Classes | Functions | Variables
demo_kinematic.cpp File Reference
#include <sys/time.h>
#include "ros/ros.h"
#include "hrl_haptic_manipulation_in_clutter_msgs/SkinContact.h"
#include "hrl_haptic_manipulation_in_clutter_msgs/BodyDraw.h"
#include "hrl_haptic_manipulation_in_clutter_msgs/TaxelArray.h"
#include "hrl_haptic_manipulation_in_clutter_msgs/MechanicalImpedanceParams.h"
#include "hrl_msgs/FloatArrayBare.h"
#include "std_msgs/String.h"
#include "rosgraph_msgs/Clock.h"
#include <cmath>
#include <vector>
#include <string>
#include <iostream>
#include <set>
#include <algorithm>
#include <functional>
#include <ode/ode.h>
#include <sstream>
#include <tf/transform_broadcaster.h>
Include dependency graph for demo_kinematic.cpp:

Go to the source code of this file.

Classes

struct  MyFeedback

Functions

void base_ep_cb (const hrl_msgs::FloatArrayBare msg)
void create_compliant_obstacles (ros::NodeHandle n)
void create_fixed_obstacles (ros::NodeHandle n)
void create_movable_obstacles (ros::NodeHandle n)
void create_robot (ros::NodeHandle n)
double get_wall_clock_time ()
void go_initial_position (ros::NodeHandle n)
void inner_torque_loop ()
std::vector< double > jep (3, 0)
void jep_cb (const hrl_msgs::FloatArrayBare msg)
std::vector< double > k_d (3, 0)
std::vector< double > k_p (3, 0)
int main (int argc, char **argv)
std::vector< double > mobile_base_ep (3, 0)
std::vector< double > mobile_base_generalized_forces (3, 0)
std::vector< double > mobile_base_k_d (3, 0)
std::vector< double > mobile_base_k_p (3, 0)
std::vector< std::string > names (MAX_FEEDBACKNUM)
static void nearCallback (void *data, dGeomID o1, dGeomID o2)
std::vector< double > q (3, 0)
std::vector< double > q_dot (3, 0)
void ROSCallback_impedance (const hrl_haptic_manipulation_in_clutter_msgs::MechanicalImpedanceParams msg)
void taxel_simulation_code (double resolution)
std::vector< double > torques (3, 0)

Variables

dBody * body_mobile_base
dBody compliant_obstacles [NUM_OBST]
dJointID compliant_plane2d_joint_ids [NUM_OBST]
hrl_haptic_manipulation_in_clutter_msgs::BodyDraw draw
dBody * env
static int fbnum = 0
static MyFeedback feedbacks [MAX_FEEDBACKNUM]
dJointID fixed_joint_ids [NUM_OBST]
dBodyID fixed_obst_ids [NUM_OBST]
dBody fixed_obstacles [NUM_OBST]
static int force_group = 0
std::vector< int > force_grouping
std::vector< int > force_sign
float forearm_length = 0
float forearm_width = 0
static MyFeedback frict_feedbacks [NUM_OBST]
dBox * g_link1
dBox * g_link2
dBox * g_link3
dBox * geom_mobile_base
dHingeJoint * hinge1
dHingeJoint * hinge2
dHingeJoint * hinge3
hrl_haptic_manipulation_in_clutter_msgs::MechanicalImpedanceParams impedance_params
int include_mobile_base
dJointGroup joints
dBody * link1
dBody * link2
dBody * link3
dBodyID link_ids [3]
double max_friction = 2
double max_tor_friction = 0.5
dJointID mobile_base_plane2d_jt_id
int num_used_compliant = NUM_OBST
int num_used_fixed = NUM_OBST
int num_used_movable = NUM_OBST
double obst_damping [NUM_OBST]
double obst_home [NUM_OBST][3]
double obst_stiffness [NUM_OBST]
dBody obstacles [NUM_OBST]
dJointID plane2d_joint_ids [NUM_OBST]
std::vector< double > pt_x
std::vector< double > pt_y
std::vector< double > pt_z
hrl_haptic_manipulation_in_clutter_msgs::SkinContact skin
dSpace * space
hrl_haptic_manipulation_in_clutter_msgs::TaxelArray taxel
float torso_half_width = 0.196
float torso_half_width_side = 0
float upper_arm_length = 0.334
float upper_arm_width = 0
dWorld * world
std::vector< double > x_c
std::vector< double > x_n
std::vector< double > y_c
std::vector< double > y_n
std::vector< double > z_c
std::vector< double > z_n

Function Documentation

void base_ep_cb ( const hrl_msgs::FloatArrayBare  msg)

Definition at line 134 of file demo_kinematic.cpp.

Definition at line 544 of file demo_kinematic.cpp.

Definition at line 615 of file demo_kinematic.cpp.

Definition at line 489 of file demo_kinematic.cpp.

Definition at line 330 of file demo_kinematic.cpp.

double get_wall_clock_time ( )

Definition at line 645 of file demo_kinematic.cpp.

Definition at line 288 of file demo_kinematic.cpp.

Definition at line 1389 of file demo_kinematic.cpp.

std::vector<double> jep ( ,
 
)
void jep_cb ( const hrl_msgs::FloatArrayBare  msg)

Definition at line 139 of file demo_kinematic.cpp.

std::vector<double> k_d ( ,
 
)
std::vector<double> k_p ( ,
 
)
int main ( int  argc,
char **  argv 
)

Definition at line 1421 of file demo_kinematic.cpp.

std::vector<double> mobile_base_ep ( ,
 
)
std::vector<double> mobile_base_generalized_forces ( ,
 
)
std::vector<double> mobile_base_k_d ( ,
 
)
std::vector<double> mobile_base_k_p ( ,
 
)
std::vector<std::string> names ( MAX_FEEDBACKNUM  )
static void nearCallback ( void *  data,
dGeomID  o1,
dGeomID  o2 
) [static]

Definition at line 155 of file demo_kinematic.cpp.

std::vector<double> q ( ,
 
)
std::vector<double> q_dot ( ,
 
)

Definition at line 147 of file demo_kinematic.cpp.

void taxel_simulation_code ( double  resolution)

Definition at line 655 of file demo_kinematic.cpp.

std::vector<double> torques ( ,
 
)

Variable Documentation

Definition at line 121 of file demo_kinematic.cpp.

dBody compliant_obstacles[NUM_OBST]

Definition at line 87 of file demo_kinematic.cpp.

dJointID compliant_plane2d_joint_ids[NUM_OBST]

Definition at line 94 of file demo_kinematic.cpp.

Definition at line 127 of file demo_kinematic.cpp.

dBody* env

Definition at line 98 of file demo_kinematic.cpp.

int fbnum = 0 [static]

Definition at line 41 of file demo_kinematic.cpp.

MyFeedback feedbacks[MAX_FEEDBACKNUM] [static]

Definition at line 39 of file demo_kinematic.cpp.

dJointID fixed_joint_ids[NUM_OBST]

Definition at line 95 of file demo_kinematic.cpp.

dBodyID fixed_obst_ids[NUM_OBST]

Definition at line 91 of file demo_kinematic.cpp.

dBody fixed_obstacles[NUM_OBST]

Definition at line 92 of file demo_kinematic.cpp.

int force_group = 0 [static]

Definition at line 42 of file demo_kinematic.cpp.

Definition at line 53 of file demo_kinematic.cpp.

Definition at line 54 of file demo_kinematic.cpp.

float forearm_length = 0

Definition at line 79 of file demo_kinematic.cpp.

float forearm_width = 0

Definition at line 80 of file demo_kinematic.cpp.

MyFeedback frict_feedbacks[NUM_OBST] [static]

Definition at line 40 of file demo_kinematic.cpp.

dBox* g_link1

Definition at line 108 of file demo_kinematic.cpp.

dBox* g_link2

Definition at line 112 of file demo_kinematic.cpp.

dBox* g_link3

Definition at line 116 of file demo_kinematic.cpp.

Definition at line 122 of file demo_kinematic.cpp.

dHingeJoint* hinge1

Definition at line 109 of file demo_kinematic.cpp.

dHingeJoint* hinge2

Definition at line 113 of file demo_kinematic.cpp.

dHingeJoint* hinge3

Definition at line 117 of file demo_kinematic.cpp.

Definition at line 129 of file demo_kinematic.cpp.

Definition at line 119 of file demo_kinematic.cpp.

dJointGroup joints

Definition at line 97 of file demo_kinematic.cpp.

dBody* link1

Definition at line 107 of file demo_kinematic.cpp.

dBody* link2

Definition at line 111 of file demo_kinematic.cpp.

dBody* link3

Definition at line 115 of file demo_kinematic.cpp.

dBodyID link_ids[3]

Definition at line 85 of file demo_kinematic.cpp.

double max_friction = 2

Definition at line 43 of file demo_kinematic.cpp.

double max_tor_friction = 0.5

Definition at line 44 of file demo_kinematic.cpp.

Definition at line 123 of file demo_kinematic.cpp.

int num_used_compliant = NUM_OBST

Definition at line 47 of file demo_kinematic.cpp.

int num_used_fixed = NUM_OBST

Definition at line 46 of file demo_kinematic.cpp.

int num_used_movable = NUM_OBST

Definition at line 45 of file demo_kinematic.cpp.

double obst_damping[NUM_OBST]

Definition at line 90 of file demo_kinematic.cpp.

double obst_home[NUM_OBST][3]

Definition at line 88 of file demo_kinematic.cpp.

double obst_stiffness[NUM_OBST]

Definition at line 89 of file demo_kinematic.cpp.

dBody obstacles[NUM_OBST]

Definition at line 86 of file demo_kinematic.cpp.

dJointID plane2d_joint_ids[NUM_OBST]

Definition at line 93 of file demo_kinematic.cpp.

std::vector<double> pt_x

Definition at line 55 of file demo_kinematic.cpp.

std::vector<double> pt_y

Definition at line 56 of file demo_kinematic.cpp.

std::vector<double> pt_z

Definition at line 57 of file demo_kinematic.cpp.

Definition at line 126 of file demo_kinematic.cpp.

dSpace* space

Definition at line 100 of file demo_kinematic.cpp.

Definition at line 128 of file demo_kinematic.cpp.

float torso_half_width = 0.196

Definition at line 75 of file demo_kinematic.cpp.

Definition at line 76 of file demo_kinematic.cpp.

float upper_arm_length = 0.334

Definition at line 77 of file demo_kinematic.cpp.

float upper_arm_width = 0

Definition at line 78 of file demo_kinematic.cpp.

dWorld* world

Definition at line 99 of file demo_kinematic.cpp.

std::vector<double> x_c

Definition at line 69 of file demo_kinematic.cpp.

std::vector<double> x_n

Definition at line 72 of file demo_kinematic.cpp.

std::vector<double> y_c

Definition at line 70 of file demo_kinematic.cpp.

std::vector<double> y_n

Definition at line 73 of file demo_kinematic.cpp.

std::vector<double> z_c

Definition at line 71 of file demo_kinematic.cpp.

std::vector<double> z_n

Definition at line 74 of file demo_kinematic.cpp.



hrl_software_simulation_darpa_m3
Author(s): Marc Killpack and Advait Jain. Advisor: Prof. Charlie Kemp. Healthcare Robotics Lab, Georgia Tech
autogenerated on Wed Nov 27 2013 11:35:07