#include <R2RosTreeId.hpp>
Public Member Functions | |
void | baseFrameCallback (const r2_msgs::StringArray &msg) |
void | forceCallback (const r2_msgs::WrenchState &msg) |
void | imuCallback (const sensor_msgs::Imu &msg) |
void | jointStateCallback (const sensor_msgs::JointState &msg) |
R2RosTreeId (std::string urdf, ros::NodeHandle &nh) | |
bool | setGravity (double x, double y, double z, std::string frame, std::string mode) |
void | trajCallback (const sensor_msgs::JointState &msg) |
virtual | ~R2RosTreeId () |
Private Attributes | |
KDL::Twist | a_in |
sensor_msgs::JointState | actualStateMsg |
bool | argos |
std::string | baseFrame |
ros::Subscriber | baseFrameIn |
r2_msgs::StringArray | baseMsg |
std::string | bfCmd |
double | bfFactor |
r2_msgs::StringArray | completionMsg |
ros::Publisher | completionOut |
r2_msgs::WrenchState | emptyForceMsg |
sensor_msgs::JointState | emptyTrajMsg |
KDL::Wrench | f_out |
ros::Subscriber | forceIn |
r2_msgs::WrenchState | forceMsg |
std::vector< double > | gravity |
KDL::Vector | gravity_kdl |
std::string | gravityBase |
std::string | gravityFrame |
KDL::Frame | gravityXform |
KDL::RigidBodyInertia | I_out |
KdlTreeId | id |
std::string | idMode |
ros::Subscriber | imuIn |
sensor_msgs::Imu | imuInMsg |
ros::Publisher | inertiaOut |
JointDynamicsData | jd |
sensor_msgs::JointState | jointInertiaMsg |
ros::Subscriber | jointStateIn |
sensor_msgs::JointState | jointTorqueMsg |
double | loopRate |
bool | newBase |
RosMsgTreeId | rmt |
r2_msgs::WrenchState | segForceMsg |
ros::Publisher | segForceOut |
ros::Publisher | torqueOut |
ros::Subscriber | trajIn |
sensor_msgs::JointState | trajStateMsg |
bool | useImu |
KDL::Twist | v_in |
double | yankLimBFF |
KDL::Twist | zeroTwist |
Definition at line 13 of file R2RosTreeId.hpp.
R2RosTreeId::R2RosTreeId | ( | std::string | urdf, |
ros::NodeHandle & | nh | ||
) |
Definition at line 3 of file R2RosTreeId.cpp.
virtual R2RosTreeId::~R2RosTreeId | ( | ) | [inline, virtual] |
Definition at line 17 of file R2RosTreeId.hpp.
void R2RosTreeId::baseFrameCallback | ( | const r2_msgs::StringArray & | msg | ) |
Definition at line 55 of file R2RosTreeId.cpp.
void R2RosTreeId::forceCallback | ( | const r2_msgs::WrenchState & | msg | ) |
Definition at line 70 of file R2RosTreeId.cpp.
void R2RosTreeId::imuCallback | ( | const sensor_msgs::Imu & | msg | ) |
Definition at line 80 of file R2RosTreeId.cpp.
void R2RosTreeId::jointStateCallback | ( | const sensor_msgs::JointState & | msg | ) |
Definition at line 85 of file R2RosTreeId.cpp.
bool R2RosTreeId::setGravity | ( | double | x, |
double | y, | ||
double | z, | ||
std::string | frame, | ||
std::string | mode | ||
) |
Definition at line 31 of file R2RosTreeId.cpp.
void R2RosTreeId::trajCallback | ( | const sensor_msgs::JointState & | msg | ) |
Definition at line 75 of file R2RosTreeId.cpp.
KDL::Twist R2RosTreeId::a_in [private] |
Definition at line 67 of file R2RosTreeId.hpp.
sensor_msgs::JointState R2RosTreeId::actualStateMsg [private] |
Definition at line 36 of file R2RosTreeId.hpp.
bool R2RosTreeId::argos [private] |
Definition at line 60 of file R2RosTreeId.hpp.
std::string R2RosTreeId::baseFrame [private] |
Definition at line 65 of file R2RosTreeId.hpp.
ros::Subscriber R2RosTreeId::baseFrameIn [private] |
Definition at line 44 of file R2RosTreeId.hpp.
r2_msgs::StringArray R2RosTreeId::baseMsg [private] |
Definition at line 34 of file R2RosTreeId.hpp.
std::string R2RosTreeId::bfCmd [private] |
Definition at line 65 of file R2RosTreeId.hpp.
double R2RosTreeId::bfFactor [private] |
Definition at line 66 of file R2RosTreeId.hpp.
r2_msgs::StringArray R2RosTreeId::completionMsg [private] |
Definition at line 34 of file R2RosTreeId.hpp.
ros::Publisher R2RosTreeId::completionOut [private] |
Definition at line 53 of file R2RosTreeId.hpp.
r2_msgs::WrenchState R2RosTreeId::emptyForceMsg [private] |
Definition at line 35 of file R2RosTreeId.hpp.
sensor_msgs::JointState R2RosTreeId::emptyTrajMsg [private] |
Definition at line 37 of file R2RosTreeId.hpp.
KDL::Wrench R2RosTreeId::f_out [private] |
Definition at line 68 of file R2RosTreeId.hpp.
ros::Subscriber R2RosTreeId::forceIn [private] |
Definition at line 45 of file R2RosTreeId.hpp.
r2_msgs::WrenchState R2RosTreeId::forceMsg [private] |
Definition at line 35 of file R2RosTreeId.hpp.
std::vector<double> R2RosTreeId::gravity [private] |
Definition at line 56 of file R2RosTreeId.hpp.
KDL::Vector R2RosTreeId::gravity_kdl [private] |
Definition at line 57 of file R2RosTreeId.hpp.
std::string R2RosTreeId::gravityBase [private] |
Definition at line 61 of file R2RosTreeId.hpp.
std::string R2RosTreeId::gravityFrame [private] |
Definition at line 58 of file R2RosTreeId.hpp.
KDL::Frame R2RosTreeId::gravityXform [private] |
Definition at line 59 of file R2RosTreeId.hpp.
KDL::RigidBodyInertia R2RosTreeId::I_out [private] |
Definition at line 69 of file R2RosTreeId.hpp.
KdlTreeId R2RosTreeId::id [private] |
Definition at line 30 of file R2RosTreeId.hpp.
std::string R2RosTreeId::idMode [private] |
Definition at line 61 of file R2RosTreeId.hpp.
ros::Subscriber R2RosTreeId::imuIn [private] |
Definition at line 48 of file R2RosTreeId.hpp.
sensor_msgs::Imu R2RosTreeId::imuInMsg [private] |
Definition at line 40 of file R2RosTreeId.hpp.
ros::Publisher R2RosTreeId::inertiaOut [private] |
Definition at line 51 of file R2RosTreeId.hpp.
JointDynamicsData R2RosTreeId::jd [private] |
Definition at line 31 of file R2RosTreeId.hpp.
sensor_msgs::JointState R2RosTreeId::jointInertiaMsg [private] |
Definition at line 39 of file R2RosTreeId.hpp.
ros::Subscriber R2RosTreeId::jointStateIn [private] |
Definition at line 46 of file R2RosTreeId.hpp.
sensor_msgs::JointState R2RosTreeId::jointTorqueMsg [private] |
Definition at line 38 of file R2RosTreeId.hpp.
double R2RosTreeId::loopRate [private] |
Definition at line 62 of file R2RosTreeId.hpp.
bool R2RosTreeId::newBase [private] |
Definition at line 70 of file R2RosTreeId.hpp.
RosMsgTreeId R2RosTreeId::rmt [private] |
Definition at line 29 of file R2RosTreeId.hpp.
r2_msgs::WrenchState R2RosTreeId::segForceMsg [private] |
Definition at line 35 of file R2RosTreeId.hpp.
ros::Publisher R2RosTreeId::segForceOut [private] |
Definition at line 52 of file R2RosTreeId.hpp.
ros::Publisher R2RosTreeId::torqueOut [private] |
Definition at line 50 of file R2RosTreeId.hpp.
ros::Subscriber R2RosTreeId::trajIn [private] |
Definition at line 47 of file R2RosTreeId.hpp.
sensor_msgs::JointState R2RosTreeId::trajStateMsg [private] |
Definition at line 37 of file R2RosTreeId.hpp.
bool R2RosTreeId::useImu [private] |
Definition at line 60 of file R2RosTreeId.hpp.
KDL::Twist R2RosTreeId::v_in [private] |
Definition at line 67 of file R2RosTreeId.hpp.
double R2RosTreeId::yankLimBFF [private] |
Definition at line 62 of file R2RosTreeId.hpp.
KDL::Twist R2RosTreeId::zeroTwist [private] |
Definition at line 67 of file R2RosTreeId.hpp.