Public Member Functions | Static Public Attributes | Protected Member Functions | Private Member Functions | Private Attributes | Static Private Attributes
m3::RosTaxelsTransformNode Class Reference

#include <RosTaxelsTransformNode.h>

List of all members.

Public Member Functions

void Init (unsigned calibration_samples=0)
bool IsCalibrateMode ()
 RosTaxelsTransformNode ()
void SetCalibrateMode (bool on)
virtual ~RosTaxelsTransformNode ()

Static Public Attributes

static const double MAX_VALUE = 30

Protected Member Functions

void CalibrateBias (std::vector< int > values)
virtual m3skin_ros::RawTaxelArray FilterRaw (const m3skin_ros::RawTaxelArray::ConstPtr &msg)
tf::Transform GeometryTransformToTf (geometry_msgs::Transform &gtf)
void GetLinkName ()
void GetTaxelTransforms ()
void TransformMessage (const m3skin_ros::RawTaxelArray::ConstPtr &msg)

Private Member Functions

double GetUnbiased (unsigned value, unsigned index)
void InitStaticVectors ()

Private Attributes

std::vector< double > biases
bool calibrating
std::vector< tf::Vector3 > centers
std::vector< tf::TransformfullTfs
ros::ServiceClient link_name_client
std::string linkName
ros::ServiceClient local_coords_client
ros::NodeHandle n
std::vector< tf::Vector3 > normals
unsigned number_samples
unsigned number_samples_target
ros::Publisher publisher
ros::Subscriber subscriber
< geometry_msgs::Transform > 

Static Private Attributes

static const unsigned number_taxels = 384

Detailed Description

Definition at line 34 of file RosTaxelsTransformNode.h.

Constructor & Destructor Documentation

Definition at line 231 of file RosTaxelsTransformNode.cpp.

Definition at line 235 of file RosTaxelsTransformNode.cpp.

Member Function Documentation

void m3::RosTaxelsTransformNode::CalibrateBias ( std::vector< int >  values) [protected]

Update the average biases with the new values

valuesAn array of raw taxel values

Definition at line 162 of file RosTaxelsTransformNode.cpp.

Filter the raw taxels array messages

msgThe input message to filter
a filtered message

Definition at line 39 of file RosTaxelsTransformNode.cpp.

tf::Transform m3::RosTaxelsTransformNode::GeometryTransformToTf ( geometry_msgs::Transform &  gtf) [protected]

Converts a geometry_msgs/Transform to a tf::Transform

gtfThe geometry_msgs/Transform
a tf::Transform object for the input

Definition at line 95 of file RosTaxelsTransformNode.cpp.

Fetches the link name The link name will be stored inside this object.

Definition at line 137 of file RosTaxelsTransformNode.cpp.

Fetches all the taxels tfs from the /skin_patch_forearm_right/taxels/srv/local_coord_frames service The transforms will be stored inside this object.

Definition at line 110 of file RosTaxelsTransformNode.cpp.

double m3::RosTaxelsTransformNode::GetUnbiased ( unsigned  value,
unsigned  index 
) [private]
The unbiased value of a taxel The bias vector should be contain a bias value for each taxel

Definition at line 27 of file RosTaxelsTransformNode.cpp.

void m3::RosTaxelsTransformNode::Init ( unsigned  calibration_samples = 0)

Initialize the ROS node.

calibration_samplesThe number of samples to collect before passing on the data If set to 0, no calibration phase will be carried on.

Definition at line 197 of file RosTaxelsTransformNode.cpp.

Initialize the centers and normals vectors

Definition at line 126 of file RosTaxelsTransformNode.cpp.

true if currently calibrating

Definition at line 158 of file RosTaxelsTransformNode.cpp.

Set the calibration mode to on or off.

onTrue if is calibrating, False otherwise After being call, a calibration flag will be set and whenever a new message will be received, the calibration biases will be updated for each taxel.

Definition at line 149 of file RosTaxelsTransformNode.cpp.

Publishes a TaxelArray message from the RawTaxelArray message

msgThe RawTaxeArray message to transform

Definition at line 53 of file RosTaxelsTransformNode.cpp.

Member Data Documentation

Definition at line 127 of file RosTaxelsTransformNode.h.

Definition at line 130 of file RosTaxelsTransformNode.h.

Definition at line 124 of file RosTaxelsTransformNode.h.

Definition at line 122 of file RosTaxelsTransformNode.h.

Definition at line 119 of file RosTaxelsTransformNode.h.

std::string m3::RosTaxelsTransformNode::linkName [private]

Definition at line 132 of file RosTaxelsTransformNode.h.

Definition at line 118 of file RosTaxelsTransformNode.h.

const double m3::RosTaxelsTransformNode::MAX_VALUE = 30 [static]

Definition at line 60 of file RosTaxelsTransformNode.h.

Definition at line 115 of file RosTaxelsTransformNode.h.

Definition at line 125 of file RosTaxelsTransformNode.h.

Definition at line 128 of file RosTaxelsTransformNode.h.

Definition at line 129 of file RosTaxelsTransformNode.h.

const unsigned m3::RosTaxelsTransformNode::number_taxels = 384 [static, private]

Definition at line 134 of file RosTaxelsTransformNode.h.

Definition at line 116 of file RosTaxelsTransformNode.h.

Definition at line 117 of file RosTaxelsTransformNode.h.

std::vector<geometry_msgs::Transform> m3::RosTaxelsTransformNode::transforms [private]

Definition at line 121 of file RosTaxelsTransformNode.h.

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

Author(s): Meka Robotics
autogenerated on Wed Nov 27 2013 11:35:46