foot_contact_monitor Namespace Reference

Functions
def	callback
def	computeEndCoords
def	contactStateDiagnostic
def	offsetPose
def	publishMidCoords
def	publishSingleCoords
Variables
tuple	force_thr = rospy.get_param('~force_thr', 100)
	g_contact_state = None
tuple	ground_frame = rospy.get_param('~ground_frame', 'ground')
tuple	ground_parent_frame = rospy.get_param('')
tuple	lfoot_frame = rospy.get_param('~lfoot_frame_id')
tuple	lfoot_offset = rospy.get_param('~lfoot_endcoords_offset')
tuple	lfoot_sub = message_filters.Subscriber('/off_lfsensor', WrenchStamped)
tuple	parent_frame = rospy.get_param('~parent_frame', 'BODY')
tuple	rfoot_frame = rospy.get_param('~rfoot_frame_id')
tuple	rfoot_offset = rospy.get_param('~rfoot_endcoords_offset')
tuple	rfoot_sub = message_filters.Subscriber('/off_rfsensor', WrenchStamped)
tuple	tf_listener = tf.TransformListener()
tuple	ts = message_filters.TimeSynchronizer([lfoot_sub, rfoot_sub], 100)
tuple	updater = diagnostic_updater.Updater()

---

Function Documentation

def foot_contact_monitor.callback	(		lfoot_force_msg,
			rfoot_force_msg
	)

Definition at line 82 of file foot_contact_monitor.py.

def foot_contact_monitor.computeEndCoords	(		leg,
			stamp
	)

Definition at line 51 of file foot_contact_monitor.py.

def foot_contact_monitor.contactStateDiagnostic

(

stats

)

Definition at line 110 of file foot_contact_monitor.py.

def foot_contact_monitor.offsetPose

(

offset

)

Definition at line 14 of file foot_contact_monitor.py.

def foot_contact_monitor.publishMidCoords

(

stamp

)

Definition at line 25 of file foot_contact_monitor.py.

def foot_contact_monitor.publishSingleCoords	(		leg,
			stamp
	)

Definition at line 68 of file foot_contact_monitor.py.

---

Variable Documentation

tuple foot_contact_monitor::force_thr = rospy.get_param('~force_thr', 100)

Definition at line 134 of file foot_contact_monitor.py.

foot_contact_monitor::g_contact_state = None

Definition at line 12 of file foot_contact_monitor.py.

tuple foot_contact_monitor::ground_frame = rospy.get_param('~ground_frame', 'ground')

Definition at line 135 of file foot_contact_monitor.py.

tuple foot_contact_monitor::ground_parent_frame = rospy.get_param('')

Definition at line 141 of file foot_contact_monitor.py.

tuple foot_contact_monitor::lfoot_frame = rospy.get_param('~lfoot_frame_id')

Definition at line 137 of file foot_contact_monitor.py.

tuple foot_contact_monitor::lfoot_offset = rospy.get_param('~lfoot_endcoords_offset')

Definition at line 139 of file foot_contact_monitor.py.

tuple foot_contact_monitor::lfoot_sub = message_filters.Subscriber('/off_lfsensor', WrenchStamped)

Definition at line 142 of file foot_contact_monitor.py.

tuple foot_contact_monitor::parent_frame = rospy.get_param('~parent_frame', 'BODY')

Definition at line 136 of file foot_contact_monitor.py.

tuple foot_contact_monitor::rfoot_frame = rospy.get_param('~rfoot_frame_id')

Definition at line 138 of file foot_contact_monitor.py.

tuple foot_contact_monitor::rfoot_offset = rospy.get_param('~rfoot_endcoords_offset')

Definition at line 140 of file foot_contact_monitor.py.

tuple foot_contact_monitor::rfoot_sub = message_filters.Subscriber('/off_rfsensor', WrenchStamped)

Definition at line 143 of file foot_contact_monitor.py.

tuple foot_contact_monitor::tf_listener = tf.TransformListener()

Definition at line 130 of file foot_contact_monitor.py.

tuple foot_contact_monitor::ts = message_filters.TimeSynchronizer([lfoot_sub, rfoot_sub], 100)

Definition at line 144 of file foot_contact_monitor.py.

tuple foot_contact_monitor::updater = diagnostic_updater.Updater()

Definition at line 131 of file foot_contact_monitor.py.