Class holding the configuration of the sensor. More...

#include <Configuration.hpp>

Public Types
using	NodeHandlePtr = std::shared_ptr< ros::NodeHandle >

Public Member Functions
	Configuration ()=default
	Default constructor. More...

	Configuration (const Configuration &other)
	Copy constructor. More...

const ForceTorqueFilter &	getForceTorqueFilter () const
	Gets the forceTorqueFilter variable. More...

const Eigen::Matrix< double, 6, 1 > &	getForceTorqueOffset () const
	Gets the forceTorqueOffset variable. More...

unsigned int	getImuAccelerationFilter () const

uint8_t	getImuAccelerationRange () const
	Gets the imuAccelerationRange variable. More...

unsigned int	getImuAngularRateFilter () const
	Gets the imuAccelerationFilter variable. More...

uint8_t	getImuAngularRateRange () const
	Gets the imuAngularRateRange variable. More...

bool	getSaveConfiguration () const
	Gets the saveConfiguration variable. More...

const calibration::SensorCalibration &	getSensorCalibration () const
	Gets the sensorCalibration variable. More...

const SensorConfiguration &	getSensorConfiguration () const
	Gets the sensorConfiguration variable. More...

bool	getSetReadingToNanOnDisconnect () const
	Gets the setReadingToNanOnDisconnect variable. More...

bool	getUseCustomCalibration () const
	Gets the useCustomCalibration variable. More...

bool	hasForceTorqueFilter () const
	Checks if the value of the forceTorqueFilter_ variable has been set by the user in the configuration file. More...

bool	hasForceTorqueOffset () const
	Checks if the value of the forceTorqueOffset_ variable has been set by the user in the configuration file. More...

bool	hasImuAccelerationFilter () const
	Checks if the value of the imuAccelerationFilter_ variable has been set by the user in the configuration file. More...

bool	hasImuAccelerationRange () const
	Checks if the value of the imuAccelerationRange_ variable has been set by the user in the configuration file. More...

bool	hasImuAngularRateFilter () const
	Checks if the value of the imuAngularRateFilter_ variable has been set by the user in the configuration file. More...

bool	hasImuAngularRateRange () const
	Checks if the value of the imuAngularRateRange_ variable has been set by the user in the configuration file. More...

bool	hasSaveConfiguration () const
	Checks if the value of the saveConfiguration_ variable has been set by the user in the configuration file. More...

bool	hasSensorCalibration () const
	Checks if the value of the sensorCalibration_ variable has been set by the user in the configuration file. More...

bool	hasSensorConfiguration () const
	Checks if the value of the sensorConfiguration_ variable has been set by the user in the configuration file. More...

bool	hasSetReadingToNanOnDisconnect () const
	Checks if the value of the setReadingToNanOnDisconnect_ variable has been set by the user in the configuration file. More...

bool	hasUseCustomCalibration () const
	Checks if the value of the useCustomCalibration_ variable has been set by the user in the configuration file. More...

void	load (const std::string &key, NodeHandlePtr nh)
	Loads the configuration from the parameter server. More...

Configuration &	operator= (const Configuration &other)
	Assignment operator for Configuration. More...

void	printConfiguration () const
	Prints the existing Configuration. More...

void	setForceTorqueFilter (const ForceTorqueFilter &forceTorqueFilter)
	Sets the forceTorqueFilter variable. More...

void	setForceTorqueOffset (const Eigen::Matrix< double, 6, 1 > &forceTorqueOffset)
	Sets the forceTorqueOffset variable. More...

void	setImuAccelerationFilter (const unsigned int imuAccelerationFilter)
	Sets the imuAccelerationFilter variable. More...

void	setImuAccelerationRange (const uint8_t imuAccelerationRange)
	Sets the imuAccelerationRange variable. More...

void	setImuAngularRateFilter (const unsigned int imuAngularRateFilter)
	Sets the imuAngularRateFilter variable. More...

void	setImuAngularRateRange (const uint8_t imuAngularRateRange)
	Sets the imuAngularRateRange variable. More...

void	setSaveConfiguration (const bool saveConfiguration)
	Sets the saveConfiguration variable. More...

void	setSensorCalibration (const calibration::SensorCalibration &sensorCalibration)
	Sets the sensorCalibration variable. More...

void	setSensorConfiguration (const SensorConfiguration &sensorConfiguration)
	Sets the sensorConfiguration variable. More...

void	setSetReadingToNanOnDisconnect (const bool setReadingToNanOnDisconnect)
	Sets the setReadingToNanOnDisconnect variable. More...

void	setUseCustomCalibration (const bool useCustomCalibration)
	Sets the useCustomCalibration variable. More...

virtual	~Configuration ()=default

Protected Attributes
ForceTorqueFilter	forceTorqueFilter_
	The forceTorqueFilter variable. More...

Eigen::Matrix< double, 6, 1 >	forceTorqueOffset_
	The forceTorqueOffset variable. More...

bool	hasForceTorqueFilter_
	Flag indicating if forceTorqueFilter_ is set. More...

bool	hasForceTorqueOffset_
	Flag indicating if forceTorqueOffset_ is set. More...

bool	hasImuAccelerationFilter_
	Flag indicating if imuAccelerationFilter_ is set. More...

bool	hasImuAccelerationRange_
	Flag indicating if imuAccelerationRange_ is set. More...

bool	hasImuAngularRateFilter_
	Flag indicating if imuAngularRateFilter_ is set. More...

bool	hasImuAngularRateRange_
	Flag indicating if imuAngularRateRange_ is set. More...

bool	hasSaveConfiguration_
	Flag indicating if saveConfiguration_ is set. More...

bool	hasSensorCalibration_
	Flag indicating if sensorCalibration_ is set. More...

bool	hasSensorConfiguration_
	Flag indicating if sensorConfiguration_ is set. More...

bool	hasSetReadingToNanOnDisconnect_
	Flag indicating if setReadingToNanOnDisconnect_ is set. More...

bool	hasUseCustomCalibration_
	Flag indicating if useCustomCalibration_ is set. More...

unsigned int	imuAccelerationFilter_
	The imuAccelerationFilter variable. More...

unsigned int	imuAccelerationRange_
	The imuAccelerationRange variable. More...

unsigned int	imuAngularRateFilter_
	The imuAngularRateFilter variable. More...

unsigned int	imuAngularRateRange_
	The imuAngularRateRange variable. More...

std::recursive_mutex	mutex_
	Mutex for synchronized access on the object's private variables. More...

bool	saveConfiguration_
	The saveConfiguration_ variable. More...

calibration::SensorCalibration	sensorCalibration_
	The sensorCalibration variable. More...

SensorConfiguration	sensorConfiguration_
	The sensorConfiguration variable. More...

bool	setReadingToNanOnDisconnect_
	The setReadingToNanOnDisconnect variable. More...

bool	useCustomCalibration_
	The useCustomCalibration variable. More...

Detailed Description

Class holding the configuration of the sensor.

Definition at line 24 of file Configuration.hpp.

Member Typedef Documentation

using rokubimini::configuration::Configuration::NodeHandlePtr = std::shared_ptr<ros::NodeHandle>

Definition at line 27 of file Configuration.hpp.

Constructor & Destructor Documentation

rokubimini::configuration::Configuration::Configuration ( )

default

Default constructor.

rokubimini::configuration::Configuration::Configuration ( const Configuration & other )

Copy constructor.

Parameters

other The other configuration to copy from.

virtual rokubimini::configuration::Configuration::~Configuration ( )

virtualdefault

Member Function Documentation

const ForceTorqueFilter & rokubimini::configuration::Configuration::getForceTorqueFilter ( ) const

Gets the forceTorqueFilter variable.

Returns: The value of forceTorqueFilter to get.

Definition at line 249 of file Configuration.cpp.

const Eigen::Matrix< double, 6, 1 > & rokubimini::configuration::Configuration::getForceTorqueOffset ( ) const

Gets the forceTorqueOffset variable.

Returns: The value of forceTorqueOffset to get.

Definition at line 261 of file Configuration.cpp.

unsigned int rokubimini::configuration::Configuration::getImuAccelerationFilter ( ) const

Definition at line 333 of file Configuration.cpp.

uint8_t rokubimini::configuration::Configuration::getImuAccelerationRange ( ) const

Gets the imuAccelerationRange variable.

Returns: The value of imuAccelerationRange to get.

Definition at line 357 of file Configuration.cpp.

unsigned int rokubimini::configuration::Configuration::getImuAngularRateFilter ( ) const

Gets the imuAccelerationFilter variable.

Gets the imuAngularRateFilter variable.

Returns: The value of imuAccelerationFilter to get.; The value of imuAngularRateFilter to get.

Definition at line 345 of file Configuration.cpp.

uint8_t rokubimini::configuration::Configuration::getImuAngularRateRange ( ) const

Gets the imuAngularRateRange variable.

Returns: The value of imuAngularRateRange to get.

Definition at line 369 of file Configuration.cpp.

bool rokubimini::configuration::Configuration::getSaveConfiguration ( ) const

Gets the saveConfiguration variable.

Returns: The value of saveConfiguration to get.

Definition at line 285 of file Configuration.cpp.

const calibration::SensorCalibration & rokubimini::configuration::Configuration::getSensorCalibration ( ) const

Gets the sensorCalibration variable.

Returns: The value of sensorCalibration to get.

Definition at line 321 of file Configuration.cpp.

const SensorConfiguration & rokubimini::configuration::Configuration::getSensorConfiguration ( ) const

Gets the sensorConfiguration variable.

Returns: The value of sensorConfiguration to get.

Definition at line 309 of file Configuration.cpp.

bool rokubimini::configuration::Configuration::getSetReadingToNanOnDisconnect ( ) const

Gets the setReadingToNanOnDisconnect variable.

Returns: The setReadingToNanOnDisconnect value.

Definition at line 297 of file Configuration.cpp.

bool rokubimini::configuration::Configuration::getUseCustomCalibration ( ) const

Gets the useCustomCalibration variable.

Returns: The value of useCustomCalibration to get.

Definition at line 273 of file Configuration.cpp.

bool rokubimini::configuration::Configuration::hasForceTorqueFilter ( ) const

Checks if the value of the forceTorqueFilter_ variable has been set by the user in the configuration file.

Returns: True If the variable has been set by the user.

Definition at line 393 of file Configuration.cpp.

bool rokubimini::configuration::Configuration::hasForceTorqueOffset ( ) const

Checks if the value of the forceTorqueOffset_ variable has been set by the user in the configuration file.

Returns: True If the variable has been set by the user.

Definition at line 399 of file Configuration.cpp.

bool rokubimini::configuration::Configuration::hasImuAccelerationFilter ( ) const

Checks if the value of the imuAccelerationFilter_ variable has been set by the user in the configuration file.

Returns: True If the variable has been set by the user.

Definition at line 429 of file Configuration.cpp.

bool rokubimini::configuration::Configuration::hasImuAccelerationRange ( ) const

Checks if the value of the imuAccelerationRange_ variable has been set by the user in the configuration file.

Returns: True If the variable has been set by the user.

Definition at line 423 of file Configuration.cpp.

bool rokubimini::configuration::Configuration::hasImuAngularRateFilter ( ) const

Checks if the value of the imuAngularRateFilter_ variable has been set by the user in the configuration file.

Returns: True If the variable has been set by the user.

Definition at line 435 of file Configuration.cpp.

bool rokubimini::configuration::Configuration::hasImuAngularRateRange ( ) const

Checks if the value of the imuAngularRateRange_ variable has been set by the user in the configuration file.

Returns: True If the variable has been set by the user.

Definition at line 375 of file Configuration.cpp.

bool rokubimini::configuration::Configuration::hasSaveConfiguration ( ) const

Checks if the value of the saveConfiguration_ variable has been set by the user in the configuration file.

Returns: True If the variable has been set by the user.

Definition at line 411 of file Configuration.cpp.

bool rokubimini::configuration::Configuration::hasSensorCalibration ( ) const

Checks if the value of the sensorCalibration_ variable has been set by the user in the configuration file.

Returns: True If the variable has been set by the user.

Definition at line 417 of file Configuration.cpp.

bool rokubimini::configuration::Configuration::hasSensorConfiguration ( ) const

Checks if the value of the sensorConfiguration_ variable has been set by the user in the configuration file.

Returns: True If the variable has been set by the user.

Definition at line 387 of file Configuration.cpp.

bool rokubimini::configuration::Configuration::hasSetReadingToNanOnDisconnect ( ) const

Checks if the value of the setReadingToNanOnDisconnect_ variable has been set by the user in the configuration file.

Returns: True If the variable has been set by the user.

Definition at line 381 of file Configuration.cpp.

bool rokubimini::configuration::Configuration::hasUseCustomCalibration ( ) const

Checks if the value of the useCustomCalibration_ variable has been set by the user in the configuration file.

Returns: True If the variable has been set by the user.

Definition at line 405 of file Configuration.cpp.

void rokubimini::configuration::Configuration::load	(	const std::string &	key,
		NodeHandlePtr	nh
	)

Loads the configuration from the parameter server.

Parameters

key	The key to search in the parameter server.
nh	The ROS NodeHandle to access the parameter server.

Definition at line 7 of file Configuration.cpp.

Configuration & rokubimini::configuration::Configuration::operator= ( const Configuration & other )

Assignment operator for Configuration.

Definition at line 216 of file Configuration.cpp.

void rokubimini::configuration::Configuration::printConfiguration ( ) const

Prints the existing Configuration.

Definition at line 202 of file Configuration.cpp.

void rokubimini::configuration::Configuration::setForceTorqueFilter ( const ForceTorqueFilter & forceTorqueFilter )

Sets the forceTorqueFilter variable.

Parameters

forceTorqueFilter The value to set.

Definition at line 243 of file Configuration.cpp.

void rokubimini::configuration::Configuration::setForceTorqueOffset ( const Eigen::Matrix< double, 6, 1 > & forceTorqueOffset )

Sets the forceTorqueOffset variable.

Parameters

forceTorqueOffset The value to set.

Definition at line 255 of file Configuration.cpp.

void rokubimini::configuration::Configuration::setImuAccelerationFilter ( const unsigned int imuAccelerationFilter )

Sets the imuAccelerationFilter variable.

Parameters

imuAccelerationFilter The value to set.

Definition at line 327 of file Configuration.cpp.

void rokubimini::configuration::Configuration::setImuAccelerationRange ( const uint8_t imuAccelerationRange )

Sets the imuAccelerationRange variable.

Parameters

imuAccelerationRange The value to set.

Definition at line 351 of file Configuration.cpp.

void rokubimini::configuration::Configuration::setImuAngularRateFilter ( const unsigned int imuAngularRateFilter )

Sets the imuAngularRateFilter variable.

Parameters

imuAngularRateFilter The value to set.

Definition at line 339 of file Configuration.cpp.

void rokubimini::configuration::Configuration::setImuAngularRateRange ( const uint8_t imuAngularRateRange )

Sets the imuAngularRateRange variable.

Parameters

imuAngularRateRange The value to set.

Definition at line 363 of file Configuration.cpp.

void rokubimini::configuration::Configuration::setSaveConfiguration ( const bool saveConfiguration )

Sets the saveConfiguration variable.

Parameters

saveConfiguration The value to set.

Definition at line 279 of file Configuration.cpp.

void rokubimini::configuration::Configuration::setSensorCalibration ( const calibration::SensorCalibration & sensorCalibration )

Sets the sensorCalibration variable.

Parameters

sensorCalibration The value to set.

Definition at line 315 of file Configuration.cpp.

void rokubimini::configuration::Configuration::setSensorConfiguration ( const SensorConfiguration & sensorConfiguration )

Sets the sensorConfiguration variable.

Parameters

sensorConfiguration The value to set.

Definition at line 303 of file Configuration.cpp.

void rokubimini::configuration::Configuration::setSetReadingToNanOnDisconnect ( const bool setReadingToNanOnDisconnect )

Sets the setReadingToNanOnDisconnect variable.

Parameters

setReadingToNanOnDisconnect The value to set.

Definition at line 291 of file Configuration.cpp.

void rokubimini::configuration::Configuration::setUseCustomCalibration ( const bool useCustomCalibration )

Sets the useCustomCalibration variable.

Parameters

useCustomCalibration The value to set.

Definition at line 267 of file Configuration.cpp.

Member Data Documentation

ForceTorqueFilter rokubimini::configuration::Configuration::forceTorqueFilter_

protected

The forceTorqueFilter variable.

Definition at line 430 of file Configuration.hpp.

Eigen::Matrix< double, 6, 1 > rokubimini::configuration::Configuration::forceTorqueOffset_

protected

The forceTorqueOffset variable.

Definition at line 558 of file Configuration.hpp.

bool rokubimini::configuration::Configuration::hasForceTorqueFilter_

protected

Flag indicating if forceTorqueFilter_ is set.

Definition at line 438 of file Configuration.hpp.

bool rokubimini::configuration::Configuration::hasForceTorqueOffset_

protected

Flag indicating if forceTorqueOffset_ is set.

Definition at line 566 of file Configuration.hpp.

bool rokubimini::configuration::Configuration::hasImuAccelerationFilter_

protected

Flag indicating if imuAccelerationFilter_ is set.

Definition at line 502 of file Configuration.hpp.

bool rokubimini::configuration::Configuration::hasImuAccelerationRange_

protected

Flag indicating if imuAccelerationRange_ is set.

Definition at line 534 of file Configuration.hpp.

bool rokubimini::configuration::Configuration::hasImuAngularRateFilter_

protected

Flag indicating if imuAngularRateFilter_ is set.

Definition at line 518 of file Configuration.hpp.

bool rokubimini::configuration::Configuration::hasImuAngularRateRange_

protected

Flag indicating if imuAngularRateRange_ is set.

Definition at line 550 of file Configuration.hpp.

bool rokubimini::configuration::Configuration::hasSaveConfiguration_

protected

Flag indicating if saveConfiguration_ is set.

Definition at line 582 of file Configuration.hpp.

bool rokubimini::configuration::Configuration::hasSensorCalibration_

protected

Flag indicating if sensorCalibration_ is set.

Definition at line 486 of file Configuration.hpp.

bool rokubimini::configuration::Configuration::hasSensorConfiguration_

protected

Flag indicating if sensorConfiguration_ is set.

Definition at line 454 of file Configuration.hpp.

bool rokubimini::configuration::Configuration::hasSetReadingToNanOnDisconnect_

protected

Flag indicating if setReadingToNanOnDisconnect_ is set.

Definition at line 422 of file Configuration.hpp.

bool rokubimini::configuration::Configuration::hasUseCustomCalibration_

protected

Flag indicating if useCustomCalibration_ is set.

Definition at line 470 of file Configuration.hpp.

unsigned int rokubimini::configuration::Configuration::imuAccelerationFilter_

protected

The imuAccelerationFilter variable.

Definition at line 494 of file Configuration.hpp.

unsigned int rokubimini::configuration::Configuration::imuAccelerationRange_

protected

The imuAccelerationRange variable.

Definition at line 526 of file Configuration.hpp.

unsigned int rokubimini::configuration::Configuration::imuAngularRateFilter_

protected

The imuAngularRateFilter variable.

Definition at line 510 of file Configuration.hpp.

unsigned int rokubimini::configuration::Configuration::imuAngularRateRange_

protected

The imuAngularRateRange variable.

Definition at line 542 of file Configuration.hpp.

std::recursive_mutex rokubimini::configuration::Configuration::mutex_

mutableprotected

Mutex for synchronized access on the object's private variables.

Definition at line 406 of file Configuration.hpp.

bool rokubimini::configuration::Configuration::saveConfiguration_

protected

The saveConfiguration_ variable.

Definition at line 574 of file Configuration.hpp.

calibration::SensorCalibration rokubimini::configuration::Configuration::sensorCalibration_

protected

The sensorCalibration variable.

Definition at line 478 of file Configuration.hpp.

SensorConfiguration rokubimini::configuration::Configuration::sensorConfiguration_

protected

The sensorConfiguration variable.

Definition at line 446 of file Configuration.hpp.

bool rokubimini::configuration::Configuration::setReadingToNanOnDisconnect_

protected

The setReadingToNanOnDisconnect variable.

Definition at line 414 of file Configuration.hpp.

bool rokubimini::configuration::Configuration::useCustomCalibration_

protected

The useCustomCalibration variable.

Definition at line 462 of file Configuration.hpp.

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

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation