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CartesianImpedance: new API, moved from cisst_msgs to crtk_msgs
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@adeguet1
adeguet1 committed Jun 2, 2023
1 parent e0a350a commit d272049
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Showing 4 changed files with 0 additions and 101 deletions.
3 changes: 0 additions & 3 deletions include/cisst_ros2_bridge/mtsCISSTToROS.h
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Expand Up @@ -39,7 +39,6 @@ no warranty. The complete license can be found in license.txt and
#include <cisstParameterTypes/prmForceCartesianGet.h>
#include <cisstParameterTypes/prmForceCartesianSet.h>
#include <cisstParameterTypes/prmEventButton.h>
#include <cisstParameterTypes/prmCartesianImpedanceGains.h>
#include <cisstParameterTypes/prmInputData.h>
#include <cisstParameterTypes/prmKeyValue.h>
#include <cisstParameterTypes/prmOperatingState.h>
Expand Down Expand Up @@ -376,8 +375,6 @@ void mtsCISSTToROS(const prmPositionJointGet & cisstData, cisst_msgs::msg::Doubl
const std::string & debugInfo);
void mtsCISSTToROS(const vctDoubleVec & cisstData, cisst_msgs::msg::DoubleVec & rosData,
const std::string & debugInfo);
void mtsCISSTToROS(const prmCartesianImpedanceGains & cisstData, cisst_msgs::msg::CartesianImpedanceGains & rosData,
const std::string & debugInfo);
void mtsCISSTToROS(const mtsIntervalStatistics & cisstData, cisst_msgs::msg::IntervalStatistics & rosData,
const std::string & debugInfo);
void mtsCISSTToROS(const vctDoubleVec & cisstData, cisst_msgs::srv::ConvertFloat64Array::Response & rosData,
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2 changes: 0 additions & 2 deletions include/cisst_ros2_bridge/mtsROSToCISST.h
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Expand Up @@ -35,7 +35,6 @@ no warranty. The complete license can be found in license.txt and
#include <cisstParameterTypes/prmForceTorqueJointSet.h>
#include <cisstParameterTypes/prmForceCartesianGet.h>
#include <cisstParameterTypes/prmForceCartesianSet.h>
#include <cisstParameterTypes/prmCartesianImpedanceGains.h>
#include <cisstParameterTypes/prmVelocityCartesianGet.h>
#include <cisstParameterTypes/prmVelocityJointSet.h>
#include <cisstParameterTypes/prmVelocityCartesianSet.h>
Expand Down Expand Up @@ -273,7 +272,6 @@ void mtsROSToCISST(const diagnostic_msgs::msg::KeyValue & rosData, prmKeyValue &
// cisst_msgs
void mtsROSToCISST(const cisst_msgs::msg::DoubleVec & rosData, prmPositionJointSet & cisstData);
void mtsROSToCISST(const cisst_msgs::msg::DoubleVec & rosData, vctDoubleVec & cisstData);
void mtsROSToCISST(const cisst_msgs::msg::CartesianImpedanceGains & rosData, prmCartesianImpedanceGains & cisstData);
void mtsROSToCISST(const cisst_msgs::msg::IntervalStatistics & rosData, mtsIntervalStatistics & cisstData);
void mtsROSToCISST(const cisst_msgs::srv::ConvertFloat64Array::Request & rosData, vctDoubleVec & cisstData);

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48 changes: 0 additions & 48 deletions src/mtsCISSTToROS.cpp
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Expand Up @@ -567,54 +567,6 @@ void mtsCISSTToROS(const vctDoubleVec & cisstData, cisst_msgs::msg::DoubleVec &
}
}

void mtsCISSTToROS(const prmCartesianImpedanceGains & cisstData, cisst_msgs::msg::CartesianImpedanceGains & rosData,
const std::string & debugInfo)
{
// vf pos/rot
mtsCISSTToROS(cisstData.ForcePosition(),
rosData.force_position, debugInfo);
mtsCISSTToROS(cisstData.ForceOrientation(),
rosData.force_orientation, debugInfo);
mtsCISSTToROS(cisstData.TorqueOrientation(),
rosData.torque_orientation, debugInfo);

// force gains
mtsCISSTToROS(cisstData.PositionDeadbandPos(),
rosData.pos_deadband_pos, debugInfo);
mtsCISSTToROS(cisstData.PositionDeadbandNeg(),
rosData.pos_deadband_neg, debugInfo);
mtsCISSTToROS(cisstData.PositionStiffnessPos(),
rosData.pos_stiff_pos, debugInfo);
mtsCISSTToROS(cisstData.PositionStiffnessNeg(),
rosData.pos_stiff_neg, debugInfo);
mtsCISSTToROS(cisstData.PositionDampingPos(),
rosData.pos_damping_pos, debugInfo);
mtsCISSTToROS(cisstData.PositionDampingNeg(),
rosData.pos_damping_neg, debugInfo);
mtsCISSTToROS(cisstData.ForceBiasPos(),
rosData.force_bias_pos, debugInfo);
mtsCISSTToROS(cisstData.ForceBiasNeg(),
rosData.force_bias_neg, debugInfo);

// torque gains
mtsCISSTToROS(cisstData.OrientationDeadbandPos(),
rosData.ori_deadband_pos, debugInfo);
mtsCISSTToROS(cisstData.OrientationDeadbandNeg(),
rosData.ori_deadband_neg, debugInfo);
mtsCISSTToROS(cisstData.OrientationStiffnessPos(),
rosData.ori_stiff_pos, debugInfo);
mtsCISSTToROS(cisstData.OrientationStiffnessNeg(),
rosData.ori_stiff_neg, debugInfo);
mtsCISSTToROS(cisstData.OrientationDampingPos(),
rosData.ori_damping_pos, debugInfo);
mtsCISSTToROS(cisstData.OrientationDampingNeg(),
rosData.ori_damping_neg, debugInfo);
mtsCISSTToROS(cisstData.TorqueBiasPos(),
rosData.torque_bias_pos, debugInfo);
mtsCISSTToROS(cisstData.TorqueBiasNeg(),
rosData.torque_bias_neg, debugInfo);
}

void mtsCISSTToROS(const mtsIntervalStatistics & cisstData, cisst_msgs::msg::IntervalStatistics & rosData,
const std::string &)
{
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48 changes: 0 additions & 48 deletions src/mtsROSToCISST.cpp
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Expand Up @@ -344,54 +344,6 @@ void mtsROSToCISST(const cisst_msgs::msg::DoubleVec & rosData, vctDoubleVec & ci
}
}

void mtsROSToCISST(const cisst_msgs::msg::CartesianImpedanceGains & rosData,
prmCartesianImpedanceGains & cisstData)
{
// vf pos/rot
mtsROSToCISST(rosData.force_position,
cisstData.ForcePosition());
mtsROSToCISST(rosData.force_orientation,
cisstData.ForceOrientation());
mtsROSToCISST(rosData.torque_orientation,
cisstData.TorqueOrientation());

// force gains
mtsROSToCISST(rosData.pos_deadband_pos,
cisstData.PositionDeadbandPos());
mtsROSToCISST(rosData.pos_deadband_neg,
cisstData.PositionDeadbandNeg());
mtsROSToCISST(rosData.pos_stiff_pos,
cisstData.PositionStiffnessPos());
mtsROSToCISST(rosData.pos_stiff_neg,
cisstData.PositionStiffnessNeg());
mtsROSToCISST(rosData.pos_damping_pos,
cisstData.PositionDampingPos());
mtsROSToCISST(rosData.pos_damping_neg,
cisstData.PositionDampingNeg());
mtsROSToCISST(rosData.force_bias_pos,
cisstData.ForceBiasPos());
mtsROSToCISST(rosData.force_bias_neg,
cisstData.ForceBiasNeg());

// torque gains
mtsROSToCISST(rosData.ori_deadband_pos,
cisstData.OrientationDeadbandPos());
mtsROSToCISST(rosData.ori_deadband_neg,
cisstData.OrientationDeadbandNeg());
mtsROSToCISST(rosData.ori_stiff_pos,
cisstData.OrientationStiffnessPos());
mtsROSToCISST(rosData.ori_stiff_neg,
cisstData.OrientationStiffnessNeg());
mtsROSToCISST(rosData.ori_damping_pos,
cisstData.OrientationDampingPos());
mtsROSToCISST(rosData.ori_damping_neg,
cisstData.OrientationDampingNeg());
mtsROSToCISST(rosData.torque_bias_pos,
cisstData.TorqueBiasPos());
mtsROSToCISST(rosData.torque_bias_neg,
cisstData.TorqueBiasNeg());
}

void mtsROSToCISST(const cisst_msgs::msg::IntervalStatistics & rosData, mtsIntervalStatistics & cisstData)
{
cisstData.SetFromExisting(rosData.period_avg,
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