Public Member Functions | Public Attributes | Private Attributes | List of all members
FTCalibNode Class Reference

Public Member Functions

void addMeasurement ()
 
void averageFTMeas ()
 
bool finished ()
 
 FTCalibNode ()
 
void getCalib (double &mass, Eigen::Vector3d &COM_pos, Eigen::Vector3d &f_bias, Eigen::Vector3d &t_bias)
 
bool getPose (const std::string &pose_param_name, Eigen::Matrix< double, 6, 1 > &pose)
 
bool getROSParameters ()
 
void init ()
 
bool moveNextPose ()
 
void saveCalibData ()
 
void saveMeasurements (geometry_msgs::Vector3Stamped gravity, geometry_msgs::WrenchStamped ft_meas)
 
void topicCallback_ft_raw (const geometry_msgs::WrenchStamped::ConstPtr &msg)
 
void topicCallback_imu (const sensor_msgs::Imu::ConstPtr &msg)
 
 ~FTCalibNode ()
 

Public Attributes

ros::NodeHandle n_
 
ros::AsyncSpinnerspinner
 
ros::Subscriber topicSub_Accelerometer_
 
ros::Subscriber topicSub_ft_raw_
 

Private Attributes

std::string m_calib_file_dir
 
std::string m_calib_file_name
 
bool m_finished
 
geometry_msgs::WrenchStamped m_ft_avg
 
FTCalibm_ft_calib
 
unsigned int m_ft_counter
 
geometry_msgs::WrenchStamped m_ft_raw
 
moveit::planning_interface::MoveGroupInterfacem_group
 
sensor_msgs::Imu m_imu
 
std::string m_meas_file_dir
 
std::string m_meas_file_name
 
std::string m_moveit_group_name
 
int m_number_random_poses
 
unsigned int m_pose_counter
 
std::string m_poses_frame_id
 
bool m_random_poses
 
bool m_received_ft
 
bool m_received_imu
 
tf::TransformListenerm_tf_listener
 

Detailed Description

Definition at line 55 of file ft_calib_node.cpp.

Constructor & Destructor Documentation

FTCalibNode::FTCalibNode ( )
inline

Definition at line 65 of file ft_calib_node.cpp.

FTCalibNode::~FTCalibNode ( )
inline

Definition at line 88 of file ft_calib_node.cpp.

Member Function Documentation

void FTCalibNode::addMeasurement ( )
inline

Definition at line 398 of file ft_calib_node.cpp.

void FTCalibNode::averageFTMeas ( )
inline

Definition at line 477 of file ft_calib_node.cpp.

bool FTCalibNode::finished ( )
inline

Definition at line 376 of file ft_calib_node.cpp.

void FTCalibNode::getCalib ( double &  mass,
Eigen::Vector3d &  COM_pos,
Eigen::Vector3d &  f_bias,
Eigen::Vector3d &  t_bias 
)
inline

Definition at line 450 of file ft_calib_node.cpp.

bool FTCalibNode::getPose ( const std::string &  pose_param_name,
Eigen::Matrix< double, 6, 1 > &  pose 
)
inline

Definition at line 286 of file ft_calib_node.cpp.

bool FTCalibNode::getROSParameters ( )
inline

Definition at line 98 of file ft_calib_node.cpp.

void FTCalibNode::init ( )
inline

Definition at line 216 of file ft_calib_node.cpp.

bool FTCalibNode::moveNextPose ( )
inline

Definition at line 224 of file ft_calib_node.cpp.

void FTCalibNode::saveCalibData ( )
inline

Definition at line 314 of file ft_calib_node.cpp.

void FTCalibNode::saveMeasurements ( geometry_msgs::Vector3Stamped  gravity,
geometry_msgs::WrenchStamped  ft_meas 
)
inline

Definition at line 359 of file ft_calib_node.cpp.

void FTCalibNode::topicCallback_ft_raw ( const geometry_msgs::WrenchStamped::ConstPtr &  msg)
inline

Definition at line 381 of file ft_calib_node.cpp.

void FTCalibNode::topicCallback_imu ( const sensor_msgs::Imu::ConstPtr &  msg)
inline

Definition at line 390 of file ft_calib_node.cpp.

Member Data Documentation

std::string FTCalibNode::m_calib_file_dir
private

Definition at line 536 of file ft_calib_node.cpp.

std::string FTCalibNode::m_calib_file_name
private

Definition at line 532 of file ft_calib_node.cpp.

bool FTCalibNode::m_finished
private

Definition at line 510 of file ft_calib_node.cpp.

geometry_msgs::WrenchStamped FTCalibNode::m_ft_avg
private

Definition at line 520 of file ft_calib_node.cpp.

FTCalib* FTCalibNode::m_ft_calib
private

Definition at line 516 of file ft_calib_node.cpp.

unsigned int FTCalibNode::m_ft_counter
private

Definition at line 508 of file ft_calib_node.cpp.

geometry_msgs::WrenchStamped FTCalibNode::m_ft_raw
private

Definition at line 519 of file ft_calib_node.cpp.

moveit::planning_interface::MoveGroupInterface* FTCalibNode::m_group
private

Definition at line 505 of file ft_calib_node.cpp.

sensor_msgs::Imu FTCalibNode::m_imu
private

Definition at line 523 of file ft_calib_node.cpp.

std::string FTCalibNode::m_meas_file_dir
private

Definition at line 543 of file ft_calib_node.cpp.

std::string FTCalibNode::m_meas_file_name
private

Definition at line 539 of file ft_calib_node.cpp.

std::string FTCalibNode::m_moveit_group_name
private

Definition at line 529 of file ft_calib_node.cpp.

int FTCalibNode::m_number_random_poses
private

Definition at line 554 of file ft_calib_node.cpp.

unsigned int FTCalibNode::m_pose_counter
private

Definition at line 507 of file ft_calib_node.cpp.

std::string FTCalibNode::m_poses_frame_id
private

Definition at line 546 of file ft_calib_node.cpp.

bool FTCalibNode::m_random_poses
private

Definition at line 550 of file ft_calib_node.cpp.

bool FTCalibNode::m_received_ft
private

Definition at line 512 of file ft_calib_node.cpp.

bool FTCalibNode::m_received_imu
private

Definition at line 513 of file ft_calib_node.cpp.

tf::TransformListener* FTCalibNode::m_tf_listener
private

Definition at line 525 of file ft_calib_node.cpp.

ros::NodeHandle FTCalibNode::n_

Definition at line 60 of file ft_calib_node.cpp.

ros::AsyncSpinner* FTCalibNode::spinner

Definition at line 61 of file ft_calib_node.cpp.

ros::Subscriber FTCalibNode::topicSub_Accelerometer_

Definition at line 63 of file ft_calib_node.cpp.

ros::Subscriber FTCalibNode::topicSub_ft_raw_

Definition at line 62 of file ft_calib_node.cpp.


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


force_torque_sensor_calib
Author(s): Francisco Vina
autogenerated on Mon May 10 2021 02:27:43