generic_control_toolbox::WrenchManager Class Reference

#include <wrench_manager.hpp>

Inheritance diagram for generic_control_toolbox::WrenchManager:

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	setGrippingPoint (const std::string &end_effector, const std::string &gripping_point_frame)
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
bool	wrenchAtSensorPointInGraspFrame (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::Subscriber >	ft_sub_
std::map< std::string, std::string >	gripping_frame_
tf::TransformListener	listener_
int	max_tf_attempts_
std::map< std::string, KDL::Wrench >	measured_wrench_
ros::NodeHandle	nh_
MatrixParser	parser_
std::map< std::string, ros::Publisher >	processed_ft_pub_
std::map< std::string, std::string >	sensor_frame_
std::map< std::string, KDL::Frame >	sensor_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

WrenchManager()

generic_control_toolbox::WrenchManager::WrenchManager

(

ros::NodeHandle

nh_ = ros::NodeHandle("~")

)

Definition at line 5 of file wrench_manager.cpp.

~WrenchManager()

generic_control_toolbox::WrenchManager::~WrenchManager

(

)

Definition at line 15 of file wrench_manager.cpp.

Member Function Documentation

forceTorqueCB()

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

private

Obtains wrench measurements for a force torque sensor.

Parameters

msg	The force torque message from the sensor node.

Definition at line 189 of file wrench_manager.cpp.

initializeWrenchComm()

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.

Parameters

end_effector	The sensor arm's end-effector.
sensor_frame	The TF frame name that represents the sensor pose.
gripping_point_frame	The TF frame that represents the gripping point pose.
sensor_topic	The wrench topic name for the desired sensor.

Returns

False if something goes wrong, true otherwise.

Definition at line 77 of file wrench_manager.cpp.

setGrippingPoint()

bool generic_control_toolbox::WrenchManager::setGrippingPoint	(	const std::string &	end_effector,
		const std::string &	gripping_point_frame
	)

Set the gripping point for the given end-effector's arm.

Parameters

end_effector	The sensor arm's end-effector.
gripping_point_frame	The TF frame that represents the gripping point pose.

Definition at line 23 of file wrench_manager.cpp.

wrenchAtGrippingPoint()

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.

Parameters

end_effector	The arm's end-effector name.
wrench	The wrench at the gripping point.

Returns

false in case of error, true otherwise.

Definition at line 130 of file wrench_manager.cpp.

wrenchAtSensorPoint()

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.

Parameters

end_effector	The arm's end-effector name.
wrench	The wrench at the sensor point.

Returns

false in case of error, true otherwise.

Definition at line 176 of file wrench_manager.cpp.

wrenchAtSensorPointInGraspFrame()

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

Get the sensor measurements, expressed in the gripping point's frame.

Parameters

end_effector	The arm's end-effector name.
wrench	The wrench at the sensor point.

Returns

False in case of error, true otherwise.

Definition at line 153 of file wrench_manager.cpp.

Member Data Documentation

calibration_matrix_

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

private

Definition at line 93 of file wrench_manager.hpp.

ft_sub_

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

private

Definition at line 90 of file wrench_manager.hpp.

gripping_frame_

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

private

Definition at line 92 of file wrench_manager.hpp.

listener_

tf::TransformListener generic_control_toolbox::WrenchManager::listener_

private

Definition at line 94 of file wrench_manager.hpp.

max_tf_attempts_

int generic_control_toolbox::WrenchManager::max_tf_attempts_

private

Definition at line 86 of file wrench_manager.hpp.

measured_wrench_

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

private

Definition at line 89 of file wrench_manager.hpp.

nh_

ros::NodeHandle generic_control_toolbox::WrenchManager::nh_

private

Definition at line 96 of file wrench_manager.hpp.

parser_

MatrixParser generic_control_toolbox::WrenchManager::parser_

private

Definition at line 95 of file wrench_manager.hpp.

processed_ft_pub_

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

private

Definition at line 91 of file wrench_manager.hpp.

sensor_frame_

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

private

Definition at line 87 of file wrench_manager.hpp.

sensor_to_gripping_point_

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

private

Definition at line 88 of file wrench_manager.hpp.

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

• wrench_manager.hpp
• wrench_manager.cpp