FTSensor Class Reference

Interface of a N-axis Force Torque sensor. More...

#include <FTSensor.hpp>

Inherits Sensor.

Public Types
typedef rw::core::Ptr< FTSensor >	Ptr
Public Types inherited from Sensor
typedef rw::core::Ptr< Sensor >	Ptr
	smart pointer type

Public Member Functions
	FTSensor (const std::string &name, const std::string &desc="")
virtual	~FTSensor ()
	destructor More...
virtual void	acquire ()=0
	acquires force data from the tactile cells
virtual double	getMaxForce ()=0
	gets the maximum force in Newton that this sensor can measure on any of its axis. More...
virtual double	getMaxTorque ()=0
	gets the maximum torque in Newton Meter (N m)that this sensor can measure on any of its axis. More...
virtual rw::math::Vector3D	getForce ()=0
	gets the force in N that is acting on the origin. The force is described in relation to the origin. More...
virtual rw::math::Vector3D	getTorque ()=0
	gets the torgue in Nm that is acting on the origin. The torque is described in relation to the origin. More...
virtual rw::math::Transform3D	getTransform ()=0
	the transform from the sensor frame to the point of origin. More...
Public Member Functions inherited from Sensor
virtual	~Sensor ()
	destructor
const std::string &	getName () const
	returns the name of this sensor More...
const std::string &	getDescription () const
	returns a description of this sensor More...
rw::core::Ptr< rw::sensor::SensorModel >	getSensorModel () const
	The frame to which the sensor is attached. More...
virtual void	setSensorModel (rw::core::Ptr< rw::sensor::SensorModel > smodel)
	Sets the frame to which the sensor should be attached. More...
rw::core::PropertyMap &	getPropertyMap ()
	gets the propertymap of this sensor
const rw::core::PropertyMap &	getPropertyMap () const
	gets the propertymap of this sensor

Additional Inherited Members
Protected Member Functions inherited from Sensor
	Sensor (const std::string &name)
	constructor More...
	Sensor (const std::string &name, const std::string &description)
	constructor More...
void	setName (const std::string &name)
	sets the name of this sensor More...
void	setDescription (const std::string &description)
	sets the description of this sensor More...

Detailed Description

Interface of a N-axis Force Torque sensor.

Constructor & Destructor Documentation

FTSensor()

FTSensor ( const std::string &  name, const std::string &  desc = ""  )

inline

Parameters

name	documentation missing !
desc	documentation missing !

Returns

~FTSensor()

virtual ~FTSensor ( )

inlinevirtual

destructor

Returns

Member Function Documentation

getForce()

virtual rw::math::Vector3D getForce ( )

pure virtual

gets the force in N that is acting on the origin. The force is described in relation to the origin.

Returns

force acting on origin.

getMaxForce()

virtual double getMaxForce ( )

pure virtual

gets the maximum force in Newton that this sensor can measure on any of its axis.

Returns

max force in Newton.

getMaxTorque()

virtual double getMaxTorque ( )

pure virtual

gets the maximum torque in Newton Meter (N m)that this sensor can measure on any of its axis.

Returns

max torque in Newton Meter(N m).

getTorque()

virtual rw::math::Vector3D getTorque ( )

pure virtual

gets the torgue in Nm that is acting on the origin. The torque is described in relation to the origin.

Returns

torque acting on origin.

getTransform()

virtual rw::math::Transform3D getTransform ( )

pure virtual

the transform from the sensor frame to the point of origin.

Returns

transform from sensor frame to point of origin.

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The documentation for this class was generated from the following file:

• FTSensor.hpp