RobWorkProject: SimulatedTactileSensor Class Reference

interface for simulated tactile sensors More...

#include <SimulatedTactileSensor.hpp>

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::Frame *	getFrame () 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< SimulatedSensor >	Ptr
	smart pointer type of this class

Public Types inherited from Stateless
typedef rw::core::Ptr< Stateless >	Ptr
	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()

SimulatedTactileSensor ( rw::sensor::SensorModel::Ptr model )

protected

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:

SimulatedTactileSensor.hpp

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ SimulatedTactileSensor()

Member Function Documentation

◆ addForce()

◆ addForceW()

◆ addWrenchToCOM()

◆ addWrenchWToCOM()