virtual_force_publisher::VirtualForcePublisher Class Reference

Public Member Functions
void	callbackJointState (const JointStateConstPtr &state)
	VirtualForcePublisher ()
	~VirtualForcePublisher ()

Private Attributes
KDL::Chain	chain_
KDL::Wrench	F_pre_
KDL::Jacobian	jacobian_
KDL::JntArray	jnt_pos_
boost::scoped_ptr< KDL::ChainJntToJacSolver >	jnt_to_jac_solver_
ros::Subscriber	joint_state_sub_
std::map< std::string, ros::Time >	last_publish_time_
tf::TransformListener	listener_
ros::Duration	publish_interval_
std::string	root
double	t_const_
std::string	tip
ros::Publisher	wrench_stamped_pub_

Detailed Description

Definition at line 54 of file virtual_force_publisher.cpp.

Constructor & Destructor Documentation

virtual_force_publisher::VirtualForcePublisher::VirtualForcePublisher ( )

inline

Definition at line 72 of file virtual_force_publisher.cpp.

virtual_force_publisher::VirtualForcePublisher::~VirtualForcePublisher ( )

inline

Definition at line 110 of file virtual_force_publisher.cpp.

Member Function Documentation

void virtual_force_publisher::VirtualForcePublisher::callbackJointState ( const JointStateConstPtr &  state )

inline

Definition at line 112 of file virtual_force_publisher.cpp.

Member Data Documentation

KDL::Chain virtual_force_publisher::VirtualForcePublisher::chain_

private

Definition at line 59 of file virtual_force_publisher.cpp.

KDL::Wrench virtual_force_publisher::VirtualForcePublisher::F_pre_

private

Definition at line 68 of file virtual_force_publisher.cpp.

KDL::Jacobian virtual_force_publisher::VirtualForcePublisher::jacobian_

private

Definition at line 58 of file virtual_force_publisher.cpp.

KDL::JntArray virtual_force_publisher::VirtualForcePublisher::jnt_pos_

private

Definition at line 57 of file virtual_force_publisher.cpp.

boost::scoped_ptr<KDL::ChainJntToJacSolver> virtual_force_publisher::VirtualForcePublisher::jnt_to_jac_solver_

private

Definition at line 60 of file virtual_force_publisher.cpp.

ros::Subscriber virtual_force_publisher::VirtualForcePublisher::joint_state_sub_

private

Definition at line 61 of file virtual_force_publisher.cpp.

std::map<std::string, ros::Time> virtual_force_publisher::VirtualForcePublisher::last_publish_time_

private

Definition at line 66 of file virtual_force_publisher.cpp.

tf::TransformListener virtual_force_publisher::VirtualForcePublisher::listener_

private

Definition at line 69 of file virtual_force_publisher.cpp.

ros::Duration virtual_force_publisher::VirtualForcePublisher::publish_interval_

private

Definition at line 65 of file virtual_force_publisher.cpp.

std::string virtual_force_publisher::VirtualForcePublisher::root

private

Definition at line 63 of file virtual_force_publisher.cpp.

double virtual_force_publisher::VirtualForcePublisher::t_const_

private

Definition at line 67 of file virtual_force_publisher.cpp.

std::string virtual_force_publisher::VirtualForcePublisher::tip

private

Definition at line 63 of file virtual_force_publisher.cpp.

ros::Publisher virtual_force_publisher::VirtualForcePublisher::wrench_stamped_pub_

private

Definition at line 62 of file virtual_force_publisher.cpp.

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

• virtual_force_publisher.cpp