RobWorkProject  24.5.15-
Public Member Functions | Protected Member Functions | List of all members
SimulatedTactileSensor Class Referenceabstract

interface for simulated tactile sensors More...

#include <SimulatedTactileSensor.hpp>

Inherits SimulatedSensor.

Inherited by BodyContactSensor, SimulatedFTSensor, and TactileArraySensor.

Public Member Functions

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...
 
virtual void update (const rwlibs::simulation::Simulator::UpdateInfo &info, rw::kinematics::State &state)=0
 steps the the SimulatedSensor with time dt and saves any state changes in state. More...
 
virtual void reset (const rw::kinematics::State &state)=0
 Resets the state of the SimulatedSensor to that of state. 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...
 

Protected Member Functions

 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
 

Additional Inherited Members

- 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.
 
- 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

interface for simulated tactile sensors

Constructor & Destructor Documentation

◆ SimulatedTactileSensor()

Constructor.

Parameters
model[in] the model of the sensor.

Member Function Documentation

◆ addForce()

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 
)
pure 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

Implemented in TactileArraySensor, and BodyContactSensor.

◆ addForceW()

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 
)
pure 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

Implemented in TactileArraySensor, and BodyContactSensor.

◆ addWrenchToCOM()

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 
)
pure virtual

add a wrench to the center of mass of this object

Parameters
force
torque
state
body

Implemented in TactileArraySensor, and BodyContactSensor.

◆ addWrenchWToCOM()

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 
)
pure virtual

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

Parameters
force
torque
state
body

Implemented in TactileArraySensor, and BodyContactSensor.


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