AnymalStateEstimator
The state estimator for anymal.
anymal_state_estimator::ContactWrenchPublisher Class Reference

#include <ContactWrenchPublisher.hpp>

Public Types

using WrenchShm = any_measurements::Wrench
 
using WrenchRos = geometry_msgs::WrenchStamped
 

Public Member Functions

 ContactWrenchPublisher ()=delete
 
 ContactWrenchPublisher (std::string name, ros::NodeHandle &nh)
 
virtual ~ContactWrenchPublisher ()=default
 
ros::Time getRosTime () const
 
any_measurements::Time getTime () const
 
WrenchShm getWrench () const
 
void getWrench (WrenchShm &wrench) const
 
void setWrench (WrenchShm &wrench)
 
bool publish (const std::chrono::microseconds &maxLockTime=std::chrono::microseconds{500})
 
void sendRos ()
 

Protected Attributes

std::string name_
 
cosmo_ros::PublisherRosPtr< WrenchShm, WrenchRos, any_measurements_ros::ConversionTraits > publisher_
 
boost::shared_mutex mutexWrench_
 
WrenchShm wrench_
 

Member Typedef Documentation

using anymal_state_estimator::ContactWrenchPublisher::WrenchRos = geometry_msgs::WrenchStamped

Constructor & Destructor Documentation

anymal_state_estimator::ContactWrenchPublisher::ContactWrenchPublisher ( )
delete
anymal_state_estimator::ContactWrenchPublisher::ContactWrenchPublisher ( std::string  name,
ros::NodeHandle &  nh 
)
inline
virtual anymal_state_estimator::ContactWrenchPublisher::~ContactWrenchPublisher ( )
virtualdefault

Member Function Documentation

ros::Time anymal_state_estimator::ContactWrenchPublisher::getRosTime ( ) const
inline
any_measurements::Time anymal_state_estimator::ContactWrenchPublisher::getTime ( ) const
inline
WrenchShm anymal_state_estimator::ContactWrenchPublisher::getWrench ( ) const
inline
void anymal_state_estimator::ContactWrenchPublisher::getWrench ( WrenchShm wrench) const
inline
bool anymal_state_estimator::ContactWrenchPublisher::publish ( const std::chrono::microseconds &  maxLockTime = std::chrono::microseconds{500})
inline
void anymal_state_estimator::ContactWrenchPublisher::sendRos ( )
inline
void anymal_state_estimator::ContactWrenchPublisher::setWrench ( WrenchShm wrench)
inline

Member Data Documentation

boost::shared_mutex anymal_state_estimator::ContactWrenchPublisher::mutexWrench_
mutableprotected
std::string anymal_state_estimator::ContactWrenchPublisher::name_
protected
cosmo_ros::PublisherRosPtr<WrenchShm, WrenchRos, any_measurements_ros::ConversionTraits> anymal_state_estimator::ContactWrenchPublisher::publisher_
protected
WrenchShm anymal_state_estimator::ContactWrenchPublisher::wrench_
protected

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