#include <pressure_observer.h>

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

digitalFilter *	pressureLFFilt_left [22]

digitalFilter *	pressureLFFilt_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

bool pressureObserver::broken_sensor

Definition at line 77 of file pressure_observer.h.

double pressureObserver::cellLoading_left

Definition at line 73 of file pressure_observer.h.

double pressureObserver::cellLoading_right

Definition at line 73 of file pressure_observer.h.

double pressureObserver::dt

private

Definition at line 114 of file pressure_observer.h.

double pressureObserver::forceLightest

Definition at line 74 of file pressure_observer.h.

double pressureObserver::hpForceTrigger

Definition at line 75 of file pressure_observer.h.

bool pressureObserver::left_contact

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.

double pressureObserver::lfForce_left

Definition at line 76 of file pressure_observer.h.

double pressureObserver::lfForce_right

Definition at line 76 of file pressure_observer.h.

double pressureObserver::padForce_cur

Definition at line 65 of file pressure_observer.h.

double pressureObserver::padForce_cur_nonbiased

Definition at line 66 of file pressure_observer.h.

double pressureObserver::padForce_left_cur

Definition at line 67 of file pressure_observer.h.

double pressureObserver::padForce_left_cur_nonbiased

Definition at line 68 of file pressure_observer.h.

double pressureObserver::padForce_left_prev

Definition at line 67 of file pressure_observer.h.

double pressureObserver::padForce_right_cur

Definition at line 69 of file pressure_observer.h.

double pressureObserver::padForce_right_cur_nonbiased

Definition at line 70 of file pressure_observer.h.

double pressureObserver::padForce_right_prev

Definition at line 69 of file pressure_observer.h.

bool pressureObserver::placeContact

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.

digitalFilter* pressureObserver::pressureLFFilt_left[22]

Definition at line 89 of file pressure_observer.h.

digitalFilter* pressureObserver::pressureLFFilt_right[22]

Definition at line 90 of file pressure_observer.h.

bool pressureObserver::right_contact

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.

int pressureObserver::subSample_cnt

private

Definition at line 107 of file pressure_observer.h.

int pressureObserver::subSample_steps

private

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.

double pressureObserver::totalLoading

Definition at line 72 of file pressure_observer.h.

double pressureObserver::totalLoading_left

Definition at line 71 of file pressure_observer.h.

double pressureObserver::totalLoading_prev

Definition at line 72 of file pressure_observer.h.

double pressureObserver::totalLoading_right

Definition at line 71 of file pressure_observer.h.

int pressureObserver::zero_cnt

private

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.

int pressureObserver::zero_samples

private

Definition at line 109 of file pressure_observer.h.

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

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation