Public Member Functions
void	calculateFeedback (geometry_msgs::PointStamped cop, double distance)

void	copPosition (const geometry_msgs::PointStamped &msg)

double	d (geometry_msgs::Point p0, geometry_msgs::Point p1)

double	dist_PointSegment (geometry_msgs::Point p, vector< geometry_msgs::Point > seg_point)

double	dot (geometry_msgs::Vector3 u, geometry_msgs::Vector3 v)

	Feedback (ros::NodeHandle nh)

int	isLeft (geometry_msgs::Point32 p0, geometry_msgs::Point32 p1, geometry_msgs::Point p2)

double	norm (geometry_msgs::Vector3 v)

void	phuaPosition (const geometry_msgs::PoseStamped &msg)

void	simulationState (const vrep_common::VrepInfo &msg)

void	supportBaseDefinition (const geometry_msgs::PolygonStamped &msg)

int	wn_PnPoly (geometry_msgs::Point p, geometry_msgs::Polygon poly)

Private Attributes
geometry_msgs::PointStamped	cop_filtered

geometry_msgs::PointStamped	cop_global

ros::Publisher	cop_global_filtered_pub

ros::Subscriber	cop_global_position_sub

double	distance_min

ros::Publisher	feedback_force_filtered_pub

ros::Publisher	feedback_force_instability_pub

ros::Publisher	feedback_force_pub

ros::Publisher	feedback_force_stability_pub

geometry_msgs::Vector3Stamped	force

geometry_msgs::Vector3Stamped	force_instability_prev

geometry_msgs::Vector3Stamped	force_stability_prev

ros::NodeHandle	nh_

geometry_msgs::PoseStamped	phua_position

ros::Subscriber	phua_position_sub

ros::Subscriber	simulation_state_sub

double	simulationTime

geometry_msgs::PolygonStamped	support_base

ros::Subscriber	support_base_position_sub

Detailed Description

Definition at line 83 of file haptic_feedback.cpp.

Constructor & Destructor Documentation

Feedback::Feedback ( ros::NodeHandle nh )

inline

Definition at line 113 of file haptic_feedback.cpp.

Member Function Documentation

void Feedback::calculateFeedback	(	geometry_msgs::PointStamped	cop,
		double	distance
	)

inline

Definition at line 210 of file haptic_feedback.cpp.

void Feedback::copPosition ( const geometry_msgs::PointStamped & msg )

inline

Definition at line 147 of file haptic_feedback.cpp.

double Feedback::d	(	geometry_msgs::Point	p0,
		geometry_msgs::Point	p1
	)

inline

Definition at line 383 of file haptic_feedback.cpp.

double Feedback::dist_PointSegment	(	geometry_msgs::Point	p,
		vector< geometry_msgs::Point >	seg_point
	)

inline

Definition at line 390 of file haptic_feedback.cpp.

double Feedback::dot	(	geometry_msgs::Vector3	u,
		geometry_msgs::Vector3	v
	)

inline

Definition at line 371 of file haptic_feedback.cpp.

int Feedback::isLeft	(	geometry_msgs::Point32	p0,
		geometry_msgs::Point32	p1,
		geometry_msgs::Point	p2
	)

inline

Definition at line 333 of file haptic_feedback.cpp.

double Feedback::norm ( geometry_msgs::Vector3 v )

inline

Definition at line 377 of file haptic_feedback.cpp.

void Feedback::phuaPosition ( const geometry_msgs::PoseStamped & msg )

inline

Definition at line 139 of file haptic_feedback.cpp.

void Feedback::simulationState ( const vrep_common::VrepInfo & msg )

inline

Definition at line 129 of file haptic_feedback.cpp.

void Feedback::supportBaseDefinition ( const geometry_msgs::PolygonStamped & msg )

inline

Definition at line 164 of file haptic_feedback.cpp.

int Feedback::wn_PnPoly	(	geometry_msgs::Point	p,
		geometry_msgs::Polygon	poly
	)

inline

Definition at line 340 of file haptic_feedback.cpp.

Member Data Documentation

geometry_msgs::PointStamped Feedback::cop_filtered

private

Definition at line 103 of file haptic_feedback.cpp.

geometry_msgs::PointStamped Feedback::cop_global

private

Definition at line 100 of file haptic_feedback.cpp.

ros::Publisher Feedback::cop_global_filtered_pub

private

Definition at line 93 of file haptic_feedback.cpp.

ros::Subscriber Feedback::cop_global_position_sub

private

Definition at line 89 of file haptic_feedback.cpp.

double Feedback::distance_min

private

Definition at line 106 of file haptic_feedback.cpp.

ros::Publisher Feedback::feedback_force_filtered_pub

private

Definition at line 97 of file haptic_feedback.cpp.

ros::Publisher Feedback::feedback_force_instability_pub

private

Definition at line 94 of file haptic_feedback.cpp.

ros::Publisher Feedback::feedback_force_pub

private

Definition at line 96 of file haptic_feedback.cpp.

ros::Publisher Feedback::feedback_force_stability_pub

private

Definition at line 95 of file haptic_feedback.cpp.

geometry_msgs::Vector3Stamped Feedback::force

private

Definition at line 104 of file haptic_feedback.cpp.

geometry_msgs::Vector3Stamped Feedback::force_instability_prev

private

Definition at line 109 of file haptic_feedback.cpp.

geometry_msgs::Vector3Stamped Feedback::force_stability_prev

private

Definition at line 109 of file haptic_feedback.cpp.

ros::NodeHandle Feedback::nh_

private

Definition at line 86 of file haptic_feedback.cpp.

geometry_msgs::PoseStamped Feedback::phua_position

private

Definition at line 99 of file haptic_feedback.cpp.

ros::Subscriber Feedback::phua_position_sub

private

Definition at line 91 of file haptic_feedback.cpp.

ros::Subscriber Feedback::simulation_state_sub

private

Definition at line 88 of file haptic_feedback.cpp.

double Feedback::simulationTime

private

Definition at line 107 of file haptic_feedback.cpp.

geometry_msgs::PolygonStamped Feedback::support_base

private

Definition at line 101 of file haptic_feedback.cpp.

ros::Subscriber Feedback::support_base_position_sub

private

Definition at line 90 of file haptic_feedback.cpp.

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

haptic_feedback.cpp

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation