Applied suggested formatting and typo fixes

Author: guihomework

include/control_filters/gravity_compensation.hpp

@@ -29,7 +29,6 @@ namespace control_filters
 {
 
 
-
 template <typename T>
 class GravityCompensation : public filters::FilterBase<T>
 {

src/control_filters/README.md

@@ -1,37 +1,35 @@
-# Control Filters
+# Control filters
 
 ## Available filters
 
 * Gravity Compensation: implements a gravity compensation algorithm, removing the gravity component from the incoming data (Wrench).
-*
 
+## Gravity compensation filter
 
-## Gravity Compensation filter
+ This filter implements a gravity compensation algorithm, applied to an `data_in` wrench, computed at a `sensor_frame` in which the center of gravity (CoG) of the to-be-compensated mass is known.
 
- This filter implements a gravity compensation algorithm, applied to an `data_in wrench`, computed at a `sensor frame` in which the center of gravity (CoG) of the to-be-compensated mass is known.
-
- The filter relies on ROS TF, and might fail if transforms are missing.
+ The filter relies on tf2, and might fail if transforms are missing.
 
  Note that, for convenience, the filter can perform additional frame changes if data_out frame id is given.
 
-### required parameters
+### Required parameters
 
 * `world_frame` (&Rscr;<sub>w</sub>): frame in which the `CoG.force` is represented.
 * `sensor_frame` (&Rscr;<sub>s</sub>): frame in which the `CoG.pos` is defined
 * `CoG.pos` (p<sub>s</sub>): position of the CoG of the mass the filter should compensate for
 * `CoG.force` (g<sub>w</sub>): constant (but updatable) force of gravity at the Cog (typically m.G), defined along axes of the `world_frame`
 
-### algorithm
+### Algorithm
 
 Given
 * above-required parameters,  &Rscr;<sub>w</sub>, &Rscr;<sub>s</sub>, p<sub>s</sub>, g<sub>w</sub>
-* `data_in`, a wrench &Fscr;<sub>i</sub> = {f<sub>i</sub>, &tau;<sub>i</sub>} represented in `data_in.frame` &Rscr;<sub>i</sub>
-* access to TF homogeneous transforms:
+* `data_in`, a wrench &Fscr;<sub>i</sub> = {f<sub>i</sub>, &tau;<sub>i</sub>} represented in the `data_in` frame &Rscr;<sub>i</sub>
+* access to tf2 homogeneous transforms:
   * T<sub>si</sub> from &Rscr;<sub>i</sub> to &Rscr;<sub>s</sub>
   * T<sub>sw</sub> from &Rscr;<sub>w</sub> to &Rscr;<sub>s</sub>
   * T<sub>os</sub> from &Rscr;<sub>s</sub> to &Rscr;<sub>o</sub>
 
-Compute `data_out` compensated wrench &Fscr;c<sub>o</sub> = {fc<sub>o</sub>, &tau;c<sub>o</sub>} represented in `data_out.frame` &Rscr;<sub>o</sub> if given, or `data_in.frame` &Rscr;<sub>i</sub> otherwise, with equations:
+Compute `data_out` compensated wrench &Fscr;c<sub>o</sub> = {fc<sub>o</sub>, &tau;c<sub>o</sub>} represented in the `data_out` frame &Rscr;<sub>o</sub> if given, or the `data_in` frame &Rscr;<sub>i</sub> otherwise, with equations:
 
 &Fscr;c<sub>o</sub> = T<sub>os</sub>.&Fscr;c<sub>s</sub>,
 
@@ -40,20 +38,20 @@ with &Fscr;c<sub>s</sub> = {fc<sub>s</sub>, &tau;c<sub>s</sub>}  the compensated
 
 and,
 
-fc<sub>s</sub> = f<sub>s</sub> - T<sub>sw</sub>.g<sub>w</sub>
+fc<sub>s</sub> = f<sub>s</sub> - T<sub>sw</sub>g<sub>w</sub>
 
 its force  and,
 
-&tau;c<sub>s</sub> = &tau;<sub>s</sub> - p<sub>s</sub> x (T<sub>sw</sub>.g<sub>w</sub>)
+&tau;c<sub>s</sub> = &tau;<sub>s</sub> - p<sub>s</sub> x (T<sub>sw</sub>g<sub>w</sub>)
 
 its torque, and
 
-&Fscr;<sub>s</sub>  = T<sub>si</sub>.&Fscr;<sub>i</sub>
+&Fscr;<sub>s</sub>  = T<sub>si</sub>.&Fscr;<sub>i</sub> = {f<sub>s</sub>, &tau;<sub>s</sub>}
 
 the full transform of the input wrench &Fscr;<sub>i</sub> to sensor frame &Rscr;<sub>s</sub>
 
 Remarks :
 * a full vector is used for gravity force, to not impose gravity to be only along z of `world_frame`.
-* `data_in.frame` is usually equal to `sensor_frame`, but could be different since measurement of wrech might occur in another frame. Ex: measurements are at the **FT sensor flange** = `data_in.frame`, but CoG is given in **FT sensor base** = `sensor_frame` (=frame to which it is mounted on the robot), introducing an offset (thichkess of the sensor) to be accounted for.
-* `data_out.frame` is usually `data_in.frame`, but for convenience, can be set to any other useful frame. Ex: Wrench expressed in a `control_frame` for instance center of a gripper.
+* `data_in` frame is usually equal to `sensor_frame`, but could be different since measurement of wrench might occur in another frame. E.g.: measurements are at the **FT sensor flange** = `data_in` frame, but CoG is given in **FT sensor base** = `sensor_frame` (=frame to which it is mounted on the robot), introducing an offset (thickness of the sensor) to be accounted for.
+* `data_out` frame is usually `data_in` frame, but for convenience, can be set to any other useful frame. E.g.: wrench expressed in a `control_frame` like the center of a gripper.
 * T<sub>sw</sub> will only rotate the g<sub>w</sub> vector, because gravity is a field applied everywhere, and not a wrench (no torque should be induced by transforming from &Rscr;<sub>w</sub> to &Rscr;<sub>s</sub>).

src/control_filters/gravity_compensation_filter_parameters.yaml

@@ -1,17 +1,15 @@
 gravity_compensation_filter:
   world_frame: {
     type: string,
-    # default_value: world,
-    description: "fixed world frame in which the constant field-induced force is given",
+    description: "Fixed world frame in which the constant field-induced force is given.",
     read_only: true,
     validation: {
       not_empty<>: []
     },
   }
   sensor_frame: {
     type: string,
-    # default_value: ft_sensor,
-    description: "Sensor frame in which center of gravity (CoG) is measured and computation occur",
+    description: "Sensor frame in which center of gravity (CoG) is measured and computation occur.",
     read_only: true,
     validation: {
       not_empty<>: []