Rename tactile_merger -> contact_force_estimator

README.md

@@ -9,7 +9,7 @@ This software package adds tactile messages, a tactile sensor description to URD
 * [tactile_calibration](tactile_calibration)
   * `tactile_state_calibrator`: maps raw tactile values to calibrated ones
 * [urdf_tactile](urdf_tactile/README.md): extension to URDF to describe tactile sensors, requires modified [`urdf`](https://github.com/ubi-agni/urdf) and [`urdfdom`](https://github.com/ubi-agni/urdfdom) packages.
-* [tactile_merger](tactile_merger): Map [`tactile_msgs/TactileState`](tactile_msgs/msg/TactileState.msg) onto [`tactile_msgs/TactileContacts`](tactile_msgs/msg/TactileContacts.msg), i.e. contact position, force, and normal, merging contact data of all taxels per link into a single wrench vector
+* [contact_force_estimator](contact_force_estimator): Map [`tactile_msgs/TactileState`](tactile_msgs/msg/TactileState.msg) onto [`tactile_msgs/TactileContacts`](tactile_msgs/msg/TactileContacts.msg), i.e. contact position, force, and normal, aggregating contact data of all taxels per link into a single wrench vector.
 * [tactile_pcl](tactile_pcl): Compute and publish Tactile Point Cloud data from [`tactile_msgs/TactileContacts`](tactile_msgs/msg/TactileState.msg).
 * [rviz_tactile_plugins](rviz_tactile_plugins): rviz visualization tools for [raw tactile data](tactile_msgs/msg/TactileState.msg) and [contact information](tactile_msgs/msg/TactileContacts.msg).
 

tactile_merger/CMakeLists.txt → contact_force_estimator/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.1.3)
-project(tactile_merger)
+project(contact_force_estimator)
 
 set(CMAKE_CXX_STANDARD 14)
 
@@ -23,15 +23,14 @@ include_directories(SYSTEM ${catkin_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIR})
 # https://gitlab.kitware.com/cmake/community/-/wikis/doc/cmake/RPATH-handling
 set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
 
-
 add_library(${PROJECT_NAME}
   src/taxel.cpp
   src/taxel_group.cpp
-  src/merger.cpp
+  src/contact_force_estimator.cpp
 )
 target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
 
-add_executable(${PROJECT_NAME}_node src/merger_node.cpp)
+add_executable(${PROJECT_NAME}_node src/node.cpp)
 target_link_libraries(${PROJECT_NAME}_node ${PROJECT_NAME})
 set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME ${PROJECT_NAME})
 
@@ -44,5 +43,5 @@ install(TARGETS
 )
 
 install(DIRECTORY include/${PROJECT_NAME}/
-        DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-        FILES_MATCHING PATTERN "*.h")
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h")

tactile_merger/include/tactile_merger/merger.h → contact_force_estimator/include/contact_force_estimator/contact_force_estimator.h

@@ -34,11 +34,11 @@
 
 namespace tactile {
 
-class Merger
+class ContactForceEstimator
 {
 public:
-	Merger();
-	~Merger();
+	ContactForceEstimator();
+	~ContactForceEstimator();
 
 	void init(const std::string &param = "robot_description");
 

tactile_merger/package.xml → contact_force_estimator/package.xml

@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <package format="3">
-  <name>tactile_merger</name>
+  <name>contact_force_estimator</name>
   <version>0.1.0</version>
   <description>merge raw tactile data into TactileContact msgs</description>
 

tactile_merger/src/merger.cpp → contact_force_estimator/src/contact_force_estimator.cpp

@@ -26,7 +26,7 @@
  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  * POSSIBILITY OF SUCH DAMAGE.
  */
-#include <tactile_merger/merger.h>
+#include <contact_force_estimator/contact_force_estimator.h>
 #include <tactile_msgs/TactileContacts.h>
 #include <boost/thread/mutex.hpp>
 #include <boost/thread/locks.hpp>
@@ -35,7 +35,7 @@
 
 namespace tactile {
 
-struct Merger::GroupData
+struct ContactForceEstimator::GroupData
 {
 	GroupData(const TaxelGroupPtr &group);
 
@@ -44,17 +44,17 @@ struct Merger::GroupData
 	ros::Time timestamp;
 };
 
-Merger::GroupData::GroupData(const TaxelGroupPtr &group) : group(group) {}
+ContactForceEstimator::GroupData::GroupData(const TaxelGroupPtr &group) : group(group) {}
 
-Merger::Merger() {}
-Merger::~Merger()
+ContactForceEstimator::ContactForceEstimator() {}
+ContactForceEstimator::~ContactForceEstimator()
 {
 	sensors_.clear();
 	groups_.clear();
 	parsers_.clear();
 }
 
-void Merger::init(const std::string &param)
+void ContactForceEstimator::init(const std::string &param)
 {
 	sensors_.clear();
 	groups_.clear();
@@ -73,14 +73,14 @@ void Merger::init(const std::string &param)
 	}
 }
 
-void Merger::reset()
+void ContactForceEstimator::reset()
 {
 	for (auto &group : groups_)
 		group.second->timestamp = ros::Time();
 }
 
 template <typename Iterator>
-void Merger::update(const ros::Time &stamp, const std::string &channel, Iterator begin, Iterator end)
+void ContactForceEstimator::update(const ros::Time &stamp, const std::string &channel, Iterator begin, Iterator end)
 {
 	auto range = sensors_.equal_range(channel);
 	if (range.first == range.second) {
@@ -99,11 +99,11 @@ void Merger::update(const ros::Time &stamp, const std::string &channel, Iterator
 		}
 	}
 }
-template void Merger::update<std::vector<float>::const_iterator>(const ros::Time &stamp, const std::string &sensor_name,
-                                                                 std::vector<float>::const_iterator begin,
-                                                                 std::vector<float>::const_iterator end);
+template void ContactForceEstimator::update<std::vector<float>::const_iterator>(
+    const ros::Time &stamp, const std::string &sensor_name, std::vector<float>::const_iterator begin,
+    std::vector<float>::const_iterator end);
 
-tactile_msgs::TactileContacts Merger::getAllTaxelContacts()
+tactile_msgs::TactileContacts ContactForceEstimator::getAllTaxelContacts()
 {
 	static ros::Duration timeout(1);
 	ros::Time now = ros::Time::now();
@@ -125,7 +125,7 @@ tactile_msgs::TactileContacts Merger::getAllTaxelContacts()
 	return contacts;
 }
 
-tactile_msgs::TactileContacts Merger::getGroupAveragedContacts()
+tactile_msgs::TactileContacts ContactForceEstimator::getGroupAveragedContacts()
 {
 	static ros::Duration timeout(1);
 	ros::Time now = ros::Time::now();

tactile_merger/src/merger_node.cpp → contact_force_estimator/src/node.cpp

@@ -26,19 +26,19 @@
  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  * POSSIBILITY OF SUCH DAMAGE.
  */
-#include <tactile_merger/merger.h>
+#include <contact_force_estimator/contact_force_estimator.h>
 #include <ros/ros.h>
 #include <tactile_msgs/TactileContacts.h>
 #include <tactile_msgs/TactileState.h>
 #include <boost/bind.hpp>
 
 static bool HAVE_NEW_DATA = false;
 
-void message_handler(tactile::Merger &merger, const tactile_msgs::TactileStateConstPtr &msg)
+void message_handler(tactile::ContactForceEstimator &estimator, const tactile_msgs::TactileStateConstPtr &msg)
 {
 	HAVE_NEW_DATA = true;
 	for (auto it = msg->sensors.begin(), end = msg->sensors.end(); it != end; ++it) {
-		merger.update(msg->header.stamp, it->name, it->values.begin(), it->values.end());
+		estimator.update(msg->header.stamp, it->name, it->values.begin(), it->values.end());
 	}
 }
 
@@ -48,13 +48,13 @@ int main(int argc, char *argv[])
 	ros::NodeHandle nh;
 	ros::NodeHandle nh_priv("~");
 
-	tactile::Merger merger;
-	merger.init();
+	tactile::ContactForceEstimator estimator;
+	estimator.init();
 
 	ros::Publisher pub = nh.advertise<tactile_msgs::TactileContacts>("tactile_contact_states", 5);
 
 	const boost::function<void(const tactile_msgs::TactileStateConstPtr &)> callback =
-	    boost::bind(message_handler, boost::ref(merger), _1);
+	    boost::bind(message_handler, boost::ref(estimator), _1);
 	ros::Subscriber sub = nh.subscribe("tactile_states", 1, callback);
 
 	ros::Time last_update;
@@ -65,17 +65,17 @@ int main(int argc, char *argv[])
 		ros::Time now = ros::Time::now();
 		if (now < last_update) {
 			ROS_WARN_STREAM("Detected jump back in time of " << (last_update - now).toSec() << "s. Resetting data.");
-			merger.reset();
+			estimator.reset();
 			HAVE_NEW_DATA = false;
 		}
 		last_update = now;
 
 		if (HAVE_NEW_DATA) {
 			HAVE_NEW_DATA = false;
 			if (no_clustering)
-				pub.publish(merger.getAllTaxelContacts());
+				pub.publish(estimator.getAllTaxelContacts());
 			else
-				pub.publish(merger.getGroupAveragedContacts());
+				pub.publish(estimator.getGroupAveragedContacts());
 			ros::spinOnce();
 		}
 		rate.sleep();

tactile_merger/src/taxel.cpp → contact_force_estimator/src/taxel.cpp

@@ -26,7 +26,7 @@
  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  * POSSIBILITY OF SUCH DAMAGE.
  */
-#include <tactile_merger/taxel.h>
+#include <contact_force_estimator/taxel.h>
 
 namespace tactile {
 

tactile_merger/src/taxel_group.cpp → contact_force_estimator/src/taxel_group.cpp

@@ -26,7 +26,7 @@
  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  * POSSIBILITY OF SUCH DAMAGE.
  */
-#include <tactile_merger/taxel_group.h>
+#include <contact_force_estimator/taxel_group.h>
 
 #include <urdf/sensor.h>
 #include <ros/console.h>

tactile_toolbox/package.xml

@@ -20,7 +20,7 @@
   <exec_depend>tactile_state_publisher</exec_depend>
   <exec_depend>tactile_state_calibrator</exec_depend>
   <exec_depend>tactile_calibration_tools</exec_depend>
-  <exec_depend>tactile_merger</exec_depend>
+  <exec_depend>contact_force_estimator</exec_depend>
   <exec_depend>tactile_pcl</exec_depend>
   <exec_depend>rviz_tactile_plugins</exec_depend>