, double tMaxB)
bool	setThreshold (double fThresh, double tThresh)
bool	setUserInput (std::string world, std::string ft, double force, double torque)
void	stop ()
bool	waitForData (double timeout)
	~NetftUtilsLean ()

Private Member Functions
void	applyThreshold (double &value, double thresh)
void	checkMaxForce ()
void	copyWrench (geometry_msgs::WrenchStamped &in, geometry_msgs::WrenchStamped &out, geometry_msgs::WrenchStamped &bias)
void	dataCallback (const geometry_msgs::WrenchStamped::ConstPtr &msg)
bool	monitorData ()
void	netftCallback (const geometry_msgs::WrenchStamped &data)
void	transformFrame (geometry_msgs::WrenchStamped in_data, geometry_msgs::WrenchStamped &out_data, char target_frame)
bool	update ()

Private Attributes
geometry_msgs::WrenchStamped	bias
int	cancel_count
netft_utils::Cancel	cancel_msg
int	cancel_wait
double	cutoffFrequency
double	cycleRate
ros::Publisher	data_pub
double	deltaTFilter
double	forceMaxB
double	forceMaxU
std::string	ft_frame
ros::Subscriber	ft_sub
tf::StampedTransform	ft_to_world
std::string	ftAddress
std::string	ftTopic
bool	hasData
bool	isActive
bool	isBiased
bool	isFilterOn
bool	isInit
bool	isNewBias
tf::TransformListener *	listener
LPFilter *	lp
bool	lpExists
std::future< bool >	monitorThread
ros::NodeHandle *	n
std::unique_ptr< netft_rdt_driver::NetFTRDTDriver >	netft
ros::Publisher	netft_cancel_pub
bool	newFilter
geometry_msgs::WrenchStamped	raw_data_tool
geometry_msgs::WrenchStamped	raw_topic_data
geometry_msgs::WrenchStamped	tf_data_tool
geometry_msgs::WrenchStamped	tf_data_world
geometry_msgs::WrenchStamped	threshold
bool	toMonitor
double	torqueMaxB
double	torqueMaxU
bool	toUpdate
std::future< bool >	updateThread
bool	waitingForTransform
std::string	world_frame
geometry_msgs::WrenchStamped	zero_wrench

Static Private Attributes
static const bool	DEBUG_DATA = true
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 19 of file netft_utils_lean.h.

Constructor & Destructor Documentation

NetftUtilsLean::NetftUtilsLean

(

ros::NodeHandle *

nh

)

Definition at line 19 of file netft_utils_lean.cpp.

NetftUtilsLean::~NetftUtilsLean

(

)

Definition at line 46 of file netft_utils_lean.cpp.

Member Function Documentation

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

private

Definition at line 313 of file netft_utils_lean.cpp.

bool NetftUtilsLean::biasSensor

(

bool

toBias

)

Definition at line 415 of file netft_utils_lean.cpp.

void NetftUtilsLean::checkMaxForce ( )

private

Definition at line 518 of file netft_utils_lean.cpp.

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

private

Definition at line 301 of file netft_utils_lean.cpp.

void NetftUtilsLean::dataCallback ( const geometry_msgs::WrenchStamped::ConstPtr &  msg )

private

Definition at line 189 of file netft_utils_lean.cpp.

void NetftUtilsLean::getRawData

(

geometry_msgs::WrenchStamped &

data

)

Definition at line 581 of file netft_utils_lean.cpp.

void NetftUtilsLean::getToolData

(

geometry_msgs::WrenchStamped &

data

)

Definition at line 586 of file netft_utils_lean.cpp.

void NetftUtilsLean::getWorldData

(

geometry_msgs::WrenchStamped &

data

)

Definition at line 591 of file netft_utils_lean.cpp.

bool NetftUtilsLean::initialize	(	double	rate,
		std::string	world,
		std::string	ft,
		double	force = 60.0,
		double	torque = 6.0
	)

Definition at line 53 of file netft_utils_lean.cpp.

bool NetftUtilsLean::isReady

(

)

Definition at line 203 of file netft_utils_lean.cpp.

bool NetftUtilsLean::isRunning

(

)

Definition at line 596 of file netft_utils_lean.cpp.

bool NetftUtilsLean::monitorData ( )

private

Definition at line 158 of file netft_utils_lean.cpp.

void NetftUtilsLean::netftCallback ( const geometry_msgs::WrenchStamped &  data )

private

Definition at line 352 of file netft_utils_lean.cpp.

bool NetftUtilsLean::run

(

)

Definition at line 119 of file netft_utils_lean.cpp.

bool NetftUtilsLean::setFilter	(	bool	toFilter,
		double	deltaT,
		double	cutoffFreq
	)

Definition at line 472 of file netft_utils_lean.cpp.

void NetftUtilsLean::setFTAddress

(

std::string

ftAddress

)

Definition at line 571 of file netft_utils_lean.cpp.

void NetftUtilsLean::setFTTopic

(

std::string

ftTopic

)

Definition at line 576 of file netft_utils_lean.cpp.

bool NetftUtilsLean::setMax	(	double	fMaxU,
		double	tMaxU,
		double	fMaxB,
		double	tMaxB
	)

Definition at line 489 of file netft_utils_lean.cpp.

bool NetftUtilsLean::setThreshold	(	double	fThresh,
		double	tThresh
	)

Definition at line 506 of file netft_utils_lean.cpp.

bool NetftUtilsLean::setUserInput	(	std::string	world,
		std::string	ft,
		double	force,
		double	torque
	)

Definition at line 218 of file netft_utils_lean.cpp.

void NetftUtilsLean::stop

(

)

Definition at line 152 of file netft_utils_lean.cpp.

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

private

Definition at line 321 of file netft_utils_lean.cpp.

bool NetftUtilsLean::update ( )

private

Definition at line 255 of file netft_utils_lean.cpp.

bool NetftUtilsLean::waitForData

(

double

timeout

)

Definition at line 208 of file netft_utils_lean.cpp.

Member Data Documentation

geometry_msgs::WrenchStamped NetftUtilsLean::bias

private

Definition at line 75 of file netft_utils_lean.h.

int NetftUtilsLean::cancel_count

private

Definition at line 92 of file netft_utils_lean.h.

netft_utils::Cancel NetftUtilsLean::cancel_msg

private

Definition at line 89 of file netft_utils_lean.h.

int NetftUtilsLean::cancel_wait

private

Definition at line 93 of file netft_utils_lean.h.

double NetftUtilsLean::cutoffFrequency

private

Definition at line 64 of file netft_utils_lean.h.

double NetftUtilsLean::cycleRate

private

Definition at line 58 of file netft_utils_lean.h.

ros::Publisher NetftUtilsLean::data_pub

private

Definition at line 104 of file netft_utils_lean.h.

const bool NetftUtilsLean::DEBUG_DATA = true

staticprivate

Definition at line 125 of file netft_utils_lean.h.

double NetftUtilsLean::deltaTFilter

private

Definition at line 63 of file netft_utils_lean.h.

double NetftUtilsLean::forceMaxB

private

Definition at line 94 of file netft_utils_lean.h.

double NetftUtilsLean::forceMaxU

private

Definition at line 96 of file netft_utils_lean.h.

std::string NetftUtilsLean::ft_frame

private

Definition at line 72 of file netft_utils_lean.h.

ros::Subscriber NetftUtilsLean::ft_sub

private

Definition at line 100 of file netft_utils_lean.h.

tf::StampedTransform NetftUtilsLean::ft_to_world

private

Definition at line 70 of file netft_utils_lean.h.

std::string NetftUtilsLean::ftAddress

private

Definition at line 49 of file netft_utils_lean.h.

std::string NetftUtilsLean::ftTopic

private

Definition at line 50 of file netft_utils_lean.h.

bool NetftUtilsLean::hasData

private

Definition at line 52 of file netft_utils_lean.h.

bool NetftUtilsLean::isActive

private

Definition at line 86 of file netft_utils_lean.h.

bool NetftUtilsLean::isBiased

private

Definition at line 83 of file netft_utils_lean.h.

bool NetftUtilsLean::isFilterOn

private

Definition at line 62 of file netft_utils_lean.h.

bool NetftUtilsLean::isInit

private

Definition at line 51 of file netft_utils_lean.h.

bool NetftUtilsLean::isNewBias

private

Definition at line 84 of file netft_utils_lean.h.

tf::TransformListener* NetftUtilsLean::listener

private

Definition at line 69 of file netft_utils_lean.h.

LPFilter* NetftUtilsLean::lp

private

Definition at line 61 of file netft_utils_lean.h.

bool NetftUtilsLean::lpExists

private

Definition at line 66 of file netft_utils_lean.h.

const int NetftUtilsLean::MAX_CANCEL = 5

staticprivate

Definition at line 90 of file netft_utils_lean.h.

const int NetftUtilsLean::MAX_WAIT = 100

staticprivate

Definition at line 91 of file netft_utils_lean.h.

std::future<bool> NetftUtilsLean::monitorThread

private

Definition at line 111 of file netft_utils_lean.h.

ros::NodeHandle* NetftUtilsLean::n

private

Definition at line 46 of file netft_utils_lean.h.

std::unique_ptr<netft_rdt_driver::NetFTRDTDriver> NetftUtilsLean::netft

private

Definition at line 55 of file netft_utils_lean.h.

ros::Publisher NetftUtilsLean::netft_cancel_pub

private

Definition at line 103 of file netft_utils_lean.h.

bool NetftUtilsLean::newFilter

private

Definition at line 65 of file netft_utils_lean.h.

geometry_msgs::WrenchStamped NetftUtilsLean::raw_data_tool

private

Definition at line 76 of file netft_utils_lean.h.

geometry_msgs::WrenchStamped NetftUtilsLean::raw_topic_data

private

Definition at line 81 of file netft_utils_lean.h.

geometry_msgs::WrenchStamped NetftUtilsLean::tf_data_tool

private

Definition at line 78 of file netft_utils_lean.h.

geometry_msgs::WrenchStamped NetftUtilsLean::tf_data_world

private

Definition at line 77 of file netft_utils_lean.h.

geometry_msgs::WrenchStamped NetftUtilsLean::threshold

private

Definition at line 80 of file netft_utils_lean.h.

bool NetftUtilsLean::toMonitor

private

Definition at line 114 of file netft_utils_lean.h.

double NetftUtilsLean::torqueMaxB

private

Definition at line 95 of file netft_utils_lean.h.

double NetftUtilsLean::torqueMaxU

private

Definition at line 97 of file netft_utils_lean.h.

bool NetftUtilsLean::toUpdate

private

Definition at line 113 of file netft_utils_lean.h.

std::future<bool> NetftUtilsLean::updateThread

private

Definition at line 112 of file netft_utils_lean.h.

bool NetftUtilsLean::waitingForTransform

private

Definition at line 85 of file netft_utils_lean.h.

std::string NetftUtilsLean::world_frame

private

Definition at line 71 of file netft_utils_lean.h.

geometry_msgs::WrenchStamped NetftUtilsLean::zero_wrench

private

Definition at line 79 of file netft_utils_lean.h.

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

• netft_utils_lean.h
• netft_utils_lean.cpp