#include <force_torque_sensor.h>

Inheritance diagram for ForceTorqueSensor:

Public Member Functions
bool	calibrate (bool apply_after_calculation, geometry_msgs::Wrench *new_offset)
	ForceTorqueSensor (ros::NodeHandle &nh)
void	init_sensor (std::string &msg, bool &success)
bool	srvCallback_CalculateAverageMasurement (ati_force_torque::CalculateAverageMasurement::Request &req, ati_force_torque::CalculateAverageMasurement::Response &res)
bool	srvCallback_CalculateOffset (ati_force_torque::CalculateSensorOffset::Request &req, ati_force_torque::CalculateSensorOffset::Response &res)
bool	srvCallback_DetermineCoordinateSystem (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
bool	srvCallback_Init (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
bool	srvCallback_recalibrate (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
bool	srvReadDiagnosticVoltages (ati_force_torque::DiagnosticVoltages::Request &req, ati_force_torque::DiagnosticVoltages::Response &res)
Protected Member Functions
void	filterFTData ()
void	pullFTData (const ros::TimerEvent &event)
Protected Attributes
ati_force_torque::CalibrationParameters	calibration_params_
ati_force_torque::CanConfigurationParameters	can_params_
ati_force_torque::CoordinateSystemCalibrationParameters	CS_params_
double	force_buffer_ [3]
double	force_buffer_transformed_ [3]
ati_force_torque::FTSConfigurationParameters	FTS_params_
geometry_msgs::WrenchStamped	gravity_compensated_force
iirob_filters::GravityCompensationParameters	gravity_params_
geometry_msgs::WrenchStamped	low_pass_filtered_data
geometry_msgs::WrenchStamped	moving_mean_filtered_wrench
ros::NodeHandle	nh_
ati_force_torque::NodeConfigurationParameters	node_params_
ati_force_torque::PublishConfigurationParameters	pub_params_
geometry_msgs::WrenchStamped	sensor_data
std::string	sensor_frame_
geometry_msgs::WrenchStamped	threshold_filtered_force
double	torque_buffer_ [3]
double	torque_buffer_transformed_ [3]
std::string	transform_frame_
geometry_msgs::WrenchStamped	transformed_data
Private Member Functions
geometry_msgs::Wrench	makeAverageMeasurement (uint number_of_measurements, double time_between_meas, std::string frame_id="")
void	reconfigureCalibrationRequest (ati_force_torque::CalibrationConfig &config, uint32_t level)
bool	transform_wrench (std::string goal_frame, std::string source_frame, geometry_msgs::Wrench wrench, geometry_msgs::Wrench *transformed)
virtual void	updateFTData (const ros::TimerEvent &event)=0
Private Attributes
uint	_num_transform_errors
bool	apply_offset
uint	calibrationNMeasurements
double	calibrationTBetween
int	canBaudrate
std::string	canPath
int	canType
int	coordinateSystemNMeasurements
int	coordinateSystemPushDirection
int	coordinateSystemTBetween
ros::Timer	ftPullTimer_
int	ftsBaseID
ros::Timer	ftUpdateTimer_
realtime_tools::RealtimePublisher < geometry_msgs::WrenchStamped > *	gravity_compensated_pub_
filters::FilterBase < geometry_msgs::WrenchStamped > *	gravity_compensator_ = new iirob_filters::GravityCompensator<geometry_msgs::WrenchStamped>()
bool	is_pub_gravity_compensated_ = false
bool	is_pub_low_pass_ = false
bool	is_pub_moving_mean_ = false
bool	is_pub_sensor_data_ = false
bool	is_pub_threshold_filtered_ = false
bool	is_pub_transformed_data_ = false
filters::FilterBase < geometry_msgs::WrenchStamped > *	low_pass_filter_ = new iirob_filters::LowPassFilter<geometry_msgs::WrenchStamped>()
realtime_tools::RealtimePublisher < geometry_msgs::WrenchStamped > *	low_pass_pub_
geometry_msgs::Wrench	m_calibOffset
bool	m_isCalibrated
bool	m_isInitialized
bool	m_staticCalibration
filters::FilterBase < geometry_msgs::WrenchStamped > *	moving_mean_filter_ = new iirob_filters::MovingMeanFilter<geometry_msgs::WrenchStamped>()
realtime_tools::RealtimePublisher < geometry_msgs::WrenchStamped > *	moving_mean_pub_
double	nodePubFreq
double	nodePullFreq
geometry_msgs::Wrench	offset_
ForceTorqueCtrl *	p_Ftc
tf2_ros::Buffer *	p_tfBuffer
tf2_ros::TransformListener *	p_tfListener
dynamic_reconfigure::Server < ati_force_torque::CalibrationConfig >	reconfigCalibrationSrv_
realtime_tools::RealtimePublisher < geometry_msgs::WrenchStamped > *	sensor_data_pub_
ros::ServiceServer	srvServer_CalculateAverageMasurement_
ros::ServiceServer	srvServer_CalculateOffset_
ros::ServiceServer	srvServer_DetermineCoordianteSystem_
ros::ServiceServer	srvServer_Init_
ros::ServiceServer	srvServer_ReCalibrate
ros::ServiceServer	srvServer_Temp_
filters::FilterBase < geometry_msgs::WrenchStamped > *	threshold_filter_ = new iirob_filters::ThresholdFilter<geometry_msgs::WrenchStamped>()
realtime_tools::RealtimePublisher < geometry_msgs::WrenchStamped > *	threshold_filtered_pub_
tf2::Transform	transform_ee_base
geometry_msgs::TransformStamped	transform_ee_base_stamped
realtime_tools::RealtimePublisher < geometry_msgs::WrenchStamped > *	transformed_data_pub_
bool	useGravityCompensator = false
bool	useLowPassFilter = false
bool	useMovingMean = false
bool	useThresholdFilter = false

Detailed Description

Definition at line 101 of file force_torque_sensor.h.

Constructor & Destructor Documentation

ForceTorqueSensor::ForceTorqueSensor ( ros::NodeHandle & nh )

Definition at line 57 of file force_torque_sensor.cpp.

Member Function Documentation

bool ForceTorqueSensor::calibrate	(	bool	apply_after_calculation,
		geometry_msgs::Wrench *	new_offset
	)

void ForceTorqueSensor::filterFTData ( ) [protected]

void ForceTorqueSensor::init_sensor	(	std::string &	msg,
		bool &	success
	)

geometry_msgs::Wrench ForceTorqueSensor::makeAverageMeasurement	(	uint	number_of_measurements,
		double	time_between_meas,
		std::string	frame_id = `""`
	)		`[private]`

void ForceTorqueSensor::pullFTData ( const ros::TimerEvent & event ) [protected]

void ForceTorqueSensor::reconfigureCalibrationRequest	(	ati_force_torque::CalibrationConfig &	config,
		uint32_t	level
	)		`[private]`

bool ForceTorqueSensor::srvCallback_CalculateAverageMasurement	(	ati_force_torque::CalculateAverageMasurement::Request &	req,
		ati_force_torque::CalculateAverageMasurement::Response &	res
	)

bool ForceTorqueSensor::srvCallback_CalculateOffset	(	ati_force_torque::CalculateSensorOffset::Request &	req,
		ati_force_torque::CalculateSensorOffset::Response &	res
	)

bool ForceTorqueSensor::srvCallback_DetermineCoordinateSystem	(	std_srvs::Trigger::Request &	req,
		std_srvs::Trigger::Response &	res
	)

bool ForceTorqueSensor::srvCallback_Init	(	std_srvs::Trigger::Request &	req,
		std_srvs::Trigger::Response &	res
	)

bool ForceTorqueSensor::srvCallback_recalibrate	(	std_srvs::Trigger::Request &	req,
		std_srvs::Trigger::Response &	res
	)

bool ForceTorqueSensor::srvReadDiagnosticVoltages	(	ati_force_torque::DiagnosticVoltages::Request &	req,
		ati_force_torque::DiagnosticVoltages::Response &	res
	)

bool ForceTorqueSensor::transform_wrench	(	std::string	goal_frame,
		std::string	source_frame,
		geometry_msgs::Wrench	wrench,
		geometry_msgs::Wrench *	transformed
	)		`[private]`

virtual void ForceTorqueSensor::updateFTData ( const ros::TimerEvent & event ) [private, pure virtual]

Implemented in ForceTorqueSensorHandle.

Member Data Documentation

uint ForceTorqueSensor::_num_transform_errors [private]

Definition at line 160 of file force_torque_sensor.h.

bool ForceTorqueSensor::apply_offset [private]

Definition at line 189 of file force_torque_sensor.h.

ati_force_torque::CalibrationParameters ForceTorqueSensor::calibration_params_ [protected]

Definition at line 123 of file force_torque_sensor.h.

uint ForceTorqueSensor::calibrationNMeasurements [private]

Definition at line 168 of file force_torque_sensor.h.

double ForceTorqueSensor::calibrationTBetween [private]

Definition at line 169 of file force_torque_sensor.h.

ati_force_torque::CanConfigurationParameters ForceTorqueSensor::can_params_ [protected]

Definition at line 119 of file force_torque_sensor.h.

int ForceTorqueSensor::canBaudrate [private]

Definition at line 165 of file force_torque_sensor.h.

std::string ForceTorqueSensor::canPath [private]

Definition at line 164 of file force_torque_sensor.h.

int ForceTorqueSensor::canType [private]

Definition at line 163 of file force_torque_sensor.h.

int ForceTorqueSensor::coordinateSystemNMeasurements [private]

Definition at line 170 of file force_torque_sensor.h.

int ForceTorqueSensor::coordinateSystemPushDirection [private]

Definition at line 172 of file force_torque_sensor.h.

int ForceTorqueSensor::coordinateSystemTBetween [private]

Definition at line 171 of file force_torque_sensor.h.

ati_force_torque::CoordinateSystemCalibrationParameters ForceTorqueSensor::CS_params_ [protected]

Definition at line 118 of file force_torque_sensor.h.

double ForceTorqueSensor::force_buffer_[3] [protected]

Definition at line 135 of file force_torque_sensor.h.

double ForceTorqueSensor::force_buffer_transformed_[3] [protected]

Definition at line 137 of file force_torque_sensor.h.

ros::Timer ForceTorqueSensor::ftPullTimer_ [private]

Definition at line 182 of file force_torque_sensor.h.

ati_force_torque::FTSConfigurationParameters ForceTorqueSensor::FTS_params_ [protected]

Definition at line 120 of file force_torque_sensor.h.

int ForceTorqueSensor::ftsBaseID [private]

Definition at line 166 of file force_torque_sensor.h.

ros::Timer ForceTorqueSensor::ftUpdateTimer_ [private]

Definition at line 182 of file force_torque_sensor.h.

geometry_msgs::WrenchStamped ForceTorqueSensor::gravity_compensated_force [protected]

Definition at line 133 of file force_torque_sensor.h.

realtime_tools::RealtimePublisher<geometry_msgs::WrenchStamped>* ForceTorqueSensor::gravity_compensated_pub_ [private]

Definition at line 152 of file force_torque_sensor.h.

filters::FilterBase<geometry_msgs::WrenchStamped>* ForceTorqueSensor::gravity_compensator_ = new iirob_filters::GravityCompensator<geometry_msgs::WrenchStamped>() [private]

Definition at line 198 of file force_torque_sensor.h.

iirob_filters::GravityCompensationParameters ForceTorqueSensor::gravity_params_ [protected]

Definition at line 124 of file force_torque_sensor.h.

bool ForceTorqueSensor::is_pub_gravity_compensated_ = false [private]

Definition at line 153 of file force_torque_sensor.h.

bool ForceTorqueSensor::is_pub_low_pass_ = false [private]

Definition at line 157 of file force_torque_sensor.h.

bool ForceTorqueSensor::is_pub_moving_mean_ = false [private]

Definition at line 158 of file force_torque_sensor.h.

bool ForceTorqueSensor::is_pub_sensor_data_ = false [private]

Definition at line 156 of file force_torque_sensor.h.

bool ForceTorqueSensor::is_pub_threshold_filtered_ = false [private]

Definition at line 154 of file force_torque_sensor.h.

bool ForceTorqueSensor::is_pub_transformed_data_ = false [private]

Definition at line 155 of file force_torque_sensor.h.

filters::FilterBase<geometry_msgs::WrenchStamped>* ForceTorqueSensor::low_pass_filter_ = new iirob_filters::LowPassFilter<geometry_msgs::WrenchStamped>() [private]

Definition at line 196 of file force_torque_sensor.h.

geometry_msgs::WrenchStamped ForceTorqueSensor::low_pass_filtered_data [protected]

Definition at line 133 of file force_torque_sensor.h.

realtime_tools::RealtimePublisher<geometry_msgs::WrenchStamped> * ForceTorqueSensor::low_pass_pub_ [private]

Definition at line 152 of file force_torque_sensor.h.

geometry_msgs::Wrench ForceTorqueSensor::m_calibOffset [private]

Definition at line 193 of file force_torque_sensor.h.

bool ForceTorqueSensor::m_isCalibrated [private]

Definition at line 188 of file force_torque_sensor.h.

bool ForceTorqueSensor::m_isInitialized [private]

Definition at line 187 of file force_torque_sensor.h.

bool ForceTorqueSensor::m_staticCalibration [private]

Definition at line 192 of file force_torque_sensor.h.

filters::FilterBase<geometry_msgs::WrenchStamped>* ForceTorqueSensor::moving_mean_filter_ = new iirob_filters::MovingMeanFilter<geometry_msgs::WrenchStamped>() [private]

Definition at line 195 of file force_torque_sensor.h.

geometry_msgs::WrenchStamped ForceTorqueSensor::moving_mean_filtered_wrench [protected]

Definition at line 133 of file force_torque_sensor.h.

realtime_tools::RealtimePublisher<geometry_msgs::WrenchStamped> * ForceTorqueSensor::moving_mean_pub_ [private]

Definition at line 152 of file force_torque_sensor.h.

ros::NodeHandle ForceTorqueSensor::nh_ [protected]

Definition at line 140 of file force_torque_sensor.h.

ati_force_torque::NodeConfigurationParameters ForceTorqueSensor::node_params_ [protected]

Definition at line 122 of file force_torque_sensor.h.

double ForceTorqueSensor::nodePubFreq [private]

Definition at line 167 of file force_torque_sensor.h.

double ForceTorqueSensor::nodePullFreq [private]

Definition at line 167 of file force_torque_sensor.h.

geometry_msgs::Wrench ForceTorqueSensor::offset_ [private]

Definition at line 149 of file force_torque_sensor.h.

ForceTorqueCtrl* ForceTorqueSensor::p_Ftc [private]

Definition at line 148 of file force_torque_sensor.h.

tf2_ros::Buffer* ForceTorqueSensor::p_tfBuffer [private]

Definition at line 151 of file force_torque_sensor.h.

tf2_ros::TransformListener* ForceTorqueSensor::p_tfListener [private]

Definition at line 184 of file force_torque_sensor.h.

ati_force_torque::PublishConfigurationParameters ForceTorqueSensor::pub_params_ [protected]

Definition at line 121 of file force_torque_sensor.h.

dynamic_reconfigure::Server<ati_force_torque::CalibrationConfig> ForceTorqueSensor::reconfigCalibrationSrv_ [private]

Definition at line 206 of file force_torque_sensor.h.

geometry_msgs::WrenchStamped ForceTorqueSensor::sensor_data [protected]

Definition at line 133 of file force_torque_sensor.h.

realtime_tools::RealtimePublisher<geometry_msgs::WrenchStamped> * ForceTorqueSensor::sensor_data_pub_ [private]

Definition at line 152 of file force_torque_sensor.h.

std::string ForceTorqueSensor::sensor_frame_ [protected]

Definition at line 127 of file force_torque_sensor.h.

ros::ServiceServer ForceTorqueSensor::srvServer_CalculateAverageMasurement_ [private]

Definition at line 176 of file force_torque_sensor.h.

ros::ServiceServer ForceTorqueSensor::srvServer_CalculateOffset_ [private]

Definition at line 177 of file force_torque_sensor.h.

ros::ServiceServer ForceTorqueSensor::srvServer_DetermineCoordianteSystem_ [private]

Definition at line 178 of file force_torque_sensor.h.

ros::ServiceServer ForceTorqueSensor::srvServer_Init_ [private]

Definition at line 175 of file force_torque_sensor.h.

ros::ServiceServer ForceTorqueSensor::srvServer_ReCalibrate [private]

Definition at line 180 of file force_torque_sensor.h.

ros::ServiceServer ForceTorqueSensor::srvServer_Temp_ [private]

Definition at line 179 of file force_torque_sensor.h.

filters::FilterBase<geometry_msgs::WrenchStamped>* ForceTorqueSensor::threshold_filter_ = new iirob_filters::ThresholdFilter<geometry_msgs::WrenchStamped>() [private]

Definition at line 197 of file force_torque_sensor.h.

geometry_msgs::WrenchStamped ForceTorqueSensor::threshold_filtered_force [protected]

Definition at line 133 of file force_torque_sensor.h.

realtime_tools::RealtimePublisher<geometry_msgs::WrenchStamped> * ForceTorqueSensor::threshold_filtered_pub_ [private]

Definition at line 152 of file force_torque_sensor.h.

double ForceTorqueSensor::torque_buffer_[3] [protected]

Definition at line 136 of file force_torque_sensor.h.

double ForceTorqueSensor::torque_buffer_transformed_[3] [protected]

Definition at line 138 of file force_torque_sensor.h.

tf2::Transform ForceTorqueSensor::transform_ee_base [private]

Definition at line 185 of file force_torque_sensor.h.

geometry_msgs::TransformStamped ForceTorqueSensor::transform_ee_base_stamped [private]