pressureObserver Class Reference

#include <pressure_observer.h>

List of all members.

Public Member Functions

bool checkPlaceContact (double dF)
int checkSideImpact (double dF)
bool checkSlip (double slip_motion_limit=0.007, double slip_force_limit=0.18)
bool graspContact (int contactsDesired)
 pressureObserver (pr2_hardware_interface::PressureSensor *left, pr2_hardware_interface::PressureSensor *right)
void spin ()
void updateBrokenSensorStatus ()
void updateZeros2 ()
 ~pressureObserver ()

Public Attributes

bool broken_sensor
double cellLoading_left
double cellLoading_right
double forceLightest
double hpForceTrigger
bool left_contact
double lfForce_left
double lfForce_right
double padForce_cur
double padForce_cur_nonbiased
double padForce_left_cur
double padForce_left_cur_nonbiased
double padForce_left_prev
double padForce_right_cur
double padForce_right_cur_nonbiased
double padForce_right_prev
bool placeContact
pr2_gripper_sensor_msgs::PR2GripperPressureData pressure_bp
pr2_gripper_sensor_msgs::PR2GripperPressureData pressure_cur_bias
pr2_gripper_sensor_msgs::PR2GripperPressureData pressure_current
pr2_gripper_sensor_msgs::PR2GripperPressureData pressure_current_zerod
pr2_gripper_sensor_msgs::PR2GripperPressureData pressure_now
pr2_gripper_sensor_msgs::PR2GripperPressureData pressure_prev
pr2_gripper_sensor_msgs::PR2GripperPressureData pressure_prev_bias
pr2_gripper_sensor_msgs::PR2GripperPressureData pressure_prev_zerod
pr2_gripper_sensor_msgs::PR2GripperPressureData pressure_thresh_current
pr2_gripper_sensor_msgs::PR2GripperPressureData pressure_thresh_now
pr2_gripper_sensor_msgs::PR2GripperPressureData pressure_thresh_prev
digitalFilterpressureLFFilt_left [22]
digitalFilterpressureLFFilt_right [22]
bool right_contact
double totalLoading
double totalLoading_left
double totalLoading_prev
double totalLoading_right

Private Member Functions

void bias_estimator ()
void getPadCentroid (boost::array< double, 22 > pressureArray, double *x, double *y)
double getPadForce (boost::array< double, 22 > pressureArray)
void updateContactState ()
bool updatePressureState ()
void updateTotalLoading ()
void updateXYCentroids ()
void zero ()

Private Attributes

double dt
pr2_hardware_interface::PressureSensor * left_finger
pr2_hardware_interface::PressureSensor * right_finger
int subSample_cnt
int subSample_steps
double time_cur
double time_prev
int zero_cnt
pr2_gripper_sensor_msgs::PR2GripperPressureData zero_offset
int zero_samples

Detailed Description

Definition at line 50 of file pressure_observer.h.


Constructor & Destructor Documentation

pressureObserver::pressureObserver ( pr2_hardware_interface::PressureSensor *  left,
pr2_hardware_interface::PressureSensor *  right 
)

Definition at line 329 of file pressure_observer.cpp.

pressureObserver::~pressureObserver (  ) 

Definition at line 383 of file pressure_observer.cpp.


Member Function Documentation

void pressureObserver::bias_estimator (  )  [private]

Definition at line 78 of file pressure_observer.cpp.

bool pressureObserver::checkPlaceContact ( double  dF  ) 

Definition at line 103 of file pressure_observer.cpp.

int pressureObserver::checkSideImpact ( double  dF  ) 

Definition at line 113 of file pressure_observer.cpp.

bool pressureObserver::checkSlip ( double  slip_motion_limit = 0.007,
double  slip_force_limit = 0.18 
)

Definition at line 314 of file pressure_observer.cpp.

void pressureObserver::getPadCentroid ( boost::array< double, 22 >  pressureArray,
double *  x,
double *  y 
) [private]

Definition at line 284 of file pressure_observer.cpp.

double pressureObserver::getPadForce ( boost::array< double, 22 >  pressureArray  )  [private]

Definition at line 190 of file pressure_observer.cpp.

bool pressureObserver::graspContact ( int  contactsDesired  ) 

Definition at line 129 of file pressure_observer.cpp.

void pressureObserver::spin (  ) 

Definition at line 44 of file pressure_observer.cpp.

void pressureObserver::updateBrokenSensorStatus (  ) 

Definition at line 66 of file pressure_observer.cpp.

void pressureObserver::updateContactState (  )  [private]

Definition at line 147 of file pressure_observer.cpp.

bool pressureObserver::updatePressureState (  )  [private]

Definition at line 235 of file pressure_observer.cpp.

void pressureObserver::updateTotalLoading (  )  [private]

Definition at line 164 of file pressure_observer.cpp.

void pressureObserver::updateXYCentroids (  )  [private]

Definition at line 305 of file pressure_observer.cpp.

void pressureObserver::updateZeros2 (  ) 

Definition at line 206 of file pressure_observer.cpp.

void pressureObserver::zero (  )  [private]

Definition at line 219 of file pressure_observer.cpp.


Member Data Documentation

Definition at line 77 of file pressure_observer.h.

Definition at line 73 of file pressure_observer.h.

Definition at line 73 of file pressure_observer.h.

double pressureObserver::dt [private]

Definition at line 114 of file pressure_observer.h.

Definition at line 74 of file pressure_observer.h.

Definition at line 75 of file pressure_observer.h.

Definition at line 78 of file pressure_observer.h.

pr2_hardware_interface::PressureSensor* pressureObserver::left_finger [private]

Definition at line 104 of file pressure_observer.h.

Definition at line 76 of file pressure_observer.h.

Definition at line 76 of file pressure_observer.h.

Definition at line 65 of file pressure_observer.h.

Definition at line 66 of file pressure_observer.h.

Definition at line 67 of file pressure_observer.h.

Definition at line 68 of file pressure_observer.h.

Definition at line 67 of file pressure_observer.h.

Definition at line 69 of file pressure_observer.h.

Definition at line 70 of file pressure_observer.h.

Definition at line 69 of file pressure_observer.h.

Definition at line 79 of file pressure_observer.h.

pr2_gripper_sensor_msgs::PR2GripperPressureData pressureObserver::pressure_bp

Definition at line 87 of file pressure_observer.h.

pr2_gripper_sensor_msgs::PR2GripperPressureData pressureObserver::pressure_cur_bias

Definition at line 86 of file pressure_observer.h.

pr2_gripper_sensor_msgs::PR2GripperPressureData pressureObserver::pressure_current

Definition at line 83 of file pressure_observer.h.

pr2_gripper_sensor_msgs::PR2GripperPressureData pressureObserver::pressure_current_zerod

Definition at line 85 of file pressure_observer.h.

pr2_gripper_sensor_msgs::PR2GripperPressureData pressureObserver::pressure_now

Definition at line 83 of file pressure_observer.h.

pr2_gripper_sensor_msgs::PR2GripperPressureData pressureObserver::pressure_prev

Definition at line 83 of file pressure_observer.h.

pr2_gripper_sensor_msgs::PR2GripperPressureData pressureObserver::pressure_prev_bias

Definition at line 86 of file pressure_observer.h.

pr2_gripper_sensor_msgs::PR2GripperPressureData pressureObserver::pressure_prev_zerod

Definition at line 85 of file pressure_observer.h.

pr2_gripper_sensor_msgs::PR2GripperPressureData pressureObserver::pressure_thresh_current

Definition at line 84 of file pressure_observer.h.

pr2_gripper_sensor_msgs::PR2GripperPressureData pressureObserver::pressure_thresh_now

Definition at line 84 of file pressure_observer.h.

pr2_gripper_sensor_msgs::PR2GripperPressureData pressureObserver::pressure_thresh_prev

Definition at line 84 of file pressure_observer.h.

Definition at line 89 of file pressure_observer.h.

Definition at line 90 of file pressure_observer.h.

Definition at line 78 of file pressure_observer.h.

pr2_hardware_interface::PressureSensor* pressureObserver::right_finger [private]

Definition at line 105 of file pressure_observer.h.

Definition at line 107 of file pressure_observer.h.

Definition at line 108 of file pressure_observer.h.

double pressureObserver::time_cur [private]

Definition at line 113 of file pressure_observer.h.

double pressureObserver::time_prev [private]

Definition at line 113 of file pressure_observer.h.

Definition at line 72 of file pressure_observer.h.

Definition at line 71 of file pressure_observer.h.

Definition at line 72 of file pressure_observer.h.

Definition at line 71 of file pressure_observer.h.

Definition at line 110 of file pressure_observer.h.

pr2_gripper_sensor_msgs::PR2GripperPressureData pressureObserver::zero_offset [private]

Definition at line 111 of file pressure_observer.h.

Definition at line 109 of file pressure_observer.h.


The documentation for this class was generated from the following files:
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pr2_gripper_sensor_controller
Author(s): Joe Romano
autogenerated on Fri Jan 11 09:53:48 2013