Public Member Functions | Private Member Functions | Private Attributes | List of all members
generic_control_toolbox::WrenchManager Class Reference

#include <wrench_manager.hpp>

Inheritance diagram for generic_control_toolbox::WrenchManager:
Inheritance graph

Public Member Functions

bool initializeWrenchComm (const std::string &end_effector, const std::string &sensor_frame, const std::string &gripping_point_frame, const std::string &sensor_topic, const std::string &calib_matrix_param)
bool wrenchAtGrippingPoint (const std::string &end_effector, Eigen::Matrix< double, 6, 1 > &wrench) const
bool wrenchAtSensorPoint (const std::string &end_effector, Eigen::Matrix< double, 6, 1 > &wrench) const
 WrenchManager (ros::NodeHandle nh_=ros::NodeHandle("~"))
 ~WrenchManager ()
- Public Member Functions inherited from generic_control_toolbox::ManagerBase
 ManagerBase ()
virtual ~ManagerBase ()

Private Member Functions

void forceTorqueCB (const geometry_msgs::WrenchStamped::ConstPtr &msg)

Private Attributes

std::map< std::string, Eigen::Matrix< double, 6, 6 > > calibration_matrix_
std::map< std::string, ros::Subscriberft_sub_
std::map< std::string, std::string > gripping_frame_
tf::TransformListener listener_
int max_tf_attempts_
std::map< std::string, KDL::Wrenchmeasured_wrench_
ros::NodeHandle nh_
MatrixParser parser_
std::map< std::string, ros::Publisherprocessed_ft_pub_
std::map< std::string, std::string > sensor_frame_
std::map< std::string, KDL::Framesensor_to_gripping_point_

Detailed Description

Subscribes to wrench topics and produces the wrench value at a requested frame.

Definition at line 21 of file wrench_manager.hpp.

Constructor & Destructor Documentation

generic_control_toolbox::WrenchManager::WrenchManager ( ros::NodeHandle  nh_ = ros::NodeHandle("~"))

Definition at line 5 of file wrench_manager.cpp.

generic_control_toolbox::WrenchManager::~WrenchManager ( )

Definition at line 15 of file wrench_manager.cpp.

Member Function Documentation

void generic_control_toolbox::WrenchManager::forceTorqueCB ( const geometry_msgs::WrenchStamped::ConstPtr &  msg)

Obtains wrench measurements for a force torque sensor.

msgThe force torque message from the sensor node.

Definition at line 137 of file wrench_manager.cpp.

bool generic_control_toolbox::WrenchManager::initializeWrenchComm ( const std::string &  end_effector,
const std::string &  sensor_frame,
const std::string &  gripping_point_frame,
const std::string &  sensor_topic,
const std::string &  calib_matrix_param 

Adds a new wrench subscription. The wrench manager stores the rigid transform between the F/T sensor and the gripping point.

end_effectorThe sensor arm's end-effector.
sensor_frameThe TF frame name that represents the sensor pose.
gripping_point_frameThe TF frame that represents the gripping point pose.
sensor_topicThe wrench topic name for the desired sensor.
False if something goes wrong, true otherwise.

Definition at line 17 of file wrench_manager.cpp.

bool generic_control_toolbox::WrenchManager::wrenchAtGrippingPoint ( const std::string &  end_effector,
Eigen::Matrix< double, 6, 1 > &  wrench 
) const

Provides access to the measured wrench at the arm's gripping point. Wrench is expressed in the point's frame.

end_effectorThe arm's end-effector name.
wrenchThe wrench at the gripping point.
false in case of error, true otherwise.

Definition at line 101 of file wrench_manager.cpp.

bool generic_control_toolbox::WrenchManager::wrenchAtSensorPoint ( const std::string &  end_effector,
Eigen::Matrix< double, 6, 1 > &  wrench 
) const

Gets the original sensor measurements, at the sensor frame.

end_effectorThe arm's end-effector name.
wrenchThe wrench at the sensor point.
false in case of error, true otherwise.

Definition at line 124 of file wrench_manager.cpp.

Member Data Documentation

std::map<std::string, Eigen::Matrix<double, 6, 6> > generic_control_toolbox::WrenchManager::calibration_matrix_

Definition at line 73 of file wrench_manager.hpp.

std::map<std::string, ros::Subscriber> generic_control_toolbox::WrenchManager::ft_sub_

Definition at line 70 of file wrench_manager.hpp.

std::map<std::string, std::string> generic_control_toolbox::WrenchManager::gripping_frame_

Definition at line 72 of file wrench_manager.hpp.

tf::TransformListener generic_control_toolbox::WrenchManager::listener_

Definition at line 74 of file wrench_manager.hpp.

int generic_control_toolbox::WrenchManager::max_tf_attempts_

Definition at line 66 of file wrench_manager.hpp.

std::map<std::string, KDL::Wrench> generic_control_toolbox::WrenchManager::measured_wrench_

Definition at line 69 of file wrench_manager.hpp.

ros::NodeHandle generic_control_toolbox::WrenchManager::nh_

Definition at line 76 of file wrench_manager.hpp.

MatrixParser generic_control_toolbox::WrenchManager::parser_

Definition at line 75 of file wrench_manager.hpp.

std::map<std::string, ros::Publisher> generic_control_toolbox::WrenchManager::processed_ft_pub_

Definition at line 71 of file wrench_manager.hpp.

std::map<std::string, std::string> generic_control_toolbox::WrenchManager::sensor_frame_

Definition at line 67 of file wrench_manager.hpp.

std::map<std::string, KDL::Frame> generic_control_toolbox::WrenchManager::sensor_to_gripping_point_

Definition at line 68 of file wrench_manager.hpp.

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

Author(s): diogo
autogenerated on Thu Jun 6 2019 19:54:44