Public Member Functions | Public Attributes | Private Member Functions | Private Attributes | List of all members
pressureObserver Class Reference

#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::pressureObserver ( pr2_hardware_interface::PressureSensor *  left,
pr2_hardware_interface::PressureSensor *  right 
)

Definition at line 329 of file pressure_observer.cpp.

◆ ~pressureObserver()

pressureObserver::~pressureObserver ( )

Definition at line 383 of file pressure_observer.cpp.

Member Function Documentation

◆ bias_estimator()

void pressureObserver::bias_estimator ( )
private

Definition at line 78 of file pressure_observer.cpp.

◆ checkPlaceContact()

bool pressureObserver::checkPlaceContact ( double  dF)

Definition at line 103 of file pressure_observer.cpp.

◆ checkSideImpact()

int pressureObserver::checkSideImpact ( double  dF)

Definition at line 113 of file pressure_observer.cpp.

◆ checkSlip()

bool pressureObserver::checkSlip ( double  slip_motion_limit = 0.007,
double  slip_force_limit = 0.18 
)

Definition at line 314 of file pressure_observer.cpp.

◆ getPadCentroid()

void pressureObserver::getPadCentroid ( boost::array< double, 22 >  pressureArray,
double *  x,
double *  y 
)
private

Definition at line 284 of file pressure_observer.cpp.

◆ getPadForce()

double pressureObserver::getPadForce ( boost::array< double, 22 >  pressureArray)
private

Definition at line 190 of file pressure_observer.cpp.

◆ graspContact()

bool pressureObserver::graspContact ( int  contactsDesired)

Definition at line 129 of file pressure_observer.cpp.

◆ spin()

void pressureObserver::spin ( )

Definition at line 44 of file pressure_observer.cpp.

◆ updateBrokenSensorStatus()

void pressureObserver::updateBrokenSensorStatus ( )

Definition at line 66 of file pressure_observer.cpp.

◆ updateContactState()

void pressureObserver::updateContactState ( )
private

Definition at line 147 of file pressure_observer.cpp.

◆ updatePressureState()

bool pressureObserver::updatePressureState ( )
private

Definition at line 235 of file pressure_observer.cpp.

◆ updateTotalLoading()

void pressureObserver::updateTotalLoading ( )
private

Definition at line 164 of file pressure_observer.cpp.

◆ updateXYCentroids()

void pressureObserver::updateXYCentroids ( )
private

Definition at line 305 of file pressure_observer.cpp.

◆ updateZeros2()

void pressureObserver::updateZeros2 ( )

Definition at line 206 of file pressure_observer.cpp.

◆ zero()

void pressureObserver::zero ( )
private

Definition at line 219 of file pressure_observer.cpp.

Member Data Documentation

◆ broken_sensor

bool pressureObserver::broken_sensor

Definition at line 77 of file pressure_observer.h.

◆ cellLoading_left

double pressureObserver::cellLoading_left

Definition at line 73 of file pressure_observer.h.

◆ cellLoading_right

double pressureObserver::cellLoading_right

Definition at line 73 of file pressure_observer.h.

◆ dt

double pressureObserver::dt
private

Definition at line 114 of file pressure_observer.h.

◆ forceLightest

double pressureObserver::forceLightest

Definition at line 74 of file pressure_observer.h.

◆ hpForceTrigger

double pressureObserver::hpForceTrigger

Definition at line 75 of file pressure_observer.h.

◆ left_contact

bool pressureObserver::left_contact

Definition at line 78 of file pressure_observer.h.

◆ left_finger

pr2_hardware_interface::PressureSensor* pressureObserver::left_finger
private

Definition at line 104 of file pressure_observer.h.

◆ lfForce_left

double pressureObserver::lfForce_left

Definition at line 76 of file pressure_observer.h.

◆ lfForce_right

double pressureObserver::lfForce_right

Definition at line 76 of file pressure_observer.h.

◆ padForce_cur

double pressureObserver::padForce_cur

Definition at line 65 of file pressure_observer.h.

◆ padForce_cur_nonbiased

double pressureObserver::padForce_cur_nonbiased

Definition at line 66 of file pressure_observer.h.

◆ padForce_left_cur

double pressureObserver::padForce_left_cur

Definition at line 67 of file pressure_observer.h.

◆ padForce_left_cur_nonbiased

double pressureObserver::padForce_left_cur_nonbiased

Definition at line 68 of file pressure_observer.h.

◆ padForce_left_prev

double pressureObserver::padForce_left_prev

Definition at line 67 of file pressure_observer.h.

◆ padForce_right_cur

double pressureObserver::padForce_right_cur

Definition at line 69 of file pressure_observer.h.

◆ padForce_right_cur_nonbiased

double pressureObserver::padForce_right_cur_nonbiased

Definition at line 70 of file pressure_observer.h.

◆ padForce_right_prev

double pressureObserver::padForce_right_prev

Definition at line 69 of file pressure_observer.h.

◆ placeContact

bool pressureObserver::placeContact

Definition at line 79 of file pressure_observer.h.

◆ pressure_bp

pr2_gripper_sensor_msgs::PR2GripperPressureData pressureObserver::pressure_bp

Definition at line 87 of file pressure_observer.h.

◆ pressure_cur_bias

pr2_gripper_sensor_msgs::PR2GripperPressureData pressureObserver::pressure_cur_bias

Definition at line 86 of file pressure_observer.h.

◆ pressure_current

pr2_gripper_sensor_msgs::PR2GripperPressureData pressureObserver::pressure_current

Definition at line 83 of file pressure_observer.h.

◆ pressure_current_zerod

pr2_gripper_sensor_msgs::PR2GripperPressureData pressureObserver::pressure_current_zerod

Definition at line 85 of file pressure_observer.h.

◆ pressure_now

pr2_gripper_sensor_msgs::PR2GripperPressureData pressureObserver::pressure_now

Definition at line 83 of file pressure_observer.h.

◆ pressure_prev

pr2_gripper_sensor_msgs::PR2GripperPressureData pressureObserver::pressure_prev

Definition at line 83 of file pressure_observer.h.

◆ pressure_prev_bias

pr2_gripper_sensor_msgs::PR2GripperPressureData pressureObserver::pressure_prev_bias

Definition at line 86 of file pressure_observer.h.

◆ pressure_prev_zerod

pr2_gripper_sensor_msgs::PR2GripperPressureData pressureObserver::pressure_prev_zerod

Definition at line 85 of file pressure_observer.h.

◆ pressure_thresh_current

pr2_gripper_sensor_msgs::PR2GripperPressureData pressureObserver::pressure_thresh_current

Definition at line 84 of file pressure_observer.h.

◆ pressure_thresh_now

pr2_gripper_sensor_msgs::PR2GripperPressureData pressureObserver::pressure_thresh_now

Definition at line 84 of file pressure_observer.h.

◆ pressure_thresh_prev

pr2_gripper_sensor_msgs::PR2GripperPressureData pressureObserver::pressure_thresh_prev

Definition at line 84 of file pressure_observer.h.

◆ pressureLFFilt_left

digitalFilter* pressureObserver::pressureLFFilt_left[22]

Definition at line 89 of file pressure_observer.h.

◆ pressureLFFilt_right

digitalFilter* pressureObserver::pressureLFFilt_right[22]

Definition at line 90 of file pressure_observer.h.

◆ right_contact

bool pressureObserver::right_contact

Definition at line 78 of file pressure_observer.h.

◆ right_finger

pr2_hardware_interface::PressureSensor* pressureObserver::right_finger
private

Definition at line 105 of file pressure_observer.h.

◆ subSample_cnt

int pressureObserver::subSample_cnt
private

Definition at line 107 of file pressure_observer.h.

◆ subSample_steps

int pressureObserver::subSample_steps
private

Definition at line 108 of file pressure_observer.h.

◆ time_cur

double pressureObserver::time_cur
private

Definition at line 113 of file pressure_observer.h.

◆ time_prev

double pressureObserver::time_prev
private

Definition at line 113 of file pressure_observer.h.

◆ totalLoading

double pressureObserver::totalLoading

Definition at line 72 of file pressure_observer.h.

◆ totalLoading_left

double pressureObserver::totalLoading_left

Definition at line 71 of file pressure_observer.h.

◆ totalLoading_prev

double pressureObserver::totalLoading_prev

Definition at line 72 of file pressure_observer.h.

◆ totalLoading_right

double pressureObserver::totalLoading_right

Definition at line 71 of file pressure_observer.h.

◆ zero_cnt

int pressureObserver::zero_cnt
private

Definition at line 110 of file pressure_observer.h.

◆ zero_offset

pr2_gripper_sensor_msgs::PR2GripperPressureData pressureObserver::zero_offset
private

Definition at line 111 of file pressure_observer.h.

◆ zero_samples

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:

pr2_gripper_sensor_controller
Author(s): Joe Romano
autogenerated on Sat Oct 15 2022 02:42:37