C++ (Cpp) mtsROSToCISST示例

示例#1

文件： mtsTeleop.cpp 项目： AnandRamakrishnan09/dvrk-ros

void mtsTeleop::master_pose_cb(const geometry_msgs::PoseConstPtr &msg)
{
    counter_master_cb_++;
    mtsROSToCISST((*msg), mtm_pose_cur_);

    // initialize mtm_pose_pre_
    if (counter_master_cb_ == 1) {
        mtm_pose_pre_.Assign(mtm_pose_cur_);
    }
}

示例#2

文件： dvrkTeleopQWidget.cpp 项目： adithyamurali/dvrk-ros

void dvrkTeleopQWidget::slave_pose_cb(const geometry_msgs::PoseStamped &msg)
{
    mtsROSToCISST(msg, psm_pose_cur_);
}

示例#3

文件： dvrkTeleopQWidget.cpp 项目： adithyamurali/dvrk-ros

void dvrkTeleopQWidget::master_pose_cb(const geometry_msgs::PoseStamped &msg)
{
    mtsROSToCISST(msg, mtm_pose_cur_);
}

示例#4

文件： dvrkTeleopQWidget.cpp 项目： BerkeleyAutomation/dvrk-ros

void dvrkTeleopQWidget::slave_pose_cb(const geometry_msgs::PoseConstPtr &msg)
{
    mtsROSToCISST((*msg), psm_pose_cur_);
}

示例#5

文件： dvrkTeleopQWidget.cpp 项目： BerkeleyAutomation/dvrk-ros

void dvrkTeleopQWidget::master_pose_cb(const geometry_msgs::PoseConstPtr &msg)
{
    mtsROSToCISST((*msg), mtm_pose_cur_);
}

示例#6

文件： mtm_logic.cpp 项目： jbohren-forks/dvrk-ros

// command psm pose from teleop
void mtm_cmd_pose_cb(const geometry_msgs::Pose &msg)
{
    mtsROSToCISST(msg, mtm_pose_command);
}

示例#7

文件： mtsTeleop.cpp 项目： AnandRamakrishnan09/dvrk-ros

void mtsTeleop::slave_pose_cb(const geometry_msgs::PoseConstPtr &msg)
{
    counter_slave_cb_++;
    mtsROSToCISST((*msg), psm_pose_cur_);
}

示例#8

void mtsROSToCISST(const geometry_msgs::PoseStamped & rosData, prmPositionCartesianSet & cisstData)
{
    mtsROSToCISST(rosData.pose, cisstData);
}

示例#9

void mtsROSToCISST(const cisst_msgs::prmFixtureGainCartesianSet & rosData, prmFixtureGainCartesianSet & cisstData)
{
    vct3 vct3Data;   // holder for vct3 data
    vctMatRot3 rotationData;   // holder for rotation data
    vctFrm4x4 poseData;   // holder for pose data

    // vf pos/rot
    mtsROSToCISST(rosData.ForcePosition, vct3Data);
    cisstData.SetForcePosition(vct3Data);
    mtsROSToCISST(rosData.ForceOrientation, rotationData);
    cisstData.SetForceOrientation(rotationData);
    mtsROSToCISST(rosData.TorqueOrientation, rotationData);
    cisstData.SetTorqueOrientation(rotationData);

    // force gains
    mtsROSToCISST(rosData.PosStiffPos, vct3Data);
    cisstData.SetPositionStiffnessPos(vct3Data);

    mtsROSToCISST(rosData.PosStiffNeg, vct3Data);
    cisstData.SetPositionStiffnessNeg(vct3Data);

    mtsROSToCISST(rosData.PosDampingPos, vct3Data);
    cisstData.SetPositionDampingPos(vct3Data);

    mtsROSToCISST(rosData.PosDampingNeg, vct3Data);
    cisstData.SetPositionDampingNeg(vct3Data);

    mtsROSToCISST(rosData.ForceBiasPos, vct3Data);
    cisstData.SetForceBiasPos(vct3Data);

    mtsROSToCISST(rosData.ForceBiasNeg, vct3Data);
    cisstData.SetForceBiasNeg(vct3Data);

    // toqrue gains
    mtsROSToCISST(rosData.OriStiffPos, vct3Data);
    cisstData.SetOrientationStiffnessPos(vct3Data);

    mtsROSToCISST(rosData.OriStiffNeg, vct3Data);
    cisstData.SetOrientationStiffnessNeg(vct3Data);

    mtsROSToCISST(rosData.OriDampingPos, vct3Data);
    cisstData.SetOrientationDampingPos(vct3Data);

    mtsROSToCISST(rosData.OriDampingNeg, vct3Data);
    cisstData.SetOrientationDampingNeg(vct3Data);

    mtsROSToCISST(rosData.TorqueBiasPos, vct3Data);
    cisstData.SetTorqueBiasPos(vct3Data);

    mtsROSToCISST(rosData.TorqueBiasNeg, vct3Data);
    cisstData.SetTorqueBiasNeg(vct3Data);
}

示例#10

void mtsROSToCISST(const geometry_msgs::WrenchStamped & rosData, prmForceCartesianSet & cisstData)
{
    mtsROSToCISST(rosData.wrench, cisstData);
}