gravity_compensation_params.cpp
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00001 /*
00002  *  gravity_compensation_params.cpp
00003  *
00004  *  Created on: Nov 11, 2013
00005  *  Authors:   Francisco Viña
00006  *            fevb <at> kth.se
00007  */
00008 
00009 /* Copyright (c) 2013, Francisco Viña, CVAP, KTH
00010    All rights reserved.
00011 
00012    Redistribution and use in source and binary forms, with or without
00013    modification, are permitted provided that the following conditions are met:
00014       * Redistributions of source code must retain the above copyright
00015         notice, this list of conditions and the following disclaimer.
00016       * Redistributions in binary form must reproduce the above copyright
00017         notice, this list of conditions and the following disclaimer in the
00018         documentation and/or other materials provided with the distribution.
00019       * Neither the name of KTH nor the
00020         names of its contributors may be used to endorse or promote products
00021         derived from this software without specific prior written permission.
00022 
00023    THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00024    ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00025    WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00026    DISCLAIMED. IN NO EVENT SHALL KTH BE LIABLE FOR ANY
00027    DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00028    (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00029    LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00030    ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00031    (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00032    SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00033 */
00034 
00035 #include <ros/ros.h>
00036 #include <gravity_compensation/gravity_compensation_params.h>
00037 
00038 
00039 GravityCompensationParams::GravityCompensationParams()
00040 {
00041 
00042 }
00043 
00044 GravityCompensationParams::~GravityCompensationParams()
00045 {
00046 
00047 }
00048 
00049 void GravityCompensationParams::setBias(const Eigen::Matrix<double, 6, 1> &bias)
00050 {
00051         m_bias = bias;
00052 }
00053 
00054 Eigen::Matrix<double, 6, 1> GravityCompensationParams::getBias()
00055 {
00056     return m_bias;
00057 }
00058 
00059 void GravityCompensationParams::setGripperMass(const double &gripper_mass)
00060 {
00061         m_gripper_mass = gripper_mass;
00062 }
00063 
00064 double GravityCompensationParams::getGripperMass()
00065 {
00066     return m_gripper_mass;
00067 }
00068 
00069 void GravityCompensationParams::setGripperCOM(const tf::StampedTransform &gripper_com)
00070 {
00071     m_gripper_com = gripper_com;
00072 }
00073 
00074 tf::StampedTransform GravityCompensationParams::getGripperCOM()
00075 {
00076     return m_gripper_com;
00077 }


gravity_compensation
Author(s): Francisco Vina
autogenerated on Sun Oct 5 2014 23:59:50