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

Inherits Sensor.

Public Types

typedef rw::core::Ptr< TactileArrayPtr
 smart pointer type
 
typedef TactileArrayModel::ValueMatrix ValueMatrix
 type of tactile array readings
 
typedef TactileArrayModel::VertexMatrix VertexMatrix
 type of vertices describing geometry of sensor
 
- Public Types inherited from Sensor
typedef rw::core::Ptr< SensorPtr
 smart pointer type
 

Public Member Functions

 TactileArray (const std::string &name)
 constructor More...
 
virtual ~TactileArray ()
 destructor
 
rw::kinematics::FramegetFrame () const
 
virtual rw::math::Vector2D getTexelSize (int x, int y) const =0
 gets the size of an individual tactile cell with coordinates (x,y) More...
 
virtual std::pair< double, double > getPressureLimit () const =0
 get the minimum and maximum pressure capability of any tactile cell in the TactileArray More...
 
virtual const VertexMatrixgetVertexGrid () const =0
 gets the 3d geometry of this tactilearray. The vertexes are expressed realtive to the transform. More...
 
virtual const rw::math::Transform3DgetTransform () const =0
 a transformation from the sensor frame to the geometric data of the tactile array. More...
 
virtual const VertexMatrixgetCenters () const =0
 a matrix with position of each tactile cell center. The coordinates are described relative to the TactileArray transform (see getTransform()) More...
 
virtual const VertexMatrixgetNormals () const =0
 a matrix of normals that are described relative to each tactile cell center. More...
 
virtual int getWidth () const =0
 
virtual int getHeight () const =0
 
virtual void acquire ()=0
 acquires force data from the tactile cells
 
virtual const TactileArrayModel::ValueMatrixgetTexelData () const =0
 returns the pressure on each texel of the TactileArray in the unit N/m^2. 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...
 

Constructor & Destructor Documentation

◆ TactileArray()

TactileArray ( const std::string &  name)
inline

constructor

Parameters
name[in] name of sensor

Member Function Documentation

◆ getCenters()

virtual const VertexMatrix& getCenters ( ) const
pure virtual

a matrix with position of each tactile cell center. The coordinates are described relative to the TactileArray transform (see getTransform())

Returns
a matrix describing the center of each tactile cell.

◆ getNormals()

virtual const VertexMatrix& getNormals ( ) const
pure virtual

a matrix of normals that are described relative to each tactile cell center.

Returns

◆ getPressureLimit()

virtual std::pair<double, double> getPressureLimit ( ) const
pure virtual

get the minimum and maximum pressure capability of any tactile cell in the TactileArray

Returns

◆ getTexelData()

virtual const TactileArrayModel::ValueMatrix& getTexelData ( ) const
pure virtual

returns the pressure on each texel of the TactileArray in the unit N/m^2.

Returns
matrix of texel pressure values

◆ getTexelSize()

virtual rw::math::Vector2D getTexelSize ( int  x,
int  y 
) const
pure virtual

gets the size of an individual tactile cell with coordinates (x,y)

Parameters
x
y
Returns
the dimensions of the tactile cell in meters

◆ getTransform()

virtual const rw::math::Transform3D& getTransform ( ) const
pure virtual

a transformation from the sensor frame to the geometric data of the tactile array.

Returns

◆ getVertexGrid()

virtual const VertexMatrix& getVertexGrid ( ) const
pure virtual

gets the 3d geometry of this tactilearray. The vertexes are expressed realtive to the transform.

Returns

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