RobWorkProject  24.6.21-
Public Types | Public Member Functions | List of all members
FTSensor Class Referenceabstract

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

#include <FTSensor.hpp>

Inherits Sensor.

Public Types

typedef rw::core::Ptr< FTSensorPtr
 
- Public Types inherited from Sensor
typedef rw::core::Ptr< SensorPtr
 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::SensorModelgetSensorModel () 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::PropertyMapgetPropertyMap ()
 gets the propertymap of this sensor
 
const rw::core::PropertyMapgetPropertyMap () 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
namedocumentation missing !
descdocumentation 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.

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