anymal_state_estimator::ContactWrenchReceiver< ConcreteDescription_, RobotState_ > Class Template Reference

#include <ContactWrenchReceiver.hpp>

Inheritance diagram for anymal_state_estimator::ContactWrenchReceiver< ConcreteDescription_, RobotState_ >:

Public Types
using	RobotModel = romo::RobotModel< ConcreteDescription_, RobotState_ >
using	RD = typename RobotModel::RD
using	BodyEnum = typename RD::BodyEnum
using	WrenchShm = any_measurements::Wrench
using	WrenchRos = geometry_msgs::WrenchStamped
Public Types inherited from anymal_state_estimator::ContactWrenchInterface
using	WrenchShm = any_measurements::Wrench
using	WrenchRos = geometry_msgs::WrenchStamped

Public Member Functions
	ContactWrenchReceiver ()=delete
	ContactWrenchReceiver (const std::string &name, const BodyEnum bodyEnum, const double maxTimeout, const RobotModel &robotModel, ros::NodeHandle &nh)
	~ContactWrenchReceiver () override=default
void	callback (const WrenchShm &wrench)
void	init () override
void	update () override
Public Member Functions inherited from anymal_state_estimator::ContactWrenchInterface
	ContactWrenchInterface ()=delete
	ContactWrenchInterface (std::string name, const double maxTimeout)
virtual	~ContactWrenchInterface ()=default
ros::Time	getRosTime () const
any_measurements::Time	getTime () const
WrenchShm	getWrench () const
void	getWrench (WrenchShm &wrench) const
virtual bool	hasTimeout (const double lastTime) const

Protected Attributes
cosmo_ros::SubscriberRosPtr< WrenchShm, WrenchRos, any_measurements_ros::ConversionTraits >	subscriber_
const BodyEnum	bodyEnum_
const RobotModel &	robotModel_
Protected Attributes inherited from anymal_state_estimator::ContactWrenchInterface
std::string	name_
boost::shared_mutex	mutexWrench_
WrenchShm	wrench_
const double	maxTimeout_
bool	hasWrench_

Member Typedef Documentation

BodyEnum

template<typename ConcreteDescription_ , typename RobotState_ >

using anymal_state_estimator::ContactWrenchReceiver< ConcreteDescription_, RobotState_ >::BodyEnum = typename RD::BodyEnum

RD

template<typename ConcreteDescription_ , typename RobotState_ >

using anymal_state_estimator::ContactWrenchReceiver< ConcreteDescription_, RobotState_ >::RD = typename RobotModel::RD

RobotModel

template<typename ConcreteDescription_ , typename RobotState_ >

using anymal_state_estimator::ContactWrenchReceiver< ConcreteDescription_, RobotState_ >::RobotModel = romo::RobotModel<ConcreteDescription_, RobotState_>

WrenchRos

template<typename ConcreteDescription_ , typename RobotState_ >

using anymal_state_estimator::ContactWrenchReceiver< ConcreteDescription_, RobotState_ >::WrenchRos = geometry_msgs::WrenchStamped

WrenchShm

template<typename ConcreteDescription_ , typename RobotState_ >

using anymal_state_estimator::ContactWrenchReceiver< ConcreteDescription_, RobotState_ >::WrenchShm = any_measurements::Wrench

Constructor & Destructor Documentation

ContactWrenchReceiver() [1/2]

template<typename ConcreteDescription_ , typename RobotState_ >

anymal_state_estimator::ContactWrenchReceiver< ConcreteDescription_, RobotState_ >::ContactWrenchReceiver ( )

delete

ContactWrenchReceiver() [2/2]

template<typename ConcreteDescription_ , typename RobotState_ >

anymal_state_estimator::ContactWrenchReceiver< ConcreteDescription_, RobotState_ >::ContactWrenchReceiver ( const std::string &  name, const BodyEnum  bodyEnum, const double  maxTimeout, const RobotModel &  robotModel, ros::NodeHandle &  nh  )

inline

~ContactWrenchReceiver()

template<typename ConcreteDescription_ , typename RobotState_ >

anymal_state_estimator::ContactWrenchReceiver< ConcreteDescription_, RobotState_ >::~ContactWrenchReceiver ( )

overridedefault

Member Function Documentation

callback()

template<typename ConcreteDescription_ , typename RobotState_ >

void anymal_state_estimator::ContactWrenchReceiver< ConcreteDescription_, RobotState_ >::callback ( const WrenchShm &  wrench )

inline

init()

template<typename ConcreteDescription_ , typename RobotState_ >

void anymal_state_estimator::ContactWrenchReceiver< ConcreteDescription_, RobotState_ >::init ( )

inlineoverridevirtual

Implements anymal_state_estimator::ContactWrenchInterface.

update()

template<typename ConcreteDescription_ , typename RobotState_ >

void anymal_state_estimator::ContactWrenchReceiver< ConcreteDescription_, RobotState_ >::update ( )

inlineoverridevirtual

Implements anymal_state_estimator::ContactWrenchInterface.

Member Data Documentation

bodyEnum_

template<typename ConcreteDescription_ , typename RobotState_ >

const BodyEnum anymal_state_estimator::ContactWrenchReceiver< ConcreteDescription_, RobotState_ >::bodyEnum_

protected

robotModel_

template<typename ConcreteDescription_ , typename RobotState_ >

const RobotModel& anymal_state_estimator::ContactWrenchReceiver< ConcreteDescription_, RobotState_ >::robotModel_

protected

subscriber_

template<typename ConcreteDescription_ , typename RobotState_ >

cosmo_ros::SubscriberRosPtr<WrenchShm, WrenchRos, any_measurements_ros::ConversionTraits> anymal_state_estimator::ContactWrenchReceiver< ConcreteDescription_, RobotState_ >::subscriber_

protected

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

• ContactWrenchReceiver.hpp