netft_utils_sim.cpp File Reference

#include "ros/ros.h"
#include "geometry_msgs/WrenchStamped.h"
#include "netft_utils/StartSim.h"
#include "netft_utils/StopSim.h"
#include <math.h>

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Enumerations
enum	Dim {   DIM_X = 0, DIM_Y = 1, DIM_Z = 2, DIM_RX = 3,   DIM_RY = 4, DIM_RZ = 5 }
enum	SimType { TYPE_ZEROS = 0, TYPE_LINEAR = 1, TYPE_EXP = 2, TYPE_TRIANGLE = 3 }

Functions
int	main (int argc, char **argv)
void	setWrench (double x, double y, double z, double rx, double ry, double rz)
void	simData ()
bool	startSim (netft_utils::StartSim::Request &req, netft_utils::StartSim::Response &res)
bool	stopSim (netft_utils::StopSim::Request &req, netft_utils::StopSim::Response &res)

Variables
double	maxForce = 0.0
Dim	simDim
double	simSlope
double	simStart
SimType	simType
geometry_msgs::WrenchStamped	simWrench
bool	toSim = false
double	upSlope = true

Enumeration Type Documentation

enum Dim

Enumerator
DIM_X
DIM_Y
DIM_Z
DIM_RX
DIM_RY
DIM_RZ

Definition at line 35 of file netft_utils_sim.cpp.

enum SimType

This program simulates the force torque data coming from a FT sensor

Enumerator
TYPE_ZEROS
TYPE_LINEAR
TYPE_EXP
TYPE_TRIANGLE

Definition at line 28 of file netft_utils_sim.cpp.

Function Documentation

int main	(	int	argc,
		char **	argv
	)

Definition at line 163 of file netft_utils_sim.cpp.

void setWrench	(	double	x,
		double	y,
		double	z,
		double	rx,
		double	ry,
		double	rz
	)

Definition at line 51 of file netft_utils_sim.cpp.

void simData

(

)

Definition at line 61 of file netft_utils_sim.cpp.

bool startSim	(	netft_utils::StartSim::Request &	req,
		netft_utils::StartSim::Response &	res
	)

Definition at line 146 of file netft_utils_sim.cpp.

bool stopSim	(	netft_utils::StopSim::Request &	req,
		netft_utils::StopSim::Response &	res
	)

Definition at line 157 of file netft_utils_sim.cpp.

Variable Documentation

double maxForce = 0.0

Definition at line 48 of file netft_utils_sim.cpp.

Dim simDim

Definition at line 45 of file netft_utils_sim.cpp.

double simSlope

Definition at line 47 of file netft_utils_sim.cpp.

double simStart

Definition at line 46 of file netft_utils_sim.cpp.

SimType simType

Definition at line 44 of file netft_utils_sim.cpp.

geometry_msgs::WrenchStamped simWrench

Definition at line 42 of file netft_utils_sim.cpp.

bool toSim = false

Definition at line 43 of file netft_utils_sim.cpp.

double upSlope = true

Definition at line 49 of file netft_utils_sim.cpp.