Public Member Functions | Public Attributes | Private Attributes
FTCalibNode Class Reference

List of all members.

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
move_group_interface::MoveGroup * m_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

Definition at line 65 of file ft_calib_node.cpp.

Definition at line 88 of file ft_calib_node.cpp.


Member Function Documentation

void FTCalibNode::addMeasurement ( ) [inline]

Definition at line 397 of file ft_calib_node.cpp.

void FTCalibNode::averageFTMeas ( ) [inline]

Definition at line 474 of file ft_calib_node.cpp.

bool FTCalibNode::finished ( ) [inline]

Definition at line 375 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 447 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 285 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 223 of file ft_calib_node.cpp.

void FTCalibNode::saveCalibData ( ) [inline]

Definition at line 313 of file ft_calib_node.cpp.

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

Definition at line 358 of file ft_calib_node.cpp.

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

Definition at line 380 of file ft_calib_node.cpp.

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

Definition at line 389 of file ft_calib_node.cpp.


Member Data Documentation

std::string FTCalibNode::m_calib_file_dir [private]

Definition at line 533 of file ft_calib_node.cpp.

std::string FTCalibNode::m_calib_file_name [private]

Definition at line 529 of file ft_calib_node.cpp.

bool FTCalibNode::m_finished [private]

Definition at line 507 of file ft_calib_node.cpp.

geometry_msgs::WrenchStamped FTCalibNode::m_ft_avg [private]

Definition at line 517 of file ft_calib_node.cpp.

Definition at line 513 of file ft_calib_node.cpp.

unsigned int FTCalibNode::m_ft_counter [private]

Definition at line 505 of file ft_calib_node.cpp.

geometry_msgs::WrenchStamped FTCalibNode::m_ft_raw [private]

Definition at line 516 of file ft_calib_node.cpp.

move_group_interface::MoveGroup* FTCalibNode::m_group [private]

Definition at line 502 of file ft_calib_node.cpp.

sensor_msgs::Imu FTCalibNode::m_imu [private]

Definition at line 520 of file ft_calib_node.cpp.

std::string FTCalibNode::m_meas_file_dir [private]

Definition at line 540 of file ft_calib_node.cpp.

std::string FTCalibNode::m_meas_file_name [private]

Definition at line 536 of file ft_calib_node.cpp.

std::string FTCalibNode::m_moveit_group_name [private]

Definition at line 526 of file ft_calib_node.cpp.

Definition at line 551 of file ft_calib_node.cpp.

unsigned int FTCalibNode::m_pose_counter [private]

Definition at line 504 of file ft_calib_node.cpp.

std::string FTCalibNode::m_poses_frame_id [private]

Definition at line 543 of file ft_calib_node.cpp.

Definition at line 547 of file ft_calib_node.cpp.

Definition at line 509 of file ft_calib_node.cpp.

Definition at line 510 of file ft_calib_node.cpp.

Definition at line 522 of file ft_calib_node.cpp.

Definition at line 60 of file ft_calib_node.cpp.

Definition at line 61 of file ft_calib_node.cpp.

Definition at line 63 of file ft_calib_node.cpp.

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 Sat Jun 8 2019 18:27:53