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McRtcTactileSensorPlugin +
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/home/runner/work/McRtcTactileSensorPlugin/McRtcTactileSensorPlugin/README.md File Reference
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McRtcTactileSensorPlugin +
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TactileSensorPlugin.h File Reference
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#include <mc_control/GlobalPlugin.h>
+#include <ros/callback_queue.h>
+#include <ros/ros.h>
+#include <mujoco_tactile_sensor_plugin/TactileSensorData.h>
+
+Include dependency graph for TactileSensorPlugin.h:
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+Classes

struct  mc_plugin::TactileSensorPlugin
 Tactile sensor plugin. More...
 
struct  mc_plugin::TactileSensorPlugin::SensorInfo
 Sensor information. More...
 
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+Namespaces

 mc_plugin
 
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+Generated by   +doxygen + 1.8.17 +
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Xe!n0iaScBEhaxI0C6p)d`u+a{HgYF> literal 0 HcmV?d00001 diff --git a/doxygen/TactileSensorPlugin_8h_source.html b/doxygen/TactileSensorPlugin_8h_source.html new file mode 100644 index 0000000..cdef344 --- /dev/null +++ b/doxygen/TactileSensorPlugin_8h_source.html @@ -0,0 +1,153 @@ + + + + + + + +McRtcTactileSensorPlugin: /home/runner/work/McRtcTactileSensorPlugin/McRtcTactileSensorPlugin/include/McRtcTactileSensorPlugin/TactileSensorPlugin.h Source File + + + + + + + + + + + +
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McRtcTactileSensorPlugin +
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TactileSensorPlugin.h
+
+
+Go to the documentation of this file.
1 #pragma once
+
2 
+
3 #include <mc_control/GlobalPlugin.h>
+
4 
+
5 #include <ros/callback_queue.h>
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6 #include <ros/ros.h>
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7 
+
8 #include <mujoco_tactile_sensor_plugin/TactileSensorData.h>
+
9 
+
10 namespace mc_plugin
+
11 {
+
12 
+
14 struct TactileSensorPlugin : public mc_control::GlobalPlugin
+
15 {
+
16 protected:
+
18  struct SensorInfo
+
19  {
+
21  std::string topicName;
+
22 
+
24  std::string tactileSensorFrameName;
+
25 
+
27  std::string forceSensorName;
+
28  };
+
29 
+
30 public:
+
32  mc_control::GlobalPlugin::GlobalPluginConfiguration configuration() override;
+
33 
+
35  void init(mc_control::MCGlobalController & gc, const mc_rtc::Configuration & config) override;
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36 
+
38  void reset(mc_control::MCGlobalController & gc) override;
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39 
+
41  void before(mc_control::MCGlobalController & gc) override;
+
42 
+
44  inline void after(mc_control::MCGlobalController & gc) override{};
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45 
+
46 protected:
+
51  void sensorCallback(const mujoco_tactile_sensor_plugin::TactileSensorData::ConstPtr & sensorMsg, size_t sensorIdx);
+
52 
+
53 protected:
+
55  std::vector<SensorInfo> sensorInfoList_;
+
56 
+
58  std::vector<std::shared_ptr<mujoco_tactile_sensor_plugin::TactileSensorData>> sensorMsgList_;
+
59 
+
62  std::unique_ptr<ros::NodeHandle> nh_;
+
63  ros::CallbackQueue callbackQueue_;
+
64  std::vector<ros::Subscriber> sensorSubList_;
+
66 };
+
67 
+
68 } // namespace mc_plugin
+
+
mc_plugin::TactileSensorPlugin::SensorInfo::topicName
std::string topicName
Topic name.
Definition: TactileSensorPlugin.h:21
+
mc_plugin::TactileSensorPlugin::sensorMsgList_
std::vector< std::shared_ptr< mujoco_tactile_sensor_plugin::TactileSensorData > > sensorMsgList_
Sensor message list.
Definition: TactileSensorPlugin.h:58
+
mc_plugin::TactileSensorPlugin::sensorSubList_
std::vector< ros::Subscriber > sensorSubList_
Definition: TactileSensorPlugin.h:64
+
mc_plugin::TactileSensorPlugin::after
void after(mc_control::MCGlobalController &gc) override
Run after mc_control::MCGlobalController::run()
Definition: TactileSensorPlugin.h:44
+
mc_plugin::TactileSensorPlugin::sensorInfoList_
std::vector< SensorInfo > sensorInfoList_
Sensor information list.
Definition: TactileSensorPlugin.h:55
+
mc_plugin::TactileSensorPlugin::sensorCallback
void sensorCallback(const mujoco_tactile_sensor_plugin::TactileSensorData::ConstPtr &sensorMsg, size_t sensorIdx)
ROS callback of sensor topic.
+
mc_plugin::TactileSensorPlugin::reset
void reset(mc_control::MCGlobalController &gc) override
Reset the plugin.
+
mc_plugin::TactileSensorPlugin::before
void before(mc_control::MCGlobalController &gc) override
Run before mc_control::MCGlobalController::run()
+
mc_plugin::TactileSensorPlugin::SensorInfo::tactileSensorFrameName
std::string tactileSensorFrameName
Frame name of tactile sensor.
Definition: TactileSensorPlugin.h:24
+
mc_plugin::TactileSensorPlugin::nh_
std::unique_ptr< ros::NodeHandle > nh_
Definition: TactileSensorPlugin.h:62
+
mc_plugin::TactileSensorPlugin::init
void init(mc_control::MCGlobalController &gc, const mc_rtc::Configuration &config) override
Initialize the plugin.
+
mc_plugin::TactileSensorPlugin::callbackQueue_
ros::CallbackQueue callbackQueue_
Definition: TactileSensorPlugin.h:63
+
mc_plugin::TactileSensorPlugin::SensorInfo::forceSensorName
std::string forceSensorName
Force sensor name.
Definition: TactileSensorPlugin.h:27
+
mc_plugin::TactileSensorPlugin::configuration
mc_control::GlobalPlugin::GlobalPluginConfiguration configuration() override
Returns the plugin configuration.
+
mc_plugin::TactileSensorPlugin
Tactile sensor plugin.
Definition: TactileSensorPlugin.h:14
+
mc_plugin
Definition: TactileSensorPlugin.h:10
+
mc_plugin::TactileSensorPlugin::SensorInfo
Sensor information.
Definition: TactileSensorPlugin.h:18
+ +
+Generated by   +doxygen + 1.8.17 +
+ + diff --git a/doxygen/annotated.html b/doxygen/annotated.html new file mode 100644 index 0000000..4dec34f --- /dev/null +++ b/doxygen/annotated.html @@ -0,0 +1,90 @@ + + + + + + + +McRtcTactileSensorPlugin: Class List + + + + + + + + + + + +
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McRtcTactileSensorPlugin +
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Class List
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+
Here are the classes, structs, unions and interfaces with brief descriptions:
+
[detail level 123]
+ + + +
 ▼Nmc_plugin
 ▼CTactileSensorPluginTactile sensor plugin
 CSensorInfoSensor information
+
+
+ +
+Generated by   +doxygen + 1.8.17 +
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McRtcTactileSensorPlugin +
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Class Index
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s | t
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  s  
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  t  
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TactileSensorPlugin::SensorInfo (mc_plugin)   TactileSensorPlugin (mc_plugin)   
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+ + diff --git a/doxygen/closed.png b/doxygen/closed.png new file mode 100644 index 0000000000000000000000000000000000000000..98cc2c909da37a6df914fbf67780eebd99c597f5 GIT binary patch literal 132 zcmeAS@N?(olHy`uVBq!ia0vp^oFL4>1|%O$WD@{V-kvUwAr*{o@8{^CZMh(5KoB^r_<4^zF@3)Cp&&t3hdujKf f*?bjBoY!V+E))@{xMcbjXe@)LtDnm{r-UW|*e5JT literal 0 HcmV?d00001 diff --git a/doxygen/dir_6700866e8eaeb78ffc7a284123b9d07f.html b/doxygen/dir_6700866e8eaeb78ffc7a284123b9d07f.html new file mode 100644 index 0000000..9f97179 --- /dev/null +++ b/doxygen/dir_6700866e8eaeb78ffc7a284123b9d07f.html @@ -0,0 +1,93 @@ + + + + + + + +McRtcTactileSensorPlugin: /home/runner/work/McRtcTactileSensorPlugin/McRtcTactileSensorPlugin/include/McRtcTactileSensorPlugin Directory Reference + + + + + + + + + + + +
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McRtcTactileSensorPlugin +
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McRtcTactileSensorPlugin Directory Reference
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+Files

file  TactileSensorPlugin.h [code]
 
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+Generated by   +doxygen + 1.8.17 +
+ + diff --git a/doxygen/dir_d44c64559bbebec7f509842c48db8b23.html b/doxygen/dir_d44c64559bbebec7f509842c48db8b23.html new file mode 100644 index 0000000..cff97ba --- /dev/null +++ b/doxygen/dir_d44c64559bbebec7f509842c48db8b23.html @@ -0,0 +1,93 @@ + + + + + + + +McRtcTactileSensorPlugin: /home/runner/work/McRtcTactileSensorPlugin/McRtcTactileSensorPlugin/include Directory Reference + + + + + + + + + + + +
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McRtcTactileSensorPlugin +
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include Directory Reference
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+Directories

directory  McRtcTactileSensorPlugin
 
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+ +
+Generated by   +doxygen + 1.8.17 +
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+ padding: 6px 10px 2px 10px; + background-color: #FBFCFD; + border-top-width: 0; + background-image:url('nav_g.png'); + background-repeat:repeat-x; + background-color: #FFFFFF; + /* opera specific markup */ + border-bottom-left-radius: 4px; + border-bottom-right-radius: 4px; + box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15); + /* firefox specific markup */ + -moz-border-radius-bottomleft: 4px; + -moz-border-radius-bottomright: 4px; + -moz-box-shadow: rgba(0, 0, 0, 0.15) 5px 5px 5px; + /* webkit specific markup */ + -webkit-border-bottom-left-radius: 4px; + -webkit-border-bottom-right-radius: 4px; + -webkit-box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15); +} + +dl.reflist dt { + padding: 5px; +} + +dl.reflist dd { + margin: 0px 0px 10px 0px; + padding: 5px; +} + +.paramkey { + text-align: right; +} + +.paramtype { + white-space: nowrap; +} + +.paramname { + color: #602020; + white-space: nowrap; +} +.paramname em { + font-style: normal; +} +.paramname code { + line-height: 14px; +} + +.params, .retval, .exception, .tparams { + margin-left: 0px; 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See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License along + with this program; if not, write to the Free Software Foundation, Inc., + 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. + + @licend The above is the entire license notice + for the JavaScript code in this file + */ +function toggleVisibility(linkObj) +{ + var base = $(linkObj).attr('id'); + var summary = $('#'+base+'-summary'); + var content = $('#'+base+'-content'); + var trigger = $('#'+base+'-trigger'); + var src=$(trigger).attr('src'); + if (content.is(':visible')===true) { + content.hide(); + summary.show(); + $(linkObj).addClass('closed').removeClass('opened'); + $(trigger).attr('src',src.substring(0,src.length-8)+'closed.png'); + } else { + content.show(); + summary.hide(); + $(linkObj).removeClass('closed').addClass('opened'); + $(trigger).attr('src',src.substring(0,src.length-10)+'open.png'); + } + return false; +} + +function updateStripes() +{ + $('table.directory tr'). + removeClass('even').filter(':visible:even').addClass('even'); +} + +function toggleLevel(level) +{ + $('table.directory tr').each(function() { + var l = this.id.split('_').length-1; + var i = $('#img'+this.id.substring(3)); + var a = $('#arr'+this.id.substring(3)); + if (l + + + + + + +McRtcTactileSensorPlugin: File List + + + + + + + + + + + +
+
+ + + + + + +
+
McRtcTactileSensorPlugin +
+
+
+ + + + + + + +
+ +
+
+ + +
+ +
+ +
+
+
File List
+
+
+
Here is a list of all files with brief descriptions:
+
[detail level 123]
+ + + +
 ▼ include
 ▼ McRtcTactileSensorPlugin
 TactileSensorPlugin.h
+
+
+ +
+Generated by   +doxygen + 1.8.17 +
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+
+ + + + + + +
+
McRtcTactileSensorPlugin +
+
+
+ + + + + + + +
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+
+ + +
+ +
+ +
+
Here is a list of all class members with links to the classes they belong to:
+
+ +
+Generated by   +doxygen + 1.8.17 +
+ + diff --git a/doxygen/functions_func.html b/doxygen/functions_func.html new file mode 100644 index 0000000..a2ec2f5 --- /dev/null +++ b/doxygen/functions_func.html @@ -0,0 +1,99 @@ + + + + + + + +McRtcTactileSensorPlugin: Class Members - Functions + + + + + + + + + + + +
+
+ + + + + + +
+
McRtcTactileSensorPlugin +
+
+
+ + + + + + + +
+ +
+
+ + +
+ +
+ +
+  +
+ +
+Generated by   +doxygen + 1.8.17 +
+ + diff --git a/doxygen/functions_vars.html b/doxygen/functions_vars.html new file mode 100644 index 0000000..aa93a22 --- /dev/null +++ b/doxygen/functions_vars.html @@ -0,0 +1,105 @@ + + + + + + + +McRtcTactileSensorPlugin: Class Members - Variables + + + + + + + + + + + +
+
+ + + + + + +
+
McRtcTactileSensorPlugin +
+
+
+ + + + + + + +
+ +
+
+ + +
+ +
+ +
+  +
+ +
+Generated by   +doxygen + 1.8.17 +
+ + diff --git a/doxygen/graph_legend.html b/doxygen/graph_legend.html new file mode 100644 index 0000000..8c066cc --- /dev/null +++ b/doxygen/graph_legend.html @@ -0,0 +1,143 @@ + + + + + + + +McRtcTactileSensorPlugin: Graph Legend + + + + + + + + + + + +
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McRtcTactileSensorPlugin +
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Graph Legend
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+
+

This page explains how to interpret the graphs that are generated by doxygen.

+

Consider the following example:

/*! Invisible class because of truncation */
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class Invisible { };
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/*! Truncated class, inheritance relation is hidden */
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class Truncated : public Invisible { };
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/* Class not documented with doxygen comments */
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class Undocumented { };
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/*! Class that is inherited using public inheritance */
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class PublicBase : public Truncated { };
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/*! A template class */
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template<class T> class Templ { };
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/*! Class that is inherited using protected inheritance */
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class ProtectedBase { };
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/*! Class that is inherited using private inheritance */
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class PrivateBase { };
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/*! Class that is used by the Inherited class */
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class Used { };
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/*! Super class that inherits a number of other classes */
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class Inherited : public PublicBase,
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protected ProtectedBase,
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private PrivateBase,
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public Undocumented,
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public Templ<int>
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private:
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Used *m_usedClass;
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This will result in the following graph:

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The boxes in the above graph have the following meaning:

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The arrows have the following meaning:

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McRtcTactileSensorPlugin +
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Class Hierarchy
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Go to the graphical class hierarchy

+This inheritance list is sorted roughly, but not completely, alphabetically:
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[detail level 12]
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 ▼CGlobalPlugin
 Cmc_plugin::TactileSensorPluginTactile sensor plugin
 Cmc_plugin::TactileSensorPlugin::SensorInfoSensor information
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McRtcTactileSensorPlugin +
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McRtcTactileSensorPlugin
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+

mc_rtc plugin to use tactile sensor in controller via ROS interface

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CI Documentation LICENSE

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Install

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Requirements

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  • Compiler supporting C++17
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  • Tested on Ubuntu 20.04 / ROS Noetic
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Dependencies

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Installation procedure

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# Load the ROS setup file so that the `mujoco_tactile_sensor_plugin` package can be found
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$ mkdir ${HOME}/src && cd ${HOME}/src
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$ git clone git@github.com:isri-aist/McRtcTactileSensorPlugin.git --recursive
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$ cd McRtcTactileSensorPlugin
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$ mkdir build && cd build
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$ cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo
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$ make
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$ make install
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Plugins

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TactileSensor

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This plugin receives tactile sensor data via ROS topic and sets wrench on the robot's force sensor in mc_rtc controller.

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See this page for a general tutorial on configuring mc_rtc plugins.

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Put the following line in the mc_rtc configuration (e.g. ${HOME}/.config/mc_rtc/mc_rtc.yaml).

Plugins: [TactileSensor]
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Put the following lines in the plugin configuration (e.g. ${HOME}/.config/mc_rtc/plugins/TactileSensor.yaml).

sensors:
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- topicName: /mujoco/tactile_sensor
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tactileSensorFrameName: jvrc1_right_elbow_tactile_sensor
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forceSensorName: RightElbowForceSensor
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The above configuration assumes a ROS topic named /mujoco/tactile_sensor with a message of type mujoco_tactile_sensor_plugin/TactileSensorData being published by some node (e.g. isri-aist/MujocoTactileSensorPlugin). The tactile sensor frame (e.g. jvrc1_right_elbow_tactile_sensor) must be defined in a URDF model (e.g. jvrc_description/urdf/jvrc1.urdf). The force sensor (e.g. RightElbowForceSensor) must be defined in robot module (e.g. mc_rtc/src/mc_robots/jvrc1.cpp).

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+ +
+Generated by   +doxygen + 1.8.17 +
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+
+ + + + + + +
+
McRtcTactileSensorPlugin +
+
+
+ + + + + + + +
+ +
+
+ + +
+ +
+ +
+
+
Class Hierarchy
+
+
+
+

Go to the textual class hierarchy

+
+ + +
+ + + + +
+ + + +
+
+ +
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e||o.options.disabled!==!0&&!t(this).hasClass("ui-state-disabled")?("string"==typeof a?o[a]:a).apply(o,arguments):void 0}"string"!=typeof a&&(r.guid=a.guid=a.guid||r.guid||t.guid++);var h=s.match(/^([\w:-]*)\s*(.*)$/),l=h[1]+o.eventNamespace,c=h[2];c?n.on(l,c,r):i.on(l,r)})},_off:function(e,i){i=(i||"").split(" ").join(this.eventNamespace+" ")+this.eventNamespace,e.off(i).off(i),this.bindings=t(this.bindings.not(e).get()),this.focusable=t(this.focusable.not(e).get()),this.hoverable=t(this.hoverable.not(e).get())},_delay:function(t,e){function i(){return("string"==typeof t?s[t]:t).apply(s,arguments)}var s=this;return setTimeout(i,e||0)},_hoverable:function(e){this.hoverable=this.hoverable.add(e),this._on(e,{mouseenter:function(e){this._addClass(t(e.currentTarget),null,"ui-state-hover")},mouseleave:function(e){this._removeClass(t(e.currentTarget),null,"ui-state-hover")}})},_focusable:function(e){this.focusable=this.focusable.add(e),this._on(e,{focusin:function(e){this._addClass(t(e.currentTarget),null,"ui-state-focus")},focusout:function(e){this._removeClass(t(e.currentTarget),null,"ui-state-focus")}})},_trigger:function(e,i,s){var n,o,a=this.options[e];if(s=s||{},i=t.Event(i),i.type=(e===this.widgetEventPrefix?e:this.widgetEventPrefix+e).toLowerCase(),i.target=this.element[0],o=i.originalEvent)for(n in o)n in i||(i[n]=o[n]);return this.element.trigger(i,s),!(t.isFunction(a)&&a.apply(this.element[0],[i].concat(s))===!1||i.isDefaultPrevented())}},t.each({show:"fadeIn",hide:"fadeOut"},function(e,i){t.Widget.prototype["_"+e]=function(s,n,o){"string"==typeof n&&(n={effect:n});var a,r=n?n===!0||"number"==typeof n?i:n.effect||i:e;n=n||{},"number"==typeof n&&(n={duration:n}),a=!t.isEmptyObject(n),n.complete=o,n.delay&&s.delay(n.delay),a&&t.effects&&t.effects.effect[r]?s[e](n):r!==e&&s[r]?s[r](n.duration,n.easing,o):s.queue(function(i){t(this)[e](),o&&o.call(s[0]),i()})}}),t.widget,function(){function e(t,e,i){return[parseFloat(t[0])*(u.test(t[0])?e/100:1),parseFloat(t[1])*(u.test(t[1])?i/100:1)]}function i(e,i){return parseInt(t.css(e,i),10)||0}function s(e){var i=e[0];return 9===i.nodeType?{width:e.width(),height:e.height(),offset:{top:0,left:0}}:t.isWindow(i)?{width:e.width(),height:e.height(),offset:{top:e.scrollTop(),left:e.scrollLeft()}}:i.preventDefault?{width:0,height:0,offset:{top:i.pageY,left:i.pageX}}:{width:e.outerWidth(),height:e.outerHeight(),offset:e.offset()}}var n,o=Math.max,a=Math.abs,r=/left|center|right/,h=/top|center|bottom/,l=/[\+\-]\d+(\.[\d]+)?%?/,c=/^\w+/,u=/%$/,d=t.fn.position;t.position={scrollbarWidth:function(){if(void 0!==n)return n;var e,i,s=t("
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i,s=e.within,n=s.isWindow?s.scrollTop:s.offset.top,a=e.within.height,r=t.top-e.collisionPosition.marginTop,h=n-r,l=r+e.collisionHeight-a-n;e.collisionHeight>a?h>0&&0>=l?(i=t.top+h+e.collisionHeight-a-n,t.top+=h-i):t.top=l>0&&0>=h?n:h>l?n+a-e.collisionHeight:n:h>0?t.top+=h:l>0?t.top-=l:t.top=o(t.top-r,t.top)}},flip:{left:function(t,e){var i,s,n=e.within,o=n.offset.left+n.scrollLeft,r=n.width,h=n.isWindow?n.scrollLeft:n.offset.left,l=t.left-e.collisionPosition.marginLeft,c=l-h,u=l+e.collisionWidth-r-h,d="left"===e.my[0]?-e.elemWidth:"right"===e.my[0]?e.elemWidth:0,p="left"===e.at[0]?e.targetWidth:"right"===e.at[0]?-e.targetWidth:0,f=-2*e.offset[0];0>c?(i=t.left+d+p+f+e.collisionWidth-r-o,(0>i||a(c)>i)&&(t.left+=d+p+f)):u>0&&(s=t.left-e.collisionPosition.marginLeft+d+p+f-h,(s>0||u>a(s))&&(t.left+=d+p+f))},top:function(t,e){var i,s,n=e.within,o=n.offset.top+n.scrollTop,r=n.height,h=n.isWindow?n.scrollTop:n.offset.top,l=t.top-e.collisionPosition.marginTop,c=l-h,u=l+e.collisionHeight-r-h,d="top"===e.my[1],p=d?-e.elemHeight:"bottom"===e.my[1]?e.elemHeight:0,f="top"===e.at[1]?e.targetHeight:"bottom"===e.at[1]?-e.targetHeight:0,m=-2*e.offset[1];0>c?(s=t.top+p+f+m+e.collisionHeight-r-o,(0>s||a(c)>s)&&(t.top+=p+f+m)):u>0&&(i=t.top-e.collisionPosition.marginTop+p+f+m-h,(i>0||u>a(i))&&(t.top+=p+f+m))}},flipfit:{left:function(){t.ui.position.flip.left.apply(this,arguments),t.ui.position.fit.left.apply(this,arguments)},top:function(){t.ui.position.flip.top.apply(this,arguments),t.ui.position.fit.top.apply(this,arguments)}}}}(),t.ui.position,t.extend(t.expr[":"],{data:t.expr.createPseudo?t.expr.createPseudo(function(e){return function(i){return!!t.data(i,e)}}):function(e,i,s){return!!t.data(e,s[3])}}),t.fn.extend({disableSelection:function(){var t="onselectstart"in document.createElement("div")?"selectstart":"mousedown";return function(){return this.on(t+".ui-disableSelection",function(t){t.preventDefault()})}}(),enableSelection:function(){return this.off(".ui-disableSelection")}}),t.ui.focusable=function(i,s){var n,o,a,r,h,l=i.nodeName.toLowerCase();return"area"===l?(n=i.parentNode,o=n.name,i.href&&o&&"map"===n.nodeName.toLowerCase()?(a=t("img[usemap='#"+o+"']"),a.length>0&&a.is(":visible")):!1):(/^(input|select|textarea|button|object)$/.test(l)?(r=!i.disabled,r&&(h=t(i).closest("fieldset")[0],h&&(r=!h.disabled))):r="a"===l?i.href||s:s,r&&t(i).is(":visible")&&e(t(i)))},t.extend(t.expr[":"],{focusable:function(e){return t.ui.focusable(e,null!=t.attr(e,"tabindex"))}}),t.ui.focusable,t.fn.form=function(){return"string"==typeof this[0].form?this.closest("form"):t(this[0].form)},t.ui.formResetMixin={_formResetHandler:function(){var e=t(this);setTimeout(function(){var i=e.data("ui-form-reset-instances");t.each(i,function(){this.refresh()})})},_bindFormResetHandler:function(){if(this.form=this.element.form(),this.form.length){var t=this.form.data("ui-form-reset-instances")||[];t.length||this.form.on("reset.ui-form-reset",this._formResetHandler),t.push(this),this.form.data("ui-form-reset-instances",t)}},_unbindFormResetHandler:function(){if(this.form.length){var e=this.form.data("ui-form-reset-instances");e.splice(t.inArray(this,e),1),e.length?this.form.data("ui-form-reset-instances",e):this.form.removeData("ui-form-reset-instances").off("reset.ui-form-reset")}}},"1.7"===t.fn.jquery.substring(0,3)&&(t.each(["Width","Height"],function(e,i){function s(e,i,s,o){return t.each(n,function(){i-=parseFloat(t.css(e,"padding"+this))||0,s&&(i-=parseFloat(t.css(e,"border"+this+"Width"))||0),o&&(i-=parseFloat(t.css(e,"margin"+this))||0)}),i}var n="Width"===i?["Left","Right"]:["Top","Bottom"],o=i.toLowerCase(),a={innerWidth:t.fn.innerWidth,innerHeight:t.fn.innerHeight,outerWidth:t.fn.outerWidth,outerHeight:t.fn.outerHeight};t.fn["inner"+i]=function(e){return void 0===e?a["inner"+i].call(this):this.each(function(){t(this).css(o,s(this,e)+"px")})},t.fn["outer"+i]=function(e,n){return"number"!=typeof e?a["outer"+i].call(this,e):this.each(function(){t(this).css(o,s(this,e,!0,n)+"px")})}}),t.fn.addBack=function(t){return this.add(null==t?this.prevObject:this.prevObject.filter(t))}),t.ui.keyCode={BACKSPACE:8,COMMA:188,DELETE:46,DOWN:40,END:35,ENTER:13,ESCAPE:27,HOME:36,LEFT:37,PAGE_DOWN:34,PAGE_UP:33,PERIOD:190,RIGHT:39,SPACE:32,TAB:9,UP:38},t.ui.escapeSelector=function(){var t=/([!"#$%&'()*+,./:;<=>?@[\]^`{|}~])/g;return function(e){return e.replace(t,"\\$1")}}(),t.fn.labels=function(){var e,i,s,n,o;return this[0].labels&&this[0].labels.length?this.pushStack(this[0].labels):(n=this.eq(0).parents("label"),s=this.attr("id"),s&&(e=this.eq(0).parents().last(),o=e.add(e.length?e.siblings():this.siblings()),i="label[for='"+t.ui.escapeSelector(s)+"']",n=n.add(o.find(i).addBack(i))),this.pushStack(n))},t.fn.scrollParent=function(e){var i=this.css("position"),s="absolute"===i,n=e?/(auto|scroll|hidden)/:/(auto|scroll)/,o=this.parents().filter(function(){var e=t(this);return s&&"static"===e.css("position")?!1:n.test(e.css("overflow")+e.css("overflow-y")+e.css("overflow-x"))}).eq(0);return"fixed"!==i&&o.length?o:t(this[0].ownerDocument||document)},t.extend(t.expr[":"],{tabbable:function(e){var i=t.attr(e,"tabindex"),s=null!=i;return(!s||i>=0)&&t.ui.focusable(e,s)}}),t.fn.extend({uniqueId:function(){var t=0;return function(){return this.each(function(){this.id||(this.id="ui-id-"+ ++t)})}}(),removeUniqueId:function(){return this.each(function(){/^ui-id-\d+$/.test(this.id)&&t(this).removeAttr("id")})}}),t.ui.ie=!!/msie [\w.]+/.exec(navigator.userAgent.toLowerCase());var n=!1;t(document).on("mouseup",function(){n=!1}),t.widget("ui.mouse",{version:"1.12.1",options:{cancel:"input, textarea, button, select, option",distance:1,delay:0},_mouseInit:function(){var e=this;this.element.on("mousedown."+this.widgetName,function(t){return e._mouseDown(t)}).on("click."+this.widgetName,function(i){return!0===t.data(i.target,e.widgetName+".preventClickEvent")?(t.removeData(i.target,e.widgetName+".preventClickEvent"),i.stopImmediatePropagation(),!1):void 0}),this.started=!1},_mouseDestroy:function(){this.element.off("."+this.widgetName),this._mouseMoveDelegate&&this.document.off("mousemove."+this.widgetName,this._mouseMoveDelegate).off("mouseup."+this.widgetName,this._mouseUpDelegate)},_mouseDown:function(e){if(!n){this._mouseMoved=!1,this._mouseStarted&&this._mouseUp(e),this._mouseDownEvent=e;var i=this,s=1===e.which,o="string"==typeof this.options.cancel&&e.target.nodeName?t(e.target).closest(this.options.cancel).length:!1;return s&&!o&&this._mouseCapture(e)?(this.mouseDelayMet=!this.options.delay,this.mouseDelayMet||(this._mouseDelayTimer=setTimeout(function(){i.mouseDelayMet=!0},this.options.delay)),this._mouseDistanceMet(e)&&this._mouseDelayMet(e)&&(this._mouseStarted=this._mouseStart(e)!==!1,!this._mouseStarted)?(e.preventDefault(),!0):(!0===t.data(e.target,this.widgetName+".preventClickEvent")&&t.removeData(e.target,this.widgetName+".preventClickEvent"),this._mouseMoveDelegate=function(t){return i._mouseMove(t)},this._mouseUpDelegate=function(t){return i._mouseUp(t)},this.document.on("mousemove."+this.widgetName,this._mouseMoveDelegate).on("mouseup."+this.widgetName,this._mouseUpDelegate),e.preventDefault(),n=!0,!0)):!0}},_mouseMove:function(e){if(this._mouseMoved){if(t.ui.ie&&(!document.documentMode||9>document.documentMode)&&!e.button)return this._mouseUp(e);if(!e.which)if(e.originalEvent.altKey||e.originalEvent.ctrlKey||e.originalEvent.metaKey||e.originalEvent.shiftKey)this.ignoreMissingWhich=!0;else if(!this.ignoreMissingWhich)return this._mouseUp(e)}return(e.which||e.button)&&(this._mouseMoved=!0),this._mouseStarted?(this._mouseDrag(e),e.preventDefault()):(this._mouseDistanceMet(e)&&this._mouseDelayMet(e)&&(this._mouseStarted=this._mouseStart(this._mouseDownEvent,e)!==!1,this._mouseStarted?this._mouseDrag(e):this._mouseUp(e)),!this._mouseStarted)},_mouseUp:function(e){this.document.off("mousemove."+this.widgetName,this._mouseMoveDelegate).off("mouseup."+this.widgetName,this._mouseUpDelegate),this._mouseStarted&&(this._mouseStarted=!1,e.target===this._mouseDownEvent.target&&t.data(e.target,this.widgetName+".preventClickEvent",!0),this._mouseStop(e)),this._mouseDelayTimer&&(clearTimeout(this._mouseDelayTimer),delete this._mouseDelayTimer),this.ignoreMissingWhich=!1,n=!1,e.preventDefault()},_mouseDistanceMet:function(t){return Math.max(Math.abs(this._mouseDownEvent.pageX-t.pageX),Math.abs(this._mouseDownEvent.pageY-t.pageY))>=this.options.distance},_mouseDelayMet:function(){return this.mouseDelayMet},_mouseStart:function(){},_mouseDrag:function(){},_mouseStop:function(){},_mouseCapture:function(){return!0}}),t.ui.plugin={add:function(e,i,s){var n,o=t.ui[e].prototype;for(n in s)o.plugins[n]=o.plugins[n]||[],o.plugins[n].push([i,s[n]])},call:function(t,e,i,s){var n,o=t.plugins[e];if(o&&(s||t.element[0].parentNode&&11!==t.element[0].parentNode.nodeType))for(n=0;o.length>n;n++)t.options[o[n][0]]&&o[n][1].apply(t.element,i)}},t.widget("ui.resizable",t.ui.mouse,{version:"1.12.1",widgetEventPrefix:"resize",options:{alsoResize:!1,animate:!1,animateDuration:"slow",animateEasing:"swing",aspectRatio:!1,autoHide:!1,classes:{"ui-resizable-se":"ui-icon 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    +
    + + + + + + +
    +
    McRtcTactileSensorPlugin +
    +
    +
    + + + + + + + + +
    +
    + + +
    + +
    + + +
    +
    +
    +
    mc_plugin::TactileSensorPlugin Member List
    +
    +
    + +

    This is the complete list of members for mc_plugin::TactileSensorPlugin, including all inherited members.

    + + + + + + + + + + + + +
    after(mc_control::MCGlobalController &gc) overridemc_plugin::TactileSensorPlugininline
    before(mc_control::MCGlobalController &gc) overridemc_plugin::TactileSensorPlugin
    callbackQueue_mc_plugin::TactileSensorPluginprotected
    configuration() overridemc_plugin::TactileSensorPlugin
    init(mc_control::MCGlobalController &gc, const mc_rtc::Configuration &config) overridemc_plugin::TactileSensorPlugin
    nh_mc_plugin::TactileSensorPluginprotected
    reset(mc_control::MCGlobalController &gc) overridemc_plugin::TactileSensorPlugin
    sensorCallback(const mujoco_tactile_sensor_plugin::TactileSensorData::ConstPtr &sensorMsg, size_t sensorIdx)mc_plugin::TactileSensorPluginprotected
    sensorInfoList_mc_plugin::TactileSensorPluginprotected
    sensorMsgList_mc_plugin::TactileSensorPluginprotected
    sensorSubList_mc_plugin::TactileSensorPluginprotected
    + +
    +Generated by   +doxygen + 1.8.17 +
    + + diff --git a/doxygen/structmc__plugin_1_1TactileSensorPlugin.html b/doxygen/structmc__plugin_1_1TactileSensorPlugin.html new file mode 100644 index 0000000..8303493 --- /dev/null +++ b/doxygen/structmc__plugin_1_1TactileSensorPlugin.html @@ -0,0 +1,495 @@ + + + + + + + +McRtcTactileSensorPlugin: mc_plugin::TactileSensorPlugin Struct Reference + + + + + + + + + + + +
    +
    + + + + + + +
    +
    McRtcTactileSensorPlugin +
    +
    +
    + + + + + + + + +
    +
    + + +
    + +
    + + +
    +
    +
    +Classes | +Public Member Functions | +Protected Member Functions | +Protected Attributes | +List of all members
    +
    +
    mc_plugin::TactileSensorPlugin Struct Reference
    +
    +
    + +

    Tactile sensor plugin. + More...

    + +

    #include <TactileSensorPlugin.h>

    +
    +Inheritance diagram for mc_plugin::TactileSensorPlugin:
    +
    +
    Inheritance graph
    + + + + +
    [legend]
    +
    +Collaboration diagram for mc_plugin::TactileSensorPlugin:
    +
    +
    Collaboration graph
    + + + + +
    [legend]
    + + + + + +

    +Classes

    struct  SensorInfo
     Sensor information. More...
     
    + + + + + + + + + + + + + + + + +

    +Public Member Functions

    mc_control::GlobalPlugin::GlobalPluginConfiguration configuration () override
     Returns the plugin configuration. More...
     
    void init (mc_control::MCGlobalController &gc, const mc_rtc::Configuration &config) override
     Initialize the plugin. More...
     
    void reset (mc_control::MCGlobalController &gc) override
     Reset the plugin. More...
     
    void before (mc_control::MCGlobalController &gc) override
     Run before mc_control::MCGlobalController::run() More...
     
    void after (mc_control::MCGlobalController &gc) override
     Run after mc_control::MCGlobalController::run() More...
     
    + + + + +

    +Protected Member Functions

    void sensorCallback (const mujoco_tactile_sensor_plugin::TactileSensorData::ConstPtr &sensorMsg, size_t sensorIdx)
     ROS callback of sensor topic. More...
     
    + + + + + + + + + + + + + + +

    +Protected Attributes

    std::vector< SensorInfo > sensorInfoList_
     Sensor information list. More...
     
    std::vector< std::shared_ptr< mujoco_tactile_sensor_plugin::TactileSensorData > > sensorMsgList_
     Sensor message list. More...
     
    std::unique_ptr< ros::NodeHandle > nh_
     
    ros::CallbackQueue callbackQueue_
     
    std::vector< ros::Subscriber > sensorSubList_
     
    +

    Detailed Description

    +

    Tactile sensor plugin.

    + +

    Definition at line 14 of file TactileSensorPlugin.h.

    +

    Member Function Documentation

    + +

    ◆ after()

    + +
    +
    + + + + + +
    + + + + + + + + +
    void mc_plugin::TactileSensorPlugin::after (mc_control::MCGlobalController & gc)
    +     		+inlineoverride
    +
    + +

    Run after mc_control::MCGlobalController::run()

    + +

    Definition at line 44 of file TactileSensorPlugin.h.

    + +
    +
    + +

    ◆ before()

    + +
    +
    + + + + + +
    + + + + + + + + +
    void mc_plugin::TactileSensorPlugin::before (mc_control::MCGlobalController & gc)
    +     		+override
    +
    + +

    Run before mc_control::MCGlobalController::run()

    + +
    +
    + +

    ◆ configuration()

    + +
    +
    + + + + + +
    + + + + + + + +
    mc_control::GlobalPlugin::GlobalPluginConfiguration mc_plugin::TactileSensorPlugin::configuration ()
    +     		+override
    +
    + +

    Returns the plugin configuration.

    + +
    +
    + +

    ◆ init()

    + +
    +
    + + + + + +
    + + + + + + + + + + + + + + + + + + +
    void mc_plugin::TactileSensorPlugin::init (mc_control::MCGlobalController & gc,
    const mc_rtc::Configuration & config 
    )
    +     		+override
    +
    + +

    Initialize the plugin.

    + +
    +
    + +

    ◆ reset()

    + +
    +
    + + + + + +
    + + + + + + + + +
    void mc_plugin::TactileSensorPlugin::reset (mc_control::MCGlobalController & gc)
    +     		+override
    +
    + +

    Reset the plugin.

    + +
    +
    + +

    ◆ sensorCallback()

    + +
    +
    + + + + + +
    + + + + + + + + + + + + + + + + + + +
    void mc_plugin::TactileSensorPlugin::sensorCallback (const mujoco_tactile_sensor_plugin::TactileSensorData::ConstPtr & sensorMsg,
    size_t sensorIdx 
    )
    +     		+protected
    +
    + +

    ROS callback of sensor topic.

    +
    Parameters
    + + + +
    sensorMsgsensor message
    sensorIdxsensor index
    +
    +
    + +
    +
    +

    Member Data Documentation

    + +

    ◆ callbackQueue_

    + +
    +
    + + + + + +
    + + + + +
    ros::CallbackQueue mc_plugin::TactileSensorPlugin::callbackQueue_
    +     		+protected
    +
    +

    ROS variables

    + +

    Definition at line 63 of file TactileSensorPlugin.h.

    + +
    +
    + +

    ◆ nh_

    + +
    +
    + + + + + +
    + + + + +
    std::unique_ptr<ros::NodeHandle> mc_plugin::TactileSensorPlugin::nh_
    +     		+protected
    +
    +

    ROS variables

    + +

    Definition at line 62 of file TactileSensorPlugin.h.

    + +
    +
    + +

    ◆ sensorInfoList_

    + +
    +
    + + + + + +
    + + + + +
    std::vector<SensorInfo> mc_plugin::TactileSensorPlugin::sensorInfoList_
    +     		+protected
    +
    + +

    Sensor information list.

    + +

    Definition at line 55 of file TactileSensorPlugin.h.

    + +
    +
    + +

    ◆ sensorMsgList_

    + +
    +
    + + + + + +
    + + + + +
    std::vector<std::shared_ptr<mujoco_tactile_sensor_plugin::TactileSensorData> > mc_plugin::TactileSensorPlugin::sensorMsgList_
    +     		+protected
    +
    + +

    Sensor message list.

    + +

    Definition at line 58 of file TactileSensorPlugin.h.

    + +
    +
    + +

    ◆ sensorSubList_

    + +
    +
    + + + + + +
    + + + + +
    std::vector<ros::Subscriber> mc_plugin::TactileSensorPlugin::sensorSubList_
    +     		+protected
    +
    +

    ROS variables

    + +

    Definition at line 64 of file TactileSensorPlugin.h.

    + +
    +
    +
    The documentation for this struct was generated from the following file:
      +
    • /home/runner/work/McRtcTactileSensorPlugin/McRtcTactileSensorPlugin/include/McRtcTactileSensorPlugin/TactileSensorPlugin.h
      • +
    +
    + +
    +Generated by   +doxygen + 1.8.17 +
    + + diff --git a/doxygen/structmc__plugin_1_1TactileSensorPlugin_1_1SensorInfo-members.html b/doxygen/structmc__plugin_1_1TactileSensorPlugin_1_1SensorInfo-members.html new file mode 100644 index 0000000..8a7c4d9 --- /dev/null +++ b/doxygen/structmc__plugin_1_1TactileSensorPlugin_1_1SensorInfo-members.html @@ -0,0 +1,93 @@ + + + + + + + +McRtcTactileSensorPlugin: Member List + + + + + + + + + + + +
    +
    + + + + + + +
    +
    McRtcTactileSensorPlugin +
    +
    +
    + + + + + + + + +
    +
    + + +
    + +
    + + +
    +
    +
    +
    mc_plugin::TactileSensorPlugin::SensorInfo Member List
    +
    +
    + +

    This is the complete list of members for mc_plugin::TactileSensorPlugin::SensorInfo, including all inherited members.

    + + + + +
    forceSensorNamemc_plugin::TactileSensorPlugin::SensorInfo
    tactileSensorFrameNamemc_plugin::TactileSensorPlugin::SensorInfo
    topicNamemc_plugin::TactileSensorPlugin::SensorInfo
    + +
    +Generated by   +doxygen + 1.8.17 +
    + + diff --git a/doxygen/structmc__plugin_1_1TactileSensorPlugin_1_1SensorInfo.html b/doxygen/structmc__plugin_1_1TactileSensorPlugin_1_1SensorInfo.html new file mode 100644 index 0000000..d8b359f --- /dev/null +++ b/doxygen/structmc__plugin_1_1TactileSensorPlugin_1_1SensorInfo.html @@ -0,0 +1,170 @@ + + + + + + + +McRtcTactileSensorPlugin: mc_plugin::TactileSensorPlugin::SensorInfo Struct Reference + + + + + + + + + + + +
    +
    + + + + + + +
    +
    McRtcTactileSensorPlugin +
    +
    +
    + + + + + + + + +
    +
    + + +
    + +
    + + +
    +
    +
    +Public Attributes | +List of all members
    +
    +
    mc_plugin::TactileSensorPlugin::SensorInfo Struct Reference
    +
    +
    + +

    Sensor information. + More...

    + +

    #include <TactileSensorPlugin.h>

    + + + + + + + + + + + +

    +Public Attributes

    std::string topicName
     Topic name. More...
     
    std::string tactileSensorFrameName
     Frame name of tactile sensor. More...
     
    std::string forceSensorName
     Force sensor name. More...
     
    +

    Detailed Description

    +

    Sensor information.

    + +

    Definition at line 18 of file TactileSensorPlugin.h.

    +

    Member Data Documentation

    + +

    ◆ forceSensorName

    + +
    +
    + + + + +
    std::string mc_plugin::TactileSensorPlugin::SensorInfo::forceSensorName
    +
    + +

    Force sensor name.

    + +

    Definition at line 27 of file TactileSensorPlugin.h.

    + +
    +
    + +

    ◆ tactileSensorFrameName

    + +
    +
    + + + + +
    std::string mc_plugin::TactileSensorPlugin::SensorInfo::tactileSensorFrameName
    +
    + +

    Frame name of tactile sensor.

    + +

    Definition at line 24 of file TactileSensorPlugin.h.

    + +
    +
    + +

    ◆ topicName

    + +
    +
    + + + + +
    std::string mc_plugin::TactileSensorPlugin::SensorInfo::topicName
    +
    + +

    Topic name.

    + +

    Definition at line 21 of file TactileSensorPlugin.h.

    + +
    +
    +
    The documentation for this struct was generated from the following file:
      +
    • /home/runner/work/McRtcTactileSensorPlugin/McRtcTactileSensorPlugin/include/McRtcTactileSensorPlugin/TactileSensorPlugin.h
      • +
    +
    + +
    +Generated by   +doxygen + 1.8.17 +
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