force_cop.cpp File Reference

Calculates the COP of both feet. More...

#include <ros/ros.h>
#include <std_msgs/Time.h>
#include <geometry_msgs/PointStamped.h>
#include <visualization_msgs/Marker.h>
#include <tf/transform_listener.h>
#include <sys/types.h>
#include <unistd.h>
#include <stdlib.h>
#include <stdio.h>
#include <pressure_cells/SenVal.h>
#include <pressure_cells/Cop.h>
#include <pressure_cells/arduino.h>

Include dependency graph for force_cop.cpp:

Go to the source code of this file.

Functions
int	main (int argc, char **argv)
vector < geometry_msgs::PointStamped >	p_origins_l (4)
vector < geometry_msgs::PointStamped >	p_origins_r (4)
void	SenVal1CallBk (const pressure_cells::SenVal &senval)
void	SenVal2CallBk (const pressure_cells::SenVal &senval)

Variables
pressure_cells::Cop	COP
pressure_cells::Cop	COP1
pressure_cells::Cop	COP2
bool	g_lev =0
double	g_sen1 [4]
double	g_sen2 [4]
bool	g_viz =0
bool	ok1
bool	ok2
ros::Publisher	pub_cop
ros::Publisher	pub_cop1
ros::Publisher	pub_cop2
ros::Publisher	pub_viz
string	tf_feet_l
string	tf_feet_r

Detailed Description

Calculates the COP of both feet.

Author

Emílio Estrelinha nº 38637 (emili.nosp@m.o.es.nosp@m.treli.nosp@m.nha@.nosp@m.ua.pt)

Definition in file force_cop.cpp.

Function Documentation

int main	(	int	argc,
		char **	argv
	)

Main

Definition at line 190 of file force_cop.cpp.

vector< geometry_msgs::PointStamped > p_origins_l

(

4

)

vector< geometry_msgs::PointStamped > p_origins_r

(

4

)

void SenVal1CallBk

(

const pressure_cells::SenVal &

senval

)

Callback function fot subscriber of the 1st group of Load Cells

Parameters

a	vector w/ the values of the Load Cells

Returns

void

Definition at line 70 of file force_cop.cpp.

void SenVal2CallBk

(

const pressure_cells::SenVal &

senval

)

Callback function fot subscriber of the 2nd group of Load Cells

Parameters

a	vector w/ the values of the Load Cells

Returns

void

Definition at line 131 of file force_cop.cpp.

Variable Documentation

pressure_cells::Cop COP

Definition at line 55 of file force_cop.cpp.

pressure_cells::Cop COP1

Definition at line 55 of file force_cop.cpp.

pressure_cells::Cop COP2

Definition at line 55 of file force_cop.cpp.

bool g_lev =0

Definition at line 59 of file force_cop.cpp.

double g_sen1[4]

Definition at line 56 of file force_cop.cpp.

double g_sen2[4]

Definition at line 56 of file force_cop.cpp.

bool g_viz =0

Definition at line 59 of file force_cop.cpp.

bool ok1

Definition at line 53 of file force_cop.cpp.

bool ok2

Definition at line 53 of file force_cop.cpp.

ros::Publisher pub_cop

Definition at line 58 of file force_cop.cpp.

ros::Publisher pub_cop1

Definition at line 54 of file force_cop.cpp.

ros::Publisher pub_cop2

Definition at line 54 of file force_cop.cpp.

ros::Publisher pub_viz

Definition at line 57 of file force_cop.cpp.

string tf_feet_l

Definition at line 60 of file force_cop.cpp.

string tf_feet_r

Definition at line 61 of file force_cop.cpp.