A library that generates velocity references to follow a path.
robot_utils::ForceCalibratorBase Class Referenceabstract

#include <ForceCalibratorBase.hpp>

Inheritance diagram for robot_utils::ForceCalibratorBase:
Inheritance graph

Public Member Functions

 ForceCalibratorBase (const std::string &name)
virtual ~ForceCalibratorBase ()=default
virtual bool store (const std::string &filename)=0
virtual bool load (const std::string &filename)=0
virtual bool isCalibrating ()=0
virtual bool startCalibration (bool wait=false)=0
virtual bool wait ()=0
virtual bool initialize (double dt)=0
virtual bool advance (double dt)=0
virtual bool command (ForceCalibratorCommand &command)=0
virtual bool getCalibratedForce (kindr::Force3D &calibratedForce, const kindr::Force3D &uncalibratedForce)=0
virtual bool getCalibratedTorque (kindr::Torque3D &calibratedTorque, const kindr::Torque3D &uncalibratedTorque)=0
virtual bool getCalibratedWrench (kindr::WrenchD &calibratedWrench, const kindr::WrenchD &uncalibratedWrench)
virtual void getStatistics (ForceCalibratorStats &statistics)=0
const std::string & getName () const
void setWrench (const kindr::WrenchD &wrench)
void setForce (const kindr::Force3D &force)
void setTorque (const kindr::Torque3D &torque)

Protected Attributes

std::string name_
kindr::WrenchD wrench_
boost::shared_mutex mutexWrench_

Constructor & Destructor Documentation

◆ ForceCalibratorBase()

robot_utils::ForceCalibratorBase::ForceCalibratorBase ( const std::string &  name)

◆ ~ForceCalibratorBase()

virtual robot_utils::ForceCalibratorBase::~ForceCalibratorBase ( )

Member Function Documentation

◆ advance()

virtual bool robot_utils::ForceCalibratorBase::advance ( double  dt)
pure virtual

◆ command()

virtual bool robot_utils::ForceCalibratorBase::command ( ForceCalibratorCommand command)
pure virtual

◆ getCalibratedForce()

virtual bool robot_utils::ForceCalibratorBase::getCalibratedForce ( kindr::Force3D &  calibratedForce,
const kindr::Force3D &  uncalibratedForce 
pure virtual

◆ getCalibratedTorque()

virtual bool robot_utils::ForceCalibratorBase::getCalibratedTorque ( kindr::Torque3D &  calibratedTorque,
const kindr::Torque3D &  uncalibratedTorque 
pure virtual

◆ getCalibratedWrench()

virtual bool robot_utils::ForceCalibratorBase::getCalibratedWrench ( kindr::WrenchD &  calibratedWrench,
const kindr::WrenchD &  uncalibratedWrench 

◆ getName()

const std::string& robot_utils::ForceCalibratorBase::getName ( ) const

◆ getStatistics()

virtual void robot_utils::ForceCalibratorBase::getStatistics ( ForceCalibratorStats statistics)
pure virtual

◆ initialize()

virtual bool robot_utils::ForceCalibratorBase::initialize ( double  dt)
pure virtual

◆ isCalibrating()

virtual bool robot_utils::ForceCalibratorBase::isCalibrating ( )
pure virtual

◆ load()

virtual bool robot_utils::ForceCalibratorBase::load ( const std::string &  filename)
pure virtual

◆ setForce()

void robot_utils::ForceCalibratorBase::setForce ( const kindr::Force3D &  force)

◆ setTorque()

void robot_utils::ForceCalibratorBase::setTorque ( const kindr::Torque3D &  torque)

◆ setWrench()

void robot_utils::ForceCalibratorBase::setWrench ( const kindr::WrenchD &  wrench)

◆ startCalibration()

virtual bool robot_utils::ForceCalibratorBase::startCalibration ( bool  wait = false)
pure virtual

◆ store()

virtual bool robot_utils::ForceCalibratorBase::store ( const std::string &  filename)
pure virtual

◆ wait()

virtual bool robot_utils::ForceCalibratorBase::wait ( )
pure virtual

Member Data Documentation

◆ mutexWrench_

boost::shared_mutex robot_utils::ForceCalibratorBase::mutexWrench_

◆ name_

std::string robot_utils::ForceCalibratorBase::name_

◆ wrench_

kindr::WrenchD robot_utils::ForceCalibratorBase::wrench_

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