RobWorkProject: BodyContactSensor Class Reference

This sensor attaches to a body and records all forces and the corresponding positions where the forces act. More...

#include <BodyContactSensor.hpp>

Classes
class	ClassState
	The state of the sensor. More...

Public Types
typedef rw::core::Ptr< BodyContactSensor >	Ptr
	Smart pointer type for BodyContactSensor.

Public Types inherited from SimulatedSensor
typedef rw::core::Ptr< SimulatedSensor >	Ptr
	smart pointer type of this class

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

Public Member Functions
	BodyContactSensor (const std::string &name, rw::core::Ptr< rw::kinematics::Frame > frame)
	constructor More...

virtual	~BodyContactSensor ()
	Destructor.

void	update (const rwlibs::simulation::Simulator::UpdateInfo &info, rw::kinematics::State &state)
	steps the the SimulatedSensor with time dt and saves any state changes in state. More...

void	reset (const rw::kinematics::State &state)
	Resets the state of the SimulatedSensor to that of state. More...

rw::sensor::Sensor::Ptr	getSensor ()
	Get sensor (should not be used). More...

void	addForceW (const rw::math::Vector3D<> &point, const rw::math::Vector3D<> &force, const rw::math::Vector3D<> &cnormal, rw::kinematics::State &state, rw::core::Ptr< rwsim::dynamics::Body > body=NULL)
	add a force to a point on the sensor geometry. The force is described relative to the world frame. More...

void	addForce (const rw::math::Vector3D<> &point, const rw::math::Vector3D<> &force, const rw::math::Vector3D<> &cnormal, rw::kinematics::State &state, rw::core::Ptr< rwsim::dynamics::Body >=NULL)
	add a force to a point on the sensor geometry. The force is described relative to the sensor frame. More...

void	addWrenchToCOM (const rw::math::Vector3D<> &force, const rw::math::Vector3D<> &torque, rw::kinematics::State &state, rw::core::Ptr< rwsim::dynamics::Body > body=NULL)
	add a wrench to the center of mass of this object More...

void	addWrenchWToCOM (const rw::math::Vector3D<> &force, const rw::math::Vector3D<> &torque, rw::kinematics::State &state, rw::core::Ptr< rwsim::dynamics::Body > body=NULL)
	add a wrench described in World frame to the center of mass of this object More...

const std::vector< rw::sensor::Contact3D > &	getContacts (const rw::kinematics::State &state) const
	return all contacts registered in the last timestep More...

std::vector< rw::core::Ptr< rwsim::dynamics::Body > >	getBodies (const rw::kinematics::State &state)
	Get the bodies in contact. More...

Public Member Functions inherited from SimulatedTactileSensor
virtual	~SimulatedTactileSensor ()
	destructor

Public Member Functions inherited from SimulatedSensor
virtual	~SimulatedSensor ()
	destructor

const std::string &	getName () const
	get name of this simulated sensor

rw::kinematics::Frame *	getFrame () const
	get frame that this sensor is attached to. More...

rw::sensor::SensorModel::Ptr	getSensorModel ()
	get the sensor model of this simulated sensor.

rw::sensor::Sensor::Ptr	getSensorHandle (rwlibs::simulation::Simulator::Ptr sim)
	get a handle to controlling an instance of the simulated sensor in a specific simulator More...

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 SimulatedTactileSensor
	SimulatedTactileSensor (rw::sensor::SensorModel::Ptr model)
	Constructor. More...

Protected Member Functions inherited from SimulatedSensor
	SimulatedSensor (rw::sensor::SensorModel::Ptr model)
	constructor

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

This sensor attaches to a body and records all forces and the corresponding positions where the forces act.

Constructor & Destructor Documentation

◆ BodyContactSensor()

BodyContactSensor	(	const std::string &	name,
		rw::core::Ptr< rw::kinematics::Frame >	frame
	)

constructor

Parameters

name	[in] the sensor name
frame	[in] the frame of this sensor.

Member Function Documentation

◆ addForce()

void addForce	(	const rw::math::Vector3D<> &	point,
		const rw::math::Vector3D<> &	force,
		const rw::math::Vector3D<> &	cnormal,
		rw::kinematics::State &	state,
		rw::core::Ptr< rwsim::dynamics::Body >	body = `NULL`
	)

virtual

add a force to a point on the sensor geometry. The force is described relative to the sensor frame.

Parameters

point	[in] the point where the force is acting.
force	[in] the direction in which the force is acting
cnormal	[in] the contact normal where the origin is on the contacting body and the direction is toward the sensor
state	[in/out] the state is updated with new sensor information.
body	[in] the body that caused the contact force. If no body caused the force on the sensor (could be user input) then the body is NULL

Implements SimulatedTactileSensor.

◆ addForceW()

void addForceW	(	const rw::math::Vector3D<> &	point,
		const rw::math::Vector3D<> &	force,
		const rw::math::Vector3D<> &	cnormal,
		rw::kinematics::State &	state,
		rw::core::Ptr< rwsim::dynamics::Body >	body = `NULL`
	)

virtual

add a force to a point on the sensor geometry. The force is described relative to the world frame.

Parameters

point	[in] the point where the force is acting.
force	[in] the direction in which the force is acting
cnormal	[in] the contact normal where the origin is on the contacting body and the direction is toward the sensor
state	[in/out] the state is updated with new sensor information.
body	[in] the body that caused the contact force. If no body caused the force on the sensor (could be user input) then the body is NULL

Implements SimulatedTactileSensor.

◆ addWrenchToCOM()

void addWrenchToCOM	(	const rw::math::Vector3D<> &	force,
		const rw::math::Vector3D<> &	torque,
		rw::kinematics::State &	state,
		rw::core::Ptr< rwsim::dynamics::Body >	body = `NULL`
	)

inlinevirtual

add a wrench to the center of mass of this object

Parameters

force
torque
state
body

Implements SimulatedTactileSensor.

◆ addWrenchWToCOM()

void addWrenchWToCOM	(	const rw::math::Vector3D<> &	force,
		const rw::math::Vector3D<> &	torque,
		rw::kinematics::State &	state,
		rw::core::Ptr< rwsim::dynamics::Body >	body = `NULL`
	)

inlinevirtual

add a wrench described in World frame to the center of mass of this object

Parameters

force
torque
state
body

Implements SimulatedTactileSensor.

◆ getBodies()

std::vector<rw::core::Ptr<rwsim::dynamics::Body> > getBodies ( const rw::kinematics::State & state )

inline

Get the bodies in contact.

Parameters

state [in] the state.

Returns: a list of bodies.

◆ getContacts()

const std::vector<rw::sensor::Contact3D>& getContacts ( const rw::kinematics::State & state ) const

inline

return all contacts registered in the last timestep

Note: all the contacts are represented in body frame.

Parameters

state [in] the state.

Returns: a vector of contacts.

◆ getSensor()

rw::sensor::Sensor::Ptr getSensor ( )

Get sensor (should not be used).

Returns: NULL always.

◆ reset()

void reset ( const rw::kinematics::State & state )

virtual

Resets the state of the SimulatedSensor to that of state.

Parameters

state [in] the state that the sensor is reset too.

Implements SimulatedSensor.

◆ update()

void update	(	const rwlibs::simulation::Simulator::UpdateInfo &	info,
		rw::kinematics::State &	state
	)

virtual

steps the the SimulatedSensor with time dt and saves any state changes in state.

Parameters

info	[in] update information related to the time step.
state	[out] changes of the SimulatedSensor is saved in state.

Implements SimulatedSensor.

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

BodyContactSensor.hpp

Classes

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ BodyContactSensor()

Member Function Documentation

◆ addForce()

◆ addForceW()

◆ addWrenchToCOM()

◆ addWrenchWToCOM()

◆ getBodies()

◆ getContacts()

◆ getSensor()

◆ reset()

◆ update()