FTSensorModel Class Reference

N-axis Force Torque sensor model. More...

#include <FTSensorModel.hpp>

Inherits SensorModel.

Public Types
typedef rw::core::Ptr< FTSensorModel >	Ptr
	smart pointer type
Public Types inherited from SensorModel
typedef rw::core::Ptr< SensorModel >	Ptr
	smart pointer type
Public Types inherited from Stateless
typedef rw::core::Ptr< Stateless >	Ptr
	Smart pointer type for Stateless.

Public Member Functions
	FTSensorModel (const std::string &name, rw::core::Ptr< rw::kinematics::Frame > frame, const std::string &desc="")
virtual	~FTSensorModel ()
	destructor More...
rw::math::Wrench6D	getMaxWrench () const
	get maximum wrench (force and torque) characteristics More...
rw::math::Vector3D	getMaxForce () const
	gets the maximum force in Newton that this sensor can measure on any of its axis. More...
rw::math::Vector3D	getMaxTorque () const
	gets the maximum torque in Newton Meter (N m)that this sensor can measure on any of its axis. More...
void	setMaxWrench (const rw::math::Wrench6D<> &max)
	set the maximum wrench of this FTSensor More...
rw::math::Wrench6D	getWrench (const rw::kinematics::State &state) const
	gets the force in N that is acting on the origin. The force is described in relation to the origin. More...
void	setWrench (const rw::math::Wrench6D<> &wrench, const rw::kinematics::State &state)
	set the wrench that is acting on the origin of this FTsensor
rw::math::Vector3D	getForce (const rw::kinematics::State &state) const
	gets the force in N that is acting on the origin. The force is described in relation to the origin. More...
void	setForce (const rw::math::Vector3D<> &force, const rw::kinematics::State &state)
	set the force that is acting on the origin of this FTsensor
rw::math::Vector3D	getTorque (const rw::kinematics::State &state) const
	gets the torgue in Nm that is acting on the origin. The torque is described in relation to the origin. More...
void	setTorque (const rw::math::Vector3D<> &force, const rw::kinematics::State &state)
	set the torque that is acting on the origin of this FTsensor
rw::math::Transform3D	getTransform () const
	the transform from the sensor frame to the point of origin. More...
void	setTransform (const rw::math::Transform3D<> &t3d)
	set the transform between frame and origin. The origin of the sensor is the frame where sensor data is described. More...
Public Member Functions inherited from SensorModel
	SensorModel (const std::string &name, rw::core::Ptr< kinematics::Frame > frame)
	constructor More...
	SensorModel (const std::string &name, rw::core::Ptr< kinematics::Frame > frame, const std::string &description)
	constructor More...
virtual	~SensorModel ()
	destructor
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...
const std::string &	getName () const
	returns the name of this sensor More...
const std::string &	getDescription () const
	returns a description of this sensor More...
kinematics::Frame *	getFrame () const
	The frame to which the sensor is attached. More...
virtual void	attachTo (rw::core::Ptr< kinematics::Frame > frame)
	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
Public Member Functions inherited from Stateless
virtual	~Stateless ()
	destructor
virtual void	registerIn (State &state)
	initialize this stateless data to a specific state More...
virtual void	registerIn (StateStructure::Ptr state)
	register this stateless object in a statestructure.
virtual void	unregister ()
	unregisters all state data of this stateless object
StateStructure::Ptr	getStateStructure ()
	Get the state structure. More...
const StateStructure::Ptr	getStateStructure () const
	Get the state structure. More...
bool	isRegistered ()
	Check if object has registered its state. More...

Additional Inherited Members
Protected Member Functions inherited from Stateless
	Stateless ()
	constructor
template<class T >
void	add (StatelessData< T > &data)
	implementations of sensor should add all their stateless data on initialization
void	add (StateData *data)
	Add data. More...
void	add (rw::core::Ptr< StateData > data)
	implementations of sensor should add all their state data on initialization
Protected Attributes inherited from Stateless
bool	_registered
	True if object has registered its state.
std::vector< rw::core::Ptr< StateData > >	_datas
	Data.
StateStructure::Ptr	_stateStruct
	The state structure.

Detailed Description

N-axis Force Torque sensor model.

Constructor & Destructor Documentation

FTSensorModel()

FTSensorModel	(	const std::string &	name,
		rw::core::Ptr< rw::kinematics::Frame >	frame,
		const std::string &	desc = ""
	)

Constructor

Parameters

name	[in] name of FT sensor
frame	[in] the frame to which this sensor is attached
desc	[in] optional description of sensor

~FTSensorModel()

virtual ~FTSensorModel ( )

virtual

destructor

Returns

Member Function Documentation

getForce()

rw::math::Vector3D getForce

(

const rw::kinematics::State &

state

)

const

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()

rw::math::Vector3D getMaxForce

(

)

const

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

Returns

max force in Newton.

getMaxTorque()

rw::math::Vector3D getMaxTorque

(

)

const

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).

getMaxWrench()

rw::math::Wrench6D getMaxWrench

(

)

const

get maximum wrench (force and torque) characteristics

Returns

getTorque()

rw::math::Vector3D getTorque

(

const rw::kinematics::State &

state

)

const

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()

rw::math::Transform3D getTransform

(

)

const

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

Returns

transform from sensor frame to point of origin.

getWrench()

rw::math::Wrench6D getWrench

(

const rw::kinematics::State &

state

)

const

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.

setMaxWrench()

void setMaxWrench

(

const rw::math::Wrench6D<> &

max

)

set the maximum wrench of this FTSensor

Parameters

max	[in] maximum allowed wrench

setTransform()

void setTransform

(

const rw::math::Transform3D<> &

t3d

)

set the transform between frame and origin. The origin of the sensor is the frame where sensor data is described.

Parameters

t3d	[in] transformation from frame to origin

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

• FTSensorModel.hpp