WrenchEstimator Class Reference

lbr_fri_ros2: lbr_fri_ros2::WrenchEstimator Class Reference

lbr_fri_ros2

Public Member Functions
	WrenchEstimator (const std::string &robot_description, const WrenchEstimatorParameters &parameters=WrenchEstimatorParameters())

void	compute ()

void	reset ()

void	get_f_ext (cart_array_t_ref f_ext) const

void	get_f_ext_tf (cart_array_t_ref f_ext) const

void	set_tau_ext (const_jnt_array_t_ref tau_ext)

void	set_q (const_jnt_array_t_ref q)

void	log_info () const

Protected Attributes
cart_array_t	f_ext_th_

double	damping_

jnt_array_t	q_

std::unique_ptr< Kinematics >	kinematics_ptr_

Eigen::Matrix< double, N_JNTS, CARTESIAN_DOF >	jacobian_inv_

Eigen::Matrix< double, N_JNTS, 1 >	tau_ext_

Eigen::Matrix< double, CARTESIAN_DOF, 1 >	f_ext_raw_

Eigen::Matrix< double, CARTESIAN_DOF, 1 >	f_ext_

Eigen::Matrix< double, CARTESIAN_DOF, 1 >	f_ext_tf_

Static Protected Attributes
static constexpr char	LOGGER_NAME [] = "lbr_fri_ros2::WrenchEstimator"
	A class to estimate wrenches from external joint torque readings. Note that only forces beyond a specified threshold are returned. The specified threshold is removed from the estimated force-torque.

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

Public Member Functions