#include <sot/talos_balance/ft-wrist-calibration.hh>

Inheritance diagram for FtWristCalibration:

Collaboration diagram for FtWristCalibration:

Public Types
typedef Eigen::Matrix< double, 3, 1 >	Vector3d

typedef Eigen::Matrix< double, 6, 1 >	Vector6d

Public Member Functions
	FtWristCalibration (const std::string &name)

void	calibrateWristSensor ()

	DECLARE_SIGNAL_IN (leftWristForceIn, dynamicgraph::Vector)

	DECLARE_SIGNAL_IN (q, dynamicgraph::Vector)

	DECLARE_SIGNAL_IN (rightWristForceIn, dynamicgraph::Vector)

	DECLARE_SIGNAL_INNER (leftWeight, dynamicgraph::Vector)

	DECLARE_SIGNAL_INNER (rightWeight, dynamicgraph::Vector)

	DECLARE_SIGNAL_OUT (leftWristForceOut, dynamicgraph::Vector)

	DECLARE_SIGNAL_OUT (rightWristForceOut, dynamicgraph::Vector)

virtual void	display (std::ostream &os) const

void	displayRobotUtil ()

void	init (const std::string &robotRef)
	Initialize. More...

void	setLeftHandConf (const double &leftW, const Vector &leftLeverArm)

void	setRemoveWeight (const bool &removeWeight)
	Set to true if you want to remove the weight from the force. More...

void	setRightHandConf (const double &rightW, const Vector &rightLeverArm)
	Commands for setting the hand weight. More...

Protected Attributes
pinocchio::Data *	m_data
	Pinocchio robot data. More...

bool	m_initSucceeded
	true if the entity has been successfully initialized More...

Vector6d	m_left_FT_offset
	Offset or bias to be removed from Left FT sensor. More...

Vector6d	m_left_FT_offset_calibration_sum
	Variable used during average computation of the offset. More...

Vector6d	m_left_weight_calibration_sum
	Variable used during average computation of the weight. More...

int	m_leftCalibrationIter = -2

Vector6d	m_leftHandWeight
	weight of the left hand More...

Vector3d	m_leftLeverArm
	left hand lever arm More...

pinocchio::FrameIndex	m_leftSensorId
	Id of the joint of the end-effector. More...

pinocchio::Model	m_model
	Pinocchio robot model. More...

bool	m_removeWeight
	If true, the weight of the end effector is removed from the force. More...

Vector6d	m_right_FT_offset
	Offset or bias to be removed from Right FT sensor. More...

Vector6d	m_right_FT_offset_calibration_sum
	Variable used during average computation of the offset. More...

Vector6d	m_right_weight_calibration_sum
	Variable used during average computation of the weight. More...

int	m_rightCalibrationIter = -2

Vector6d	m_rightHandWeight
	weight of the right hand More...

Vector3d	m_rightLeverArm
	right hand lever arm More...

pinocchio::FrameIndex	m_rightSensorId
	Id of the force sensor frame. More...

RobotUtilShrPtr	m_robot_util
	Robot Util instance to get the sensor frame. More...

Detailed Description

Definition at line 57 of file ft-wrist-calibration.hh.

Member Typedef Documentation

◆ Vector3d

typedef Eigen::Matrix<double, 3, 1> Vector3d

Definition at line 101 of file ft-wrist-calibration.hh.

◆ Vector6d

typedef Eigen::Matrix<double, 6, 1> Vector6d

Definition at line 100 of file ft-wrist-calibration.hh.

Constructor & Destructor Documentation

◆ FtWristCalibration()

FtWristCalibration ( const std::string & name )

Definition at line 43 of file ft-wrist-calibration.cpp.

Member Function Documentation

◆ calibrateWristSensor()

void calibrateWristSensor ( )

Command to calibrate the wrist sensors when the robot is in half sitting with the hands aligned

Definition at line 272 of file ft-wrist-calibration.cpp.

◆ DECLARE_SIGNAL_IN() [1/3]

DECLARE_SIGNAL_IN	(	leftWristForceIn	,
		dynamicgraph::Vector
	)

◆ DECLARE_SIGNAL_IN() [2/3]

DECLARE_SIGNAL_IN	(	q	,
		dynamicgraph::Vector
	)

◆ DECLARE_SIGNAL_IN() [3/3]

DECLARE_SIGNAL_IN	(	rightWristForceIn	,
		dynamicgraph::Vector
	)

◆ DECLARE_SIGNAL_INNER() [1/2]

DECLARE_SIGNAL_INNER	(	leftWeight	,
		dynamicgraph::Vector
	)

◆ DECLARE_SIGNAL_INNER() [2/2]

DECLARE_SIGNAL_INNER	(	rightWeight	,
		dynamicgraph::Vector
	)

◆ DECLARE_SIGNAL_OUT() [1/2]

DECLARE_SIGNAL_OUT	(	leftWristForceOut	,
		dynamicgraph::Vector
	)

◆ DECLARE_SIGNAL_OUT() [2/2]

DECLARE_SIGNAL_OUT	(	rightWristForceOut	,
		dynamicgraph::Vector
	)

◆ display()

void display ( std::ostream & os ) const

virtual

Definition at line 292 of file ft-wrist-calibration.cpp.

◆ displayRobotUtil()

void displayRobotUtil ( )

◆ init()

void init ( const std::string & robotRef )

Initialize.

Definition at line 90 of file ft-wrist-calibration.cpp.

◆ setLeftHandConf()

void setLeftHandConf	(	const double &	leftW,
		const Vector &	leftLeverArm
	)

Definition at line 261 of file ft-wrist-calibration.cpp.

◆ setRemoveWeight()

void setRemoveWeight ( const bool & removeWeight )

Set to true if you want to remove the weight from the force.

Parameters

[in] removeWeight Boolean used to remove the weight

Definition at line 282 of file ft-wrist-calibration.cpp.

◆ setRightHandConf()

void setRightHandConf	(	const double &	rightW,
		const Vector &	rightLeverArm
	)

Commands for setting the hand weight.

Definition at line 250 of file ft-wrist-calibration.cpp.

Member Data Documentation

◆ m_data

pinocchio::Data* m_data

protected

Pinocchio robot data.

Definition at line 109 of file ft-wrist-calibration.hh.

◆ m_initSucceeded

bool m_initSucceeded

protected

true if the entity has been successfully initialized

Definition at line 133 of file ft-wrist-calibration.hh.

◆ m_left_FT_offset

Vector6d m_left_FT_offset

protected

Offset or bias to be removed from Left FT sensor.

Definition at line 123 of file ft-wrist-calibration.hh.

◆ m_left_FT_offset_calibration_sum

Vector6d m_left_FT_offset_calibration_sum

protected

Variable used during average computation of the offset.

Definition at line 127 of file ft-wrist-calibration.hh.

◆ m_left_weight_calibration_sum

Vector6d m_left_weight_calibration_sum

protected

Variable used during average computation of the weight.

Definition at line 131 of file ft-wrist-calibration.hh.

◆ m_leftCalibrationIter

int m_leftCalibrationIter = -2

protected

Number of iteration for right calibration (-2 = not calibrated, -1 = caibration done)

Definition at line 119 of file ft-wrist-calibration.hh.

◆ m_leftHandWeight

Vector6d m_leftHandWeight

protected

weight of the left hand

Definition at line 137 of file ft-wrist-calibration.hh.

◆ m_leftLeverArm

Vector3d m_leftLeverArm

protected

left hand lever arm

Definition at line 141 of file ft-wrist-calibration.hh.

◆ m_leftSensorId

pinocchio::FrameIndex m_leftSensorId

protected

Id of the joint of the end-effector.

Definition at line 113 of file ft-wrist-calibration.hh.

◆ m_model

pinocchio::Model m_model

protected

Pinocchio robot model.

Definition at line 107 of file ft-wrist-calibration.hh.

◆ m_removeWeight

bool m_removeWeight

protected

If true, the weight of the end effector is removed from the force.

Definition at line 143 of file ft-wrist-calibration.hh.

◆ m_right_FT_offset

Vector6d m_right_FT_offset

protected

Offset or bias to be removed from Right FT sensor.

Definition at line 121 of file ft-wrist-calibration.hh.

◆ m_right_FT_offset_calibration_sum

Vector6d m_right_FT_offset_calibration_sum

protected

Variable used during average computation of the offset.

Definition at line 125 of file ft-wrist-calibration.hh.

◆ m_right_weight_calibration_sum

Vector6d m_right_weight_calibration_sum

protected

Variable used during average computation of the weight.

Definition at line 129 of file ft-wrist-calibration.hh.

◆ m_rightCalibrationIter

int m_rightCalibrationIter = -2

protected

Number of iteration for right calibration (-2 = not calibrated, -1 = caibration done)

Definition at line 116 of file ft-wrist-calibration.hh.

◆ m_rightHandWeight

Vector6d m_rightHandWeight

protected

weight of the right hand

Definition at line 135 of file ft-wrist-calibration.hh.

◆ m_rightLeverArm

Vector3d m_rightLeverArm

protected

right hand lever arm

Definition at line 139 of file ft-wrist-calibration.hh.

◆ m_rightSensorId

pinocchio::FrameIndex m_rightSensorId

protected

Id of the force sensor frame.

Definition at line 111 of file ft-wrist-calibration.hh.

◆ m_robot_util

RobotUtilShrPtr m_robot_util

protected

Robot Util instance to get the sensor frame.

Definition at line 105 of file ft-wrist-calibration.hh.

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

include/sot/talos_balance/ft-wrist-calibration.hh
src/ft-wrist-calibration.cpp

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Vector3d

◆ Vector6d

Constructor & Destructor Documentation

◆ FtWristCalibration()

Member Function Documentation

◆ calibrateWristSensor()

◆ DECLARE_SIGNAL_IN() [1/3]

◆ DECLARE_SIGNAL_IN() [2/3]

◆ DECLARE_SIGNAL_IN() [3/3]

◆ DECLARE_SIGNAL_INNER() [1/2]

◆ DECLARE_SIGNAL_INNER() [2/2]

◆ DECLARE_SIGNAL_OUT() [1/2]

◆ DECLARE_SIGNAL_OUT() [2/2]

◆ display()

◆ displayRobotUtil()

◆ init()

◆ setLeftHandConf()

◆ setRemoveWeight()

◆ setRightHandConf()

Member Data Documentation

◆ m_data

◆ m_initSucceeded

◆ m_left_FT_offset

◆ m_left_FT_offset_calibration_sum

◆ m_left_weight_calibration_sum

◆ m_leftCalibrationIter

◆ m_leftHandWeight

◆ m_leftLeverArm

◆ m_leftSensorId

◆ m_model

◆ m_removeWeight

◆ m_right_FT_offset

◆ m_right_FT_offset_calibration_sum

◆ m_right_weight_calibration_sum

◆ m_rightCalibrationIter

◆ m_rightHandWeight

◆ m_rightLeverArm

◆ m_rightSensorId

◆ m_robot_util