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SimulatedFTSensor Class Reference

A sensor that measures force and torque between two bodies around some reference frame. More...

#include <SimulatedFTSensor.hpp>

Inherits SimulatedTactileSensor.

Public Types

typedef rw::core::Ptr< SimulatedFTSensorPtr
 Smart pointer type for SimulatedFTSensor.
 
- Public Types inherited from SimulatedSensor
typedef rw::core::Ptr< SimulatedSensorPtr
 smart pointer type of this class
 
- Public Types inherited from Stateless
typedef rw::core::Ptr< StatelessPtr
 Smart pointer type for Stateless.
 

Public Member Functions

 SimulatedFTSensor (const std::string &name, dynamics::Body::Ptr body, dynamics::Body::Ptr body1, rw::core::Ptr< rw::kinematics::Frame > frame=NULL)
 constructor - the forces will be described relative to body body1 More...
 
virtual ~SimulatedFTSensor ()
 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...
 
void addForceW (const rw::math::Vector3D<> &point, const rw::math::Vector3D<> &force, const rw::math::Vector3D<> &cnormal, rw::kinematics::State &state, dynamics::Body::Ptr 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, dynamics::Body::Ptr 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, dynamics::Body::Ptr 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, dynamics::Body::Ptr body=NULL)
 add a wrench described in World frame to the center of mass of this object More...
 
rw::math::Transform3D getTransform () const
 Get the transform. More...
 
rw::math::Vector3D getForce (const rw::kinematics::State &state) const
 Get the measured force in the reference frame. More...
 
rw::math::Vector3D getTorque (const rw::kinematics::State &state) const
 Get the measured torque around and in the reference frame. More...
 
rw::math::Vector3D getMaxTorque () const
 Maximum torque. More...
 
rw::math::Vector3D getMaxForce () const
 Maximum force. More...
 
rw::kinematics::FramegetSensorFrame () const
 Get the sensor frame (the body1 body frame unless reference frame is set differently). More...
 
void acquire ()
 Acquire new force reading. More...
 
rw::sensor::FTSensor::Ptr getFTSensor (rwlibs::simulation::Simulator::Ptr sim)
 Get a FTSensor version of this sensor. More...
 
rwsim::dynamics::Body::Ptr getBody1 () const
 Get the first body (the body influencing the sensor body) More...
 
rwsim::dynamics::Body::Ptr getBody2 () const
 Get the second body (the sensor body). More...
 
- Public Member Functions inherited from SimulatedTactileSensor
virtual ~SimulatedTactileSensor ()
 destructor
 
virtual 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)=0
 add a force to a point on the sensor geometry. The force is described relative to the world frame. More...
 
virtual 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)=0
 add a force to a point on the sensor geometry. The force is described relative to the sensor frame. More...
 
virtual void addWrenchToCOM (const rw::math::Vector3D<> &force, const rw::math::Vector3D<> &torque, rw::kinematics::State &state, rw::core::Ptr< rwsim::dynamics::Body > body=NULL)=0
 add a wrench to the center of mass of this object More...
 
virtual void addWrenchWToCOM (const rw::math::Vector3D<> &force, const rw::math::Vector3D<> &torque, rw::kinematics::State &state, rw::core::Ptr< rwsim::dynamics::Body > body=NULL)=0
 add a wrench described in World frame to the center of mass of this object More...
 
- Public Member Functions inherited from SimulatedSensor
virtual ~SimulatedSensor ()
 destructor
 
const std::string & getName () const
 get name of this simulated sensor
 
rw::kinematics::FramegetFrame () 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

A sensor that measures force and torque between two bodies around some reference frame.

Constructor & Destructor Documentation

◆ SimulatedFTSensor()

SimulatedFTSensor ( const std::string &  name,
dynamics::Body::Ptr  body,
dynamics::Body::Ptr  body1,
rw::core::Ptr< rw::kinematics::Frame frame = NULL 
)

constructor - the forces will be described relative to body body1

Parameters
name[in] identifier
body[in] the first body
body1[in] the second body
frame[in] (optional) the reference frame - default is the body1 body frame.

Member Function Documentation

◆ acquire()

void acquire ( )
inline

Acquire new force reading.

Note
This function does nothing currently!

◆ addForce()

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

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

◆ addForceW()

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

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

Interface inherited from SimulatedTactileSensor

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

◆ addWrenchToCOM()

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

add a wrench to the center of mass of this object

Parameters
force
torque
state
body

◆ addWrenchWToCOM()

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

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

Parameters
force
torque
state
body

◆ getBody1()

rwsim::dynamics::Body::Ptr getBody1 ( ) const
inline

Get the first body (the body influencing the sensor body)

Returns
the Body.

◆ getBody2()

rwsim::dynamics::Body::Ptr getBody2 ( ) const
inline

Get the second body (the sensor body).

Returns
the Body.

◆ getForce()

rw::math::Vector3D getForce ( const rw::kinematics::State state) const

Get the measured force in the reference frame.

Parameters
state[in] the state.
Returns
the force.

◆ getFTSensor()

Get a FTSensor version of this sensor.

Parameters
sim[in] the simulator in which the simulated sensor is instantiated
Returns
a smart pointer to a FTSensor

◆ getMaxForce()

rw::math::Vector3D getMaxForce ( ) const
inline

Maximum force.

Returns
the maximum force.

◆ getMaxTorque()

rw::math::Vector3D getMaxTorque ( ) const
inline

Maximum torque.

Returns
the maximum torque.

◆ getSensorFrame()

rw::kinematics::Frame* getSensorFrame ( ) const
inline

Get the sensor frame (the body1 body frame unless reference frame is set differently).

Returns
a pointer to the sensor frame.

◆ getTorque()

rw::math::Vector3D getTorque ( const rw::kinematics::State state) const

Get the measured torque around and in the reference frame.

Parameters
state[in] the state.
Returns
the torque.

◆ getTransform()

rw::math::Transform3D getTransform ( ) const

Get the transform.

Returns
the transform.

◆ 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.

Interface inherited from SimulatedSensor

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: