CoordInterfaceCoord Class Reference

The CoordInterfaceCoord class. More...

#include <coordInterfaceCoord.h>

Public Member Functions
	CoordInterfaceCoord (ros::NodeHandle nh, std::string robotNameA, std::string robotNameB)
bool	getReadyBothRob ()
int	getMatricesFromRobs (Eigen::Matrix< double, VEHICLE_DOF, 1 > *nonCoopCartVelA, Eigen::Matrix< double, VEHICLE_DOF, 1 > *nonCoopCartVelB, Eigen::Matrix< double, VEHICLE_DOF, VEHICLE_DOF > *admisVelToolA, Eigen::Matrix< double, VEHICLE_DOF, VEHICLE_DOF > *admisVelToolB)
	CoordInterfaceCoord::getMatricesFromRobs get all matrices needed to algorithm The function call each get if this get isnt previously called with success (ie, arrived message) More...
void	publishCoopVel (Eigen::Matrix< double, VEHICLE_DOF, 1 > coopVel)
void	publishStartBoth (bool start)
int	getForceTorque (Eigen::Vector3d *force, Eigen::Vector3d *torque)
void	publishUpdatedGoal (Eigen::Matrix4d wTgoal)
	CoordInterfaceCoord (ros::NodeHandle nh, std::string robotName)
bool	getReadyRob ()
int	getNonCoopCartVel (Eigen::Matrix< double, VEHICLE_DOF, 1 > *nonCoopCartVel_eigen)
	CoordInterfaceCoord::getxDot. More...
int	getJJsharp (Eigen::Matrix< double, VEHICLE_DOF, VEHICLE_DOF > *admisVelTool_eigen)
	CoordInterfaceCoord::getJJsharp. More...

Detailed Description

The CoordInterfaceCoord class.

Warning

the SpinOnce is made by caller of this class

Definition at line 21 of file coordInterfaceCoord.h.

Member Function Documentation

int CoordInterfaceCoord::getJJsharp

(

Eigen::Matrix< double, VEHICLE_DOF, VEHICLE_DOF > *

admisVelTool_eigen

)

CoordInterfaceCoord::getJJsharp.

Parameters

*admisVelTool_eigen

the eigen matrix in which we want to store the message passed by reference so we dont waste memory, already used for temp vars

Returns

0 correct executions, 1 Warning mess do not arrived, -1 Error about dimension of message arrived

Definition at line 69 of file coordInterfaceCoord_old.cpp.

int CoordInterfaceCoord::getMatricesFromRobs	(	Eigen::Matrix< double, VEHICLE_DOF, 1 > *	nonCoopCartVelA,
		Eigen::Matrix< double, VEHICLE_DOF, 1 > *	nonCoopCartVelB,
		Eigen::Matrix< double, VEHICLE_DOF, VEHICLE_DOF > *	admisVelToolA,
		Eigen::Matrix< double, VEHICLE_DOF, VEHICLE_DOF > *	admisVelToolB
	)

CoordInterfaceCoord::getMatricesFromRobs get all matrices needed to algorithm The function call each get if this get isnt previously called with success (ie, arrived message)

Parameters

*nonCoopCartVelA	OUT the eigen vector in which we want to store the message passed by reference so we dont waste memory, already used for temp vars
*nonCoopCartVelB	OUT
*admisVelToolA	OUT the eigen matrix in which we want to store the message passed by reference so we dont waste memory, already used for temp vars
admisVelToolB	OUT

Returns

0 if everything arrived, i>0 if i matrices didn't arrived -1 Error about dimension of one or more the messages arrived

Definition at line 73 of file coordInterfaceCoord.cpp.

int CoordInterfaceCoord::getNonCoopCartVel

(

Eigen::Matrix< double, VEHICLE_DOF, 1 > *

nonCoopCartVel_eigen

)

CoordInterfaceCoord::getxDot.

Parameters

*nonCoopCartVel_eigen

the eigen vector in which we want to store the message passed by reference so we dont waste memory, already used for temp vars

Returns

0 correct executions, 1 Warning mess do not arrived, -1 Error about dimension of message arrived

Definition at line 32 of file coordInterfaceCoord_old.cpp.

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

• src/peg/src/rosInterfaces/header/coordInterfaceCoord.h
• src/peg/src/rosInterfaces/header/coordInterfaceCoord_old.h
• src/peg/src/rosInterfaces/coordInterfaceCoord.cpp
• src/peg/src/rosInterfaces/coordInterfaceCoord_old.cpp