Obbart/universal_robots_ros_driver
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corrected naming scheme of fts-transformation

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This commit is contained in:
Felix Mauch
2019-06-12 11:56:24 +02:00
parent 25e9aafc14
commit adacb219c7
2 changed files with 3 additions and 3 deletions
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2
ur_rtde_driver/include/ur_rtde_driver/ros/hardware_interface.h
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@@ -73,7 +73,7 @@ protected:
/*! /*!
* \brief Transforms force-torque measurements reported from the robot from base to tool frame * \brief Transforms force-torque measurements reported from the robot from base to tool frame
*/ */
void transform_force_torque(); void transformForceTorque();
std::unique_ptr<UrDriver> ur_driver_; std::unique_ptr<UrDriver> ur_driver_;

4
ur_rtde_driver/src/ros/hardware_interface.cpp
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@@ -226,7 +226,7 @@ void HardwareInterface ::read(const ros::Time& time, const ros::Duration& period
} }
// Transform fts measurements to tool frame // Transform fts measurements to tool frame
transform_force_torque(); transformForceTorque();
// pausing state follows runtime state when pausing // pausing state follows runtime state when pausing
if (runtime_state_ == static_cast<uint32_t>(rtde_interface::RUNTIME_STATE::PAUSED)) if (runtime_state_ == static_cast<uint32_t>(rtde_interface::RUNTIME_STATE::PAUSED))
@@ -312,7 +312,7 @@ uint32_t HardwareInterface ::getControlFrequency() const
throw std::runtime_error("ur_driver is not yet initialized"); throw std::runtime_error("ur_driver is not yet initialized");
} }
void HardwareInterface ::transform_force_torque() void HardwareInterface ::transformForceTorque()
{ {
double tcp_angle = std::sqrt(std::pow(tcp_pose_[3], 2) + std::pow(tcp_pose_[4], 2) + std::pow(tcp_pose_[5], 2)); double tcp_angle = std::sqrt(std::pow(tcp_pose_[3], 2) + std::pow(tcp_pose_[4], 2) + std::pow(tcp_pose_[5], 2));