#include <feet_force_torque_sensor_module.h>

Inheritance diagram for thormang3::FeetForceTorqueSensor:

Public Member Functions
	FeetForceTorqueSensor ()

void	initialize (const int control_cycle_msec, robotis_framework::Robot *robot)

void	process (std::map< std::string, robotis_framework::Dynamixel * > dxls, std::map< std::string, robotis_framework::Sensor * > sensors)

	~FeetForceTorqueSensor ()

Public Member Functions inherited from robotis_framework::SensorModule
std::string	getModuleName ()

virtual	~SensorModule ()

Public Attributes
double	l_foot_fx_raw_N_

double	l_foot_fx_scaled_N_

double	l_foot_fy_raw_N_

double	l_foot_fy_scaled_N_

double	l_foot_fz_raw_N_

double	l_foot_fz_scaled_N_

double	l_foot_tx_raw_Nm_

double	l_foot_tx_scaled_Nm_

double	l_foot_ty_raw_Nm_

double	l_foot_ty_scaled_Nm_

double	l_foot_tz_raw_Nm_

double	l_foot_tz_scaled_Nm_

double	r_foot_fx_raw_N_

double	r_foot_fx_scaled_N_

double	r_foot_fy_raw_N_

double	r_foot_fy_scaled_N_

double	r_foot_fz_raw_N_

double	r_foot_fz_scaled_N_

double	r_foot_tx_raw_Nm_

double	r_foot_tx_scaled_Nm_

double	r_foot_ty_raw_Nm_

double	r_foot_ty_scaled_Nm_

double	r_foot_tz_raw_Nm_

double	r_foot_tz_scaled_Nm_

Public Attributes inherited from robotis_framework::SensorModule
std::map< std::string, double >	result_

Private Member Functions
void	ftSensorCalibrationCommandCallback (const std_msgs::String::ConstPtr &msg)

void	initializeFeetForceTorqueSensor ()

void	publishBothFTData (int type, Eigen::MatrixXd &ft_right, Eigen::MatrixXd &ft_left)

void	publishStatusMsg (unsigned int type, std::string msg)

void	queueThread ()

void	saveFTCalibrationData (const std::string &path)

Private Attributes
int	control_cycle_msec_

bool	exist_l_leg_an_p_

bool	exist_l_leg_an_r_

bool	exist_r_leg_an_p_

bool	exist_r_leg_an_r_

const int	FT_AIR

const int	FT_CALC

int	ft_command_

int	ft_get_count_

const int	FT_GND

const int	FT_NONE

int	ft_period_

bool	has_ft_air_

bool	has_ft_gnd_

Eigen::MatrixXd	l_foot_ft_air_

double	l_foot_ft_current_voltage_ [6]

Eigen::MatrixXd	l_foot_ft_gnd_

double	l_foot_ft_scale_factor_

ATIForceTorqueSensorTWE	l_foot_ft_sensor_

boost::mutex	publish_mutex_

boost::thread	queue_thread_

Eigen::MatrixXd	r_foot_ft_air_

double	r_foot_ft_current_voltage_ [6]

Eigen::MatrixXd	r_foot_ft_gnd_

double	r_foot_ft_scale_factor_

ATIForceTorqueSensorTWE	r_foot_ft_sensor_

ros::Publisher	thormang3_foot_ft_both_ft_pub_

ros::Publisher	thormang3_foot_ft_status_pub_

KinematicsDynamics *	thormang3_kd_

double	total_mass_

Additional Inherited Members
Static Public Member Functions inherited from robotis_framework::Singleton< FeetForceTorqueSensor >
static void	destroyInstance ()

static T *	getInstance ()

Protected Member Functions inherited from robotis_framework::Singleton< FeetForceTorqueSensor >
Singleton &	operator= (Singleton const &)

	Singleton (Singleton const &)

	Singleton ()

Protected Attributes inherited from robotis_framework::SensorModule
std::string	module_name_

Detailed Description

Definition at line 46 of file feet_force_torque_sensor_module.h.

Constructor & Destructor Documentation

FeetForceTorqueSensor::FeetForceTorqueSensor ( )

Definition at line 33 of file feet_force_torque_sensor_module.cpp.

FeetForceTorqueSensor::~FeetForceTorqueSensor ( )

Definition at line 113 of file feet_force_torque_sensor_module.cpp.

Member Function Documentation

void FeetForceTorqueSensor::ftSensorCalibrationCommandCallback ( const std_msgs::String::ConstPtr & msg )

private

Definition at line 211 of file feet_force_torque_sensor_module.cpp.

void FeetForceTorqueSensor::initialize	(	const int	control_cycle_msec,
		robotis_framework::Robot *	robot
	)

virtual

Implements robotis_framework::SensorModule.

Definition at line 118 of file feet_force_torque_sensor_module.cpp.

void FeetForceTorqueSensor::initializeFeetForceTorqueSensor ( )

private

Definition at line 131 of file feet_force_torque_sensor_module.cpp.

void FeetForceTorqueSensor::process	(	std::map< std::string, robotis_framework::Dynamixel * >	dxls,
		std::map< std::string, robotis_framework::Sensor * >	sensors
	)

virtual

Implements robotis_framework::SensorModule.

Definition at line 330 of file feet_force_torque_sensor_module.cpp.

void FeetForceTorqueSensor::publishBothFTData	(	int	type,
		Eigen::MatrixXd &	ft_right,
		Eigen::MatrixXd &	ft_left
	)

private

Definition at line 283 of file feet_force_torque_sensor_module.cpp.

void FeetForceTorqueSensor::publishStatusMsg	(	unsigned int	type,
		std::string	msg
	)

private

Definition at line 272 of file feet_force_torque_sensor_module.cpp.

void FeetForceTorqueSensor::queueThread ( )

private

Definition at line 311 of file feet_force_torque_sensor_module.cpp.

void FeetForceTorqueSensor::saveFTCalibrationData ( const std::string & path )

private

Definition at line 169 of file feet_force_torque_sensor_module.cpp.

Member Data Documentation

int thormang3::FeetForceTorqueSensor::control_cycle_msec_

private

Definition at line 77 of file feet_force_torque_sensor_module.h.

bool thormang3::FeetForceTorqueSensor::exist_l_leg_an_p_

private

Definition at line 86 of file feet_force_torque_sensor_module.h.

bool thormang3::FeetForceTorqueSensor::exist_l_leg_an_r_

private

Definition at line 86 of file feet_force_torque_sensor_module.h.

bool thormang3::FeetForceTorqueSensor::exist_r_leg_an_p_

private

Definition at line 85 of file feet_force_torque_sensor_module.h.

bool thormang3::FeetForceTorqueSensor::exist_r_leg_an_r_

private

Definition at line 85 of file feet_force_torque_sensor_module.h.

const int thormang3::FeetForceTorqueSensor::FT_AIR

private

Definition at line 108 of file feet_force_torque_sensor_module.h.

const int thormang3::FeetForceTorqueSensor::FT_CALC

private

Definition at line 110 of file feet_force_torque_sensor_module.h.

int thormang3::FeetForceTorqueSensor::ft_command_

private

Definition at line 103 of file feet_force_torque_sensor_module.h.

int thormang3::FeetForceTorqueSensor::ft_get_count_

private

Definition at line 105 of file feet_force_torque_sensor_module.h.

const int thormang3::FeetForceTorqueSensor::FT_GND

private

Definition at line 109 of file feet_force_torque_sensor_module.h.

const int thormang3::FeetForceTorqueSensor::FT_NONE

private

Definition at line 107 of file feet_force_torque_sensor_module.h.

int thormang3::FeetForceTorqueSensor::ft_period_

private

Definition at line 104 of file feet_force_torque_sensor_module.h.

bool thormang3::FeetForceTorqueSensor::has_ft_air_

private

Definition at line 101 of file feet_force_torque_sensor_module.h.

bool thormang3::FeetForceTorqueSensor::has_ft_gnd_

private

Definition at line 102 of file feet_force_torque_sensor_module.h.

Eigen::MatrixXd thormang3::FeetForceTorqueSensor::l_foot_ft_air_

private

Definition at line 91 of file feet_force_torque_sensor_module.h.

double thormang3::FeetForceTorqueSensor::l_foot_ft_current_voltage_[6]

private

Definition at line 95 of file feet_force_torque_sensor_module.h.

Eigen::MatrixXd thormang3::FeetForceTorqueSensor::l_foot_ft_gnd_

private

Definition at line 92 of file feet_force_torque_sensor_module.h.

double thormang3::FeetForceTorqueSensor::l_foot_ft_scale_factor_

private

Definition at line 99 of file feet_force_torque_sensor_module.h.

ATIForceTorqueSensorTWE thormang3::FeetForceTorqueSensor::l_foot_ft_sensor_

private

Definition at line 89 of file feet_force_torque_sensor_module.h.

double thormang3::FeetForceTorqueSensor::l_foot_fx_raw_N_

Definition at line 55 of file feet_force_torque_sensor_module.h.

double thormang3::FeetForceTorqueSensor::l_foot_fx_scaled_N_

Definition at line 60 of file feet_force_torque_sensor_module.h.

double thormang3::FeetForceTorqueSensor::l_foot_fy_raw_N_

Definition at line 55 of file feet_force_torque_sensor_module.h.

double thormang3::FeetForceTorqueSensor::l_foot_fy_scaled_N_

Definition at line 60 of file feet_force_torque_sensor_module.h.

double thormang3::FeetForceTorqueSensor::l_foot_fz_raw_N_

Definition at line 55 of file feet_force_torque_sensor_module.h.

double thormang3::FeetForceTorqueSensor::l_foot_fz_scaled_N_

Definition at line 60 of file feet_force_torque_sensor_module.h.

double thormang3::FeetForceTorqueSensor::l_foot_tx_raw_Nm_

Definition at line 56 of file feet_force_torque_sensor_module.h.

double thormang3::FeetForceTorqueSensor::l_foot_tx_scaled_Nm_

Definition at line 61 of file feet_force_torque_sensor_module.h.

double thormang3::FeetForceTorqueSensor::l_foot_ty_raw_Nm_

Definition at line 56 of file feet_force_torque_sensor_module.h.

double thormang3::FeetForceTorqueSensor::l_foot_ty_scaled_Nm_

Definition at line 61 of file feet_force_torque_sensor_module.h.

double thormang3::FeetForceTorqueSensor::l_foot_tz_raw_Nm_

Definition at line 56 of file feet_force_torque_sensor_module.h.

double thormang3::FeetForceTorqueSensor::l_foot_tz_scaled_Nm_

Definition at line 61 of file feet_force_torque_sensor_module.h.

boost::mutex thormang3::FeetForceTorqueSensor::publish_mutex_

private

Definition at line 79 of file feet_force_torque_sensor_module.h.

boost::thread thormang3::FeetForceTorqueSensor::queue_thread_

private

Definition at line 78 of file feet_force_torque_sensor_module.h.

Eigen::MatrixXd thormang3::FeetForceTorqueSensor::r_foot_ft_air_

private

Definition at line 91 of file feet_force_torque_sensor_module.h.

double thormang3::FeetForceTorqueSensor::r_foot_ft_current_voltage_[6]

private

Definition at line 94 of file feet_force_torque_sensor_module.h.

Eigen::MatrixXd thormang3::FeetForceTorqueSensor::r_foot_ft_gnd_

private

Definition at line 92 of file feet_force_torque_sensor_module.h.

double thormang3::FeetForceTorqueSensor::r_foot_ft_scale_factor_

private

Definition at line 99 of file feet_force_torque_sensor_module.h.

ATIForceTorqueSensorTWE thormang3::FeetForceTorqueSensor::r_foot_ft_sensor_

private

Definition at line 88 of file feet_force_torque_sensor_module.h.

double thormang3::FeetForceTorqueSensor::r_foot_fx_raw_N_

Definition at line 53 of file feet_force_torque_sensor_module.h.

double thormang3::FeetForceTorqueSensor::r_foot_fx_scaled_N_

Definition at line 58 of file feet_force_torque_sensor_module.h.

double thormang3::FeetForceTorqueSensor::r_foot_fy_raw_N_

Definition at line 53 of file feet_force_torque_sensor_module.h.

double thormang3::FeetForceTorqueSensor::r_foot_fy_scaled_N_

Definition at line 58 of file feet_force_torque_sensor_module.h.

double thormang3::FeetForceTorqueSensor::r_foot_fz_raw_N_

Definition at line 53 of file feet_force_torque_sensor_module.h.

double thormang3::FeetForceTorqueSensor::r_foot_fz_scaled_N_

Definition at line 58 of file feet_force_torque_sensor_module.h.

double thormang3::FeetForceTorqueSensor::r_foot_tx_raw_Nm_

Definition at line 54 of file feet_force_torque_sensor_module.h.

double thormang3::FeetForceTorqueSensor::r_foot_tx_scaled_Nm_

Definition at line 59 of file feet_force_torque_sensor_module.h.

double thormang3::FeetForceTorqueSensor::r_foot_ty_raw_Nm_

Definition at line 54 of file feet_force_torque_sensor_module.h.

double thormang3::FeetForceTorqueSensor::r_foot_ty_scaled_Nm_

Definition at line 59 of file feet_force_torque_sensor_module.h.

double thormang3::FeetForceTorqueSensor::r_foot_tz_raw_Nm_

Definition at line 54 of file feet_force_torque_sensor_module.h.

double thormang3::FeetForceTorqueSensor::r_foot_tz_scaled_Nm_

Definition at line 59 of file feet_force_torque_sensor_module.h.

ros::Publisher thormang3::FeetForceTorqueSensor::thormang3_foot_ft_both_ft_pub_

private

Definition at line 114 of file feet_force_torque_sensor_module.h.

ros::Publisher thormang3::FeetForceTorqueSensor::thormang3_foot_ft_status_pub_

private

Definition at line 113 of file feet_force_torque_sensor_module.h.

KinematicsDynamics* thormang3::FeetForceTorqueSensor::thormang3_kd_

private

Definition at line 82 of file feet_force_torque_sensor_module.h.

double thormang3::FeetForceTorqueSensor::total_mass_

private

Definition at line 98 of file feet_force_torque_sensor_module.h.

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

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation