#include <wrench_manager.hpp>

Inheritance diagram for generic_control_toolbox::WrenchManager:

Public Member Functions
bool	initializeWrenchComm (const std::string &end_effector, const std::string &sensor_frame, const std::string &gripping_point_frame, const std::string &sensor_topic, const std::string &calib_matrix_param)

bool	wrenchAtGrippingPoint (const std::string &end_effector, Eigen::Matrix< double, 6, 1 > &wrench) const

bool	wrenchAtSensorPoint (const std::string &end_effector, Eigen::Matrix< double, 6, 1 > &wrench) const

	WrenchManager (ros::NodeHandle nh_=ros::NodeHandle("~"))

	~WrenchManager ()

Public Member Functions inherited from generic_control_toolbox::ManagerBase
	ManagerBase ()

virtual	~ManagerBase ()

Private Member Functions
void	forceTorqueCB (const geometry_msgs::WrenchStamped::ConstPtr &msg)

Private Attributes
std::map< std::string, Eigen::Matrix< double, 6, 6 > >	calibration_matrix_

std::map< std::string, ros::Subscriber >	ft_sub_

std::map< std::string, std::string >	gripping_frame_

tf::TransformListener	listener_

int	max_tf_attempts_

std::map< std::string, KDL::Wrench >	measured_wrench_

ros::NodeHandle	nh_

MatrixParser	parser_

std::map< std::string, ros::Publisher >	processed_ft_pub_

std::map< std::string, std::string >	sensor_frame_

std::map< std::string, KDL::Frame >	sensor_to_gripping_point_

Detailed Description

Subscribes to wrench topics and produces the wrench value at a requested frame.

Definition at line 21 of file wrench_manager.hpp.

Constructor & Destructor Documentation

generic_control_toolbox::WrenchManager::WrenchManager ( ros::NodeHandle nh_ = ros::NodeHandle("~") )

Definition at line 5 of file wrench_manager.cpp.

generic_control_toolbox::WrenchManager::~WrenchManager ( )

Definition at line 15 of file wrench_manager.cpp.

Member Function Documentation

void generic_control_toolbox::WrenchManager::forceTorqueCB ( const geometry_msgs::WrenchStamped::ConstPtr & msg )

private

Obtains wrench measurements for a force torque sensor.

Parameters

msg	The force torque message from the sensor node.

Definition at line 137 of file wrench_manager.cpp.

bool generic_control_toolbox::WrenchManager::initializeWrenchComm	(	const std::string &	end_effector,
		const std::string &	sensor_frame,
		const std::string &	gripping_point_frame,
		const std::string &	sensor_topic,
		const std::string &	calib_matrix_param
	)

Adds a new wrench subscription. The wrench manager stores the rigid transform between the F/T sensor and the gripping point.

Parameters

end_effector	The sensor arm's end-effector.
sensor_frame	The TF frame name that represents the sensor pose.
gripping_point_frame	The TF frame that represents the gripping point pose.
sensor_topic	The wrench topic name for the desired sensor.

Returns: False if something goes wrong, true otherwise.

Definition at line 17 of file wrench_manager.cpp.

bool generic_control_toolbox::WrenchManager::wrenchAtGrippingPoint	(	const std::string &	end_effector,
		Eigen::Matrix< double, 6, 1 > &	wrench
	)		const

Provides access to the measured wrench at the arm's gripping point. Wrench is expressed in the point's frame.

Parameters

end_effector	The arm's end-effector name.
wrench	The wrench at the gripping point.

Returns: false in case of error, true otherwise.

Definition at line 101 of file wrench_manager.cpp.

bool generic_control_toolbox::WrenchManager::wrenchAtSensorPoint	(	const std::string &	end_effector,
		Eigen::Matrix< double, 6, 1 > &	wrench
	)		const

Gets the original sensor measurements, at the sensor frame.

Parameters

end_effector	The arm's end-effector name.
wrench	The wrench at the sensor point.

Returns: false in case of error, true otherwise.

Definition at line 124 of file wrench_manager.cpp.

Member Data Documentation

std::map<std::string, Eigen::Matrix<double, 6, 6> > generic_control_toolbox::WrenchManager::calibration_matrix_

private

Definition at line 73 of file wrench_manager.hpp.

std::map<std::string, ros::Subscriber> generic_control_toolbox::WrenchManager::ft_sub_

private

Definition at line 70 of file wrench_manager.hpp.

std::map<std::string, std::string> generic_control_toolbox::WrenchManager::gripping_frame_

private

Definition at line 72 of file wrench_manager.hpp.

tf::TransformListener generic_control_toolbox::WrenchManager::listener_

private

Definition at line 74 of file wrench_manager.hpp.

int generic_control_toolbox::WrenchManager::max_tf_attempts_

private

Definition at line 66 of file wrench_manager.hpp.

std::map<std::string, KDL::Wrench> generic_control_toolbox::WrenchManager::measured_wrench_

private

Definition at line 69 of file wrench_manager.hpp.

ros::NodeHandle generic_control_toolbox::WrenchManager::nh_

private

Definition at line 76 of file wrench_manager.hpp.

MatrixParser generic_control_toolbox::WrenchManager::parser_

private

Definition at line 75 of file wrench_manager.hpp.

std::map<std::string, ros::Publisher> generic_control_toolbox::WrenchManager::processed_ft_pub_

private

Definition at line 71 of file wrench_manager.hpp.

std::map<std::string, std::string> generic_control_toolbox::WrenchManager::sensor_frame_

private

Definition at line 67 of file wrench_manager.hpp.

std::map<std::string, KDL::Frame> generic_control_toolbox::WrenchManager::sensor_to_gripping_point_

private

Definition at line 68 of file wrench_manager.hpp.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation