42 #include <pr2_gripper_sensor_msgs/PR2GripperPressureData.h> 45 #ifndef _PRESSURE_OBSERVER 46 #define _PRESSURE_OBSERVER 48 #define UNITS_PER_N 1600 60 bool checkSlip(
double slip_motion_limit = 0.007,
double slip_force_limit = 0.18);
94 void getPadCentroid(boost::array<double,22> pressureArray,
double *x,
double *y);
100 double getPadForce(boost::array<double,22> pressureArray);
120 #endif // _PRESSURE_OBSERVER
digitalFilter * pressureLFFilt_right[22]
pr2_hardware_interface::PressureSensor * right_finger
bool checkSlip(double slip_motion_limit=0.007, double slip_force_limit=0.18)
bool checkPlaceContact(double dF)
pr2_hardware_interface::PressureSensor * left_finger
bool updatePressureState()
double padForce_left_cur_nonbiased
bool graspContact(int contactsDesired)
void getPadCentroid(boost::array< double, 22 > pressureArray, double *x, double *y)
pr2_gripper_sensor_msgs::PR2GripperPressureData pressure_cur_bias
pr2_gripper_sensor_msgs::PR2GripperPressureData pressure_bp
pressureObserver(pr2_hardware_interface::PressureSensor *left, pr2_hardware_interface::PressureSensor *right)
double padForce_right_cur
pr2_gripper_sensor_msgs::PR2GripperPressureData pressure_current
pr2_gripper_sensor_msgs::PR2GripperPressureData pressure_now
double getPadForce(boost::array< double, 22 > pressureArray)
pr2_gripper_sensor_msgs::PR2GripperPressureData pressure_thresh_current
double padForce_cur_nonbiased
pr2_gripper_sensor_msgs::PR2GripperPressureData zero_offset
pr2_gripper_sensor_msgs::PR2GripperPressureData pressure_thresh_now
pr2_gripper_sensor_msgs::PR2GripperPressureData pressure_current_zerod
pr2_gripper_sensor_msgs::PR2GripperPressureData pressure_prev_bias
pr2_gripper_sensor_msgs::PR2GripperPressureData pressure_prev_zerod
double totalLoading_right
double padForce_right_prev
void updateBrokenSensorStatus()
double padForce_left_prev
void updateTotalLoading()
int checkSideImpact(double dF)
double padForce_right_cur_nonbiased
pr2_gripper_sensor_msgs::PR2GripperPressureData pressure_prev
digitalFilter * pressureLFFilt_left[22]
pr2_gripper_sensor_msgs::PR2GripperPressureData pressure_thresh_prev
void updateContactState()