FTParamsInternal Class Reference

#include <wg06.h>

Public Member Functions
const double &	calibration_coeff (unsigned row, unsigned col) const
double &	calibration_coeff (unsigned row, unsigned col)
	FTParamsInternal ()
const double &	gain (unsigned ch_num) const
double &	gain (unsigned ch_num)
bool	getDoubleArray (XmlRpc::XmlRpcValue params, const char *name, double *results, unsigned len)
bool	getRosParams (ros::NodeHandle nh)
	Grabs ft rosparams from a given node hande namespace. More...
const double &	offset (unsigned ch_num) const
double &	offset (unsigned ch_num)
void	print () const

Public Attributes
double	calibration_coeff_ [36]
double	gains_ [6]
double	offsets_ [6]

Detailed Description

Definition at line 86 of file wg06.h.

Constructor & Destructor Documentation

FTParamsInternal::FTParamsInternal

(

)

Definition at line 1077 of file wg06.cpp.

Member Function Documentation

const double& FTParamsInternal::calibration_coeff ( unsigned  row, unsigned  col  ) const

inline

Definition at line 91 of file wg06.h.

double& FTParamsInternal::calibration_coeff ( unsigned  row, unsigned  col  )

inline

Definition at line 92 of file wg06.h.

const double& FTParamsInternal::gain ( unsigned  ch_num ) const

inline

Definition at line 97 of file wg06.h.

double& FTParamsInternal::gain ( unsigned  ch_num )

inline

Definition at line 98 of file wg06.h.

bool FTParamsInternal::getDoubleArray	(	XmlRpc::XmlRpcValue	params,
		const char *	name,
		double *	results,
		unsigned	len
	)

Definition at line 1115 of file wg06.cpp.

bool FTParamsInternal::getRosParams

(

ros::NodeHandle

nh

)

Grabs ft rosparams from a given node hande namespace.

The force/torque parameters consist of 6x ADC offset values 6x6 gain matrix as 6-elment array of 6-element arrays of doubles

Returns

True, if there are no problems.

Definition at line 1158 of file wg06.cpp.

const double& FTParamsInternal::offset ( unsigned  ch_num ) const

inline

Definition at line 94 of file wg06.h.

double& FTParamsInternal::offset ( unsigned  ch_num )

inline

Definition at line 95 of file wg06.h.

void FTParamsInternal::print

(

)

const

Definition at line 1094 of file wg06.cpp.

Member Data Documentation

double FTParamsInternal::calibration_coeff_[36]

Definition at line 104 of file wg06.h.

double FTParamsInternal::gains_[6]

Definition at line 106 of file wg06.h.

double FTParamsInternal::offsets_[6]

Definition at line 105 of file wg06.h.

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

• wg06.h
• wg06.cpp