OutputRecorder Class Reference

#include <output_recorder.h>

Public Member Functions
double	calculateLS (std::vector< double > *vec_out, std::vector< double > *vec_in, int model_order, double &a1, double &a2, double &a3, double &b1, double &b2, double &b3)
void	euler (std::vector< double > *out, double in, double dt)
void	fillDataVectors (double x_dot_lin_in, double x_dot_lin_out, double y_dot_lin_in, double y_dot_lin_out, double z_dot_lin_in, double z_dot_lin_out, double x_dot_rot_in, double x_dot_rot_out, double y_dot_rot_in, double y_dot_rot_out, double z_dot_rot_in, double z_dot_rot_out, double x_lin_out, double y_lin_out, double z_lin_out, double x_rot_out, double y_rot_out, double z_rot_out)
geometry_msgs::Pose	getEndeffectorPose ()
bool	initialize ()
void	jointstateCallback (const sensor_msgs::JointState::ConstPtr &msg)
void	pseudoInverse (const Eigen::MatrixXd &matrix, Eigen::MatrixXd &matrix_inv, double tolerance)
void	quit (int sig)
void	run ()
void	stepResponsePlot (std::string file_name, std::vector< double > *in, std::vector< double > *x_lin_out, std::vector< double > *y_lin_out, std::vector< double > *z_lin_out, std::vector< double > *x_rot_out, std::vector< double > *y_rot_out, std::vector< double > *z_rot_out)
void	stopRecording ()
void	twistCallback (const geometry_msgs::TwistStamped::ConstPtr &msg)
void	writeToMFile (std::string file_name, std::vector< double > *dot_in, std::vector< double > *dot_out, std::vector< double > *pos_out, std::vector< double > *dot_integrated)

Private Attributes
char	c
	For Keyboard commands. More...
KDL::Chain	chain_
	KDL Conversion. More...
std::string	chain_base_link_
std::string	chain_tip_link_
unsigned int	dof_
double	dt_
	Euler Integration. More...
bool	finished_recording_
KDL::ChainFkSolverVel_recursive *	jntToCartSolver_vel_
std::vector< std::string >	joints_
ros::Subscriber	jointstate_sub_
int	kfd
KDL::JntArray	last_q_
KDL::JntArray	last_q_dot_
tf::TransformListener	listener_
	Transform Listener. More...
ros::NodeHandle	nh_
std::string	output_file_path_
double	q_x_lin_out
double	q_y_lin_out
double	q_z_lin_out
struct termios cooked	raw
bool	start_
std::vector< double >	time_vec_
ros::Subscriber	twist_sub_
KDL::Vector	vector_rot_
KDL::Vector	vector_vel_
double	x_dot_lin_in_
std::vector< double >	x_dot_lin_vec_in_
	Inputs. More...
std::vector< double >	x_dot_lin_vec_out_
	Outputs. More...
double	x_dot_rot_in_
std::vector< double >	x_dot_rot_vec_in_
std::vector< double >	x_dot_rot_vec_out_
std::vector< double >	x_lin_vec_out_
std::vector< double >	x_rot_vec_out_
double	y_dot_lin_in_
std::vector< double >	y_dot_lin_vec_in_
std::vector< double >	y_dot_lin_vec_out_
double	y_dot_rot_in_
std::vector< double >	y_dot_rot_vec_in_
std::vector< double >	y_dot_rot_vec_out_
std::vector< double >	y_lin_vec_out_
std::vector< double >	y_rot_vec_out_
double	z_dot_lin_in_
std::vector< double >	z_dot_lin_vec_in_
std::vector< double >	z_dot_lin_vec_out_
double	z_dot_rot_in_
std::vector< double >	z_dot_rot_vec_in_
std::vector< double >	z_dot_rot_vec_out_
std::vector< double >	z_lin_vec_out_
std::vector< double >	z_rot_vec_out_

Detailed Description

Definition at line 50 of file output_recorder.h.

Member Function Documentation

double OutputRecorder::calculateLS	(	std::vector< double > *	vec_out,
		std::vector< double > *	vec_in,
		int	model_order,
		double &	a1,
		double &	a2,
		double &	a3,
		double &	b1,
		double &	b2,
		double &	b3
	)

System 1. Ordnung

System 2. Ordnung

System 3. Ordnung

'double' machine precision http://freemat.sourceforge.net/help/constants_eps.html

Definition at line 344 of file output_recorder.cpp.

void OutputRecorder::euler	(	std::vector< double > *	out,
		double	in,
		double	dt
	)

Definition at line 485 of file output_recorder.cpp.

void OutputRecorder::fillDataVectors	(	double	x_dot_lin_in,
		double	x_dot_lin_out,
		double	y_dot_lin_in,
		double	y_dot_lin_out,
		double	z_dot_lin_in,
		double	z_dot_lin_out,
		double	x_dot_rot_in,
		double	x_dot_rot_out,
		double	y_dot_rot_in,
		double	y_dot_rot_out,
		double	z_dot_rot_in,
		double	z_dot_rot_out,
		double	x_lin_out,
		double	y_lin_out,
		double	z_lin_out,
		double	x_rot_out,
		double	y_rot_out,
		double	z_rot_out
	)

lin velocity

rot velocity

lin position

rot position

Definition at line 497 of file output_recorder.cpp.

geometry_msgs::Pose OutputRecorder::getEndeffectorPose

(

)

Definition at line 317 of file output_recorder.cpp.

bool OutputRecorder::initialize

(

)

parse robot_description and generate KDL chains

initialize variables and current joint values and velocities

Definition at line 32 of file output_recorder.cpp.

void OutputRecorder::jointstateCallback

(

const sensor_msgs::JointState::ConstPtr &

msg

)

Definition at line 257 of file output_recorder.cpp.

void OutputRecorder::pseudoInverse	(	const Eigen::MatrixXd &	matrix,
		Eigen::MatrixXd &	matrix_inv,
		double	tolerance
	)

Definition at line 460 of file output_recorder.cpp.

void OutputRecorder::quit

(

int

sig

)

Definition at line 251 of file output_recorder.cpp.

void OutputRecorder::run

(

)

Ist Position

Sollgeschwindigkeit

Generate Octave Files

Velocity Stepresponse

Position Stepresponse

Definition at line 96 of file output_recorder.cpp.

void OutputRecorder::stepResponsePlot	(	std::string	file_name,
		std::vector< double > *	in,
		std::vector< double > *	x_lin_out,
		std::vector< double > *	y_lin_out,
		std::vector< double > *	z_lin_out,
		std::vector< double > *	x_rot_out,
		std::vector< double > *	y_rot_out,
		std::vector< double > *	z_rot_out
	)

Get the vectors and write them to .m file--------------------—

Definition at line 532 of file output_recorder.cpp.

void OutputRecorder::stopRecording

(

)

Definition at line 224 of file output_recorder.cpp.

void OutputRecorder::twistCallback

(

const geometry_msgs::TwistStamped::ConstPtr &

msg

)

Definition at line 305 of file output_recorder.cpp.

void OutputRecorder::writeToMFile	(	std::string	file_name,
		std::vector< double > *	dot_in,
		std::vector< double > *	dot_out,
		std::vector< double > *	pos_out,
		std::vector< double > *	dot_integrated
	)

Get the vectors and write them to .m file

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Generate the time vector based on average sample time

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Generate Velocity Models----------------————————

1. Order
2. Order
3. Order

Errorplot to identify model order-------------------————

First order

Second order

Third order

Definition at line 606 of file output_recorder.cpp.

Member Data Documentation

char OutputRecorder::c

private

For Keyboard commands.

Definition at line 125 of file output_recorder.h.

KDL::Chain OutputRecorder::chain_

private

KDL Conversion.

Definition at line 86 of file output_recorder.h.

std::string OutputRecorder::chain_base_link_

private

Definition at line 88 of file output_recorder.h.

std::string OutputRecorder::chain_tip_link_

private

Definition at line 89 of file output_recorder.h.

unsigned int OutputRecorder::dof_

private

Definition at line 94 of file output_recorder.h.

double OutputRecorder::dt_

private

Euler Integration.

Definition at line 118 of file output_recorder.h.

bool OutputRecorder::finished_recording_

private

Definition at line 121 of file output_recorder.h.

KDL::ChainFkSolverVel_recursive* OutputRecorder::jntToCartSolver_vel_

private

Definition at line 93 of file output_recorder.h.

std::vector<std::string> OutputRecorder::joints_

private

Definition at line 92 of file output_recorder.h.

ros::Subscriber OutputRecorder::jointstate_sub_

private

Definition at line 83 of file output_recorder.h.

int OutputRecorder::kfd

private

Definition at line 126 of file output_recorder.h.

KDL::JntArray OutputRecorder::last_q_

private

Definition at line 90 of file output_recorder.h.

KDL::JntArray OutputRecorder::last_q_dot_

private

Definition at line 91 of file output_recorder.h.

tf::TransformListener OutputRecorder::listener_

private

Transform Listener.

Definition at line 115 of file output_recorder.h.

ros::NodeHandle OutputRecorder::nh_

private

Definition at line 81 of file output_recorder.h.

std::string OutputRecorder::output_file_path_

private

Definition at line 87 of file output_recorder.h.

double OutputRecorder::q_x_lin_out

private

Definition at line 105 of file output_recorder.h.

double OutputRecorder::q_y_lin_out

private

Definition at line 105 of file output_recorder.h.

double OutputRecorder::q_z_lin_out

private

Definition at line 105 of file output_recorder.h.

struct termios cooked OutputRecorder::raw

private

Definition at line 127 of file output_recorder.h.

bool OutputRecorder::start_

private

Definition at line 120 of file output_recorder.h.

std::vector<double> OutputRecorder::time_vec_

private

Definition at line 122 of file output_recorder.h.

ros::Subscriber OutputRecorder::twist_sub_

private

Definition at line 82 of file output_recorder.h.

KDL::Vector OutputRecorder::vector_rot_

private

Definition at line 95 of file output_recorder.h.

KDL::Vector OutputRecorder::vector_vel_

private

Definition at line 95 of file output_recorder.h.

double OutputRecorder::x_dot_lin_in_

private

Definition at line 111 of file output_recorder.h.

std::vector<double> OutputRecorder::x_dot_lin_vec_in_

private

Inputs.

Definition at line 108 of file output_recorder.h.

std::vector<double> OutputRecorder::x_dot_lin_vec_out_

private

Outputs.

Definition at line 99 of file output_recorder.h.

double OutputRecorder::x_dot_rot_in_

private

Definition at line 112 of file output_recorder.h.

std::vector<double> OutputRecorder::x_dot_rot_vec_in_

private

Definition at line 109 of file output_recorder.h.

std::vector<double> OutputRecorder::x_dot_rot_vec_out_

private

Definition at line 100 of file output_recorder.h.

std::vector<double> OutputRecorder::x_lin_vec_out_

private

Definition at line 103 of file output_recorder.h.

std::vector<double> OutputRecorder::x_rot_vec_out_

private

Definition at line 104 of file output_recorder.h.

double OutputRecorder::y_dot_lin_in_

private

Definition at line 111 of file output_recorder.h.

std::vector<double> OutputRecorder::y_dot_lin_vec_in_

private

Definition at line 108 of file output_recorder.h.

std::vector<double> OutputRecorder::y_dot_lin_vec_out_

private

Definition at line 99 of file output_recorder.h.

double OutputRecorder::y_dot_rot_in_

private

Definition at line 112 of file output_recorder.h.

std::vector<double> OutputRecorder::y_dot_rot_vec_in_

private

Definition at line 109 of file output_recorder.h.

std::vector<double> OutputRecorder::y_dot_rot_vec_out_

private

Definition at line 100 of file output_recorder.h.

std::vector<double> OutputRecorder::y_lin_vec_out_

private

Definition at line 103 of file output_recorder.h.

std::vector<double> OutputRecorder::y_rot_vec_out_

private

Definition at line 104 of file output_recorder.h.

double OutputRecorder::z_dot_lin_in_

private

Definition at line 111 of file output_recorder.h.

std::vector<double> OutputRecorder::z_dot_lin_vec_in_

private

Definition at line 108 of file output_recorder.h.

std::vector<double> OutputRecorder::z_dot_lin_vec_out_

private

Definition at line 99 of file output_recorder.h.

double OutputRecorder::z_dot_rot_in_

private

Definition at line 112 of file output_recorder.h.

std::vector<double> OutputRecorder::z_dot_rot_vec_in_

private

Definition at line 109 of file output_recorder.h.

std::vector<double> OutputRecorder::z_dot_rot_vec_out_

private

Definition at line 100 of file output_recorder.h.

std::vector<double> OutputRecorder::z_lin_vec_out_

private

Definition at line 103 of file output_recorder.h.

std::vector<double> OutputRecorder::z_rot_vec_out_

private

Definition at line 104 of file output_recorder.h.

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

• output_recorder.h
• output_recorder.cpp