haptic_feedback.cpp File Reference

Node that translates sensory information into a force vector to be rendered by the haptic joystick. Calculates the feedback force sent to the joystick based on the CoP location and on its distance to the support polygon boundaries. Defines a C++ class responsible for subscribing to CoP and support polygon information, which then evaluates if the CoP is within the support polygon or not. If so, an algorithm calculates the force to be rendered on the user. More...

#include <humanoid_simulation/humanoid_simulation.h>

Include dependency graph for haptic_feedback.cpp:

Go to the source code of this file.

Classes
class	Feedback

Functions
geometry_msgs::Point	FIR_cop (const geometry_msgs::Point cop_prev, const geometry_msgs::Point cop_new)
geometry_msgs::Vector3	FIR_force (const geometry_msgs::Vector3 force_prev, const geometry_msgs::Vector3 force_new)
int	main (int argc, char **argv)
geometry_msgs::Vector3	operator* (const double s, const geometry_msgs::Vector3 v)
geometry_msgs::Point	operator+ (const geometry_msgs::Point p, const geometry_msgs::Vector3 v)
geometry_msgs::Vector3	operator- (const geometry_msgs::Point p0, const geometry_msgs::Point p1)
int	simulator_state (4)

Detailed Description

Node that translates sensory information into a force vector to be rendered by the haptic joystick. Calculates the feedback force sent to the joystick based on the CoP location and on its distance to the support polygon boundaries. Defines a C++ class responsible for subscribing to CoP and support polygon information, which then evaluates if the CoP is within the support polygon or not. If so, an algorithm calculates the force to be rendered on the user.

Version

v1.0

Author

João O. Barros

Date

February 2015

Definition in file haptic_feedback.cpp.

Function Documentation

geometry_msgs::Point FIR_cop	(	const geometry_msgs::Point	cop_prev,
		const geometry_msgs::Point	cop_new
	)

Definition at line 57 of file haptic_feedback.cpp.

geometry_msgs::Vector3 FIR_force	(	const geometry_msgs::Vector3	force_prev,
		const geometry_msgs::Vector3	force_new
	)

Definition at line 71 of file haptic_feedback.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 412 of file haptic_feedback.cpp.

geometry_msgs::Vector3 operator*	(	const double	s,
		const geometry_msgs::Vector3	v
	)

Definition at line 33 of file haptic_feedback.cpp.

geometry_msgs::Point operator+	(	const geometry_msgs::Point	p,
		const geometry_msgs::Vector3	v
	)

Definition at line 45 of file haptic_feedback.cpp.

geometry_msgs::Vector3 operator-	(	const geometry_msgs::Point	p0,
		const geometry_msgs::Point	p1
	)

Definition at line 21 of file haptic_feedback.cpp.

int simulator_state

(

4

)