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#include <ros/ros.h>
#include <std_msgs/String.h>
#include <visualization_msgs/Marker.h>
#include <geometry_msgs/Point.h>
#include <vector>
#include <algorithm>
#include <math.h>

#include <sstream>
#include <iostream>
#include <cmath>  

#include <sys/types.h>
#include <unistd.h>
#include <stdlib.h>
#include <stdio.h>
#include <phantom_control/State.h>
#include <phantom_control/Force.h>


phantom_control::Force force;
double tq1,tq2,tq3;
double forcex,forcey,forcez;
using geometry_msgs::Point;
void Torque(Point temp,double fx,double fy,double fz,Point temp2);

ros::Publisher pub_force;
void PhantomCallBk(const phantom_control::State &phantom_state)
{
   
        force.force[0]=forcex;
        force.force[1]=forcey;
        force.force[2]=forcez;
        
        pub_force.publish(force);
        
        /******Points to calculate torque*********/
//      Point p,pos;
//      p.x = phantom_state.joints[0];
//      p.y = phantom_state.joints[1];
//      p.z = phantom_state.joints[2];
//      pos.x=phantom_state.position[0];
//      pos.y=phantom_state.position[1];
//      pos.z=phantom_state.position[2];
        
        
        //Torque(p,forcex,forcey,forcez,pos);
}

/******************Function to calculate torque*****************/
void Torque(Point temp,double fx,double fy,double fz,Point temp2)
{
  double s1,s2,s3,c1,c2,c3;
  double l1,l2,l3,l4;
  double j11,j12,j13,j21,j22,j23,j31,j32,j33;
  double teta1,teta2,teta3;
   
  teta1=temp.x; teta2=temp.y; teta3=temp.z;
    
   s1=sin(teta1);
   s2=sin(teta2);
   s3=sin(teta3);
 
   c1=cos(teta1);
   c2=cos(teta2);
   c3=cos(teta3);
 
   l1=0.135; l2=l1; l3=0.025; l4=0.170;
 
   j11=-(l1*c1*c2 + l2*s3*c1);    j12=l1*s1*s2;       j13=-l2*c3*s1;
   j21=0;                         j22=l1*c2;          j23=l2*s3;
   j31=-l1*c2*s1 - l2*s3*s1;      j32=-l1*s2*c1;      j33=l2*c3*c1;
 
 
   tq1=j11*fx +j21*fy +j31*fz;
   tq2=j12*fx +j22*fy +j32*fz;
   tq3=j13*fx +j23*fz +j33*fz;
  
   if(tq1>0.8) tq1=0.8;
   if(tq2>0.8) tq2=0.8;
   if(tq3>0.8) tq3=0.8;
   if(tq1<-0.8) tq1=-0.8;
   if(tq2<-0.8) tq2=-0.8;
   if(tq3<-0.8) tq3=-0.8;
  
   force.force[0]=tq1*1000;
   force.force[1]=tq2*1000;
   force.force[2]=tq3*1000;
  
  /***********Apply counterforce if out of limits************************/
   if(temp2.x<-80 && temp2.x>-84)
     force.force[0]=2;
   if(temp2.x>80 || (temp2.x<-74 && temp2.x>-78))
     force.force[0]=-2;
   if(temp2.y<-60)
     force.force[1]=2;
   if(temp2.y>60)
     force.force[1]=-2;
   if(temp2.z<-35)
     force.force[2]=2;
   if(temp2.z>35)
     force.force[2]=-2;  
  pub_force.publish(force);  
}
int main( int argc,char** argv)
{
        std::cout<<"forca x: ";
        std::cin>>forcex;
        if(forcex>3.3) forcex=3.3;
        else if(forcex<-3.3) forcex=-3.3;
        std::cout<<std::endl;
        std::cout<<"forca y: ";
        std::cin>>forcey;
        if(forcey>3.3) forcey=3.3;
        else if(forcey<-3.3) forcey=-3.3;
        std::cout<<std::endl;
        std::cout<<"forca z: ";
        std::cin>>forcez;
        if(forcez>3.3) forcez=3.3;
        else if(forcez<-3.3) forcez=-3.3;
        
        ros::init(argc,argv,"force_node");
        ros::NodeHandle n;
        pub_force = n.advertise< phantom_control::Force >( "/force", 1000 );
        ros::Subscriber sub__force = n.subscribe ( "/phantom_state", 100, PhantomCallBk );
        ros::spin();
        return 0;
}

---

haptic_force
Author(s): Emilio Estrelinha
autogenerated on Wed Jul 23 04:35:05 2014