RobWorkProject: TactileArraySensor Class Reference

the TactileMatrixSensor class combines a TactileMatrix data type with the actual shape of a tactile sensor. The shape is described with a matrix of 3d vertices. Such that tactil (0,0) maps to the quad defined by the four vertices {(0,0),(0,1),(1,1),(1,0)}. Notice that the normal is defined by sequence of the vertices and that the normal defines the direction of tactile sensing. More...

#include <TactileArraySensor.hpp>

Inherits SimulatedTactileSensor.

Classes
class	ClassState
	class for keeping statefull information More...

struct	DistPoint

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

typedef rw::sensor::TactileArrayModel::ValueMatrix	ValueMatrix

typedef rw::sensor::TactileArrayModel::VertexMatrix	VertexMatrix

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
	TactileArraySensor (const std::string &name, rw::core::Ptr< rwsim::dynamics::Body > obj, const rw::math::Transform3D<> &fThmap, const ValueMatrix &heightMap, const rw::math::Vector2D< double > &texelSize)
	Creates a TactileSensor with a geometry specified by a height map and equally sized Texels in an matrix of a given dimension. The transform describe the location of the lower left corner of the texel (0,0). More...

virtual	~TactileArraySensor ()
	destructor

rw::sensor::TactileArrayModel::ValueMatrix &	getTexelData (rw::kinematics::State &state) const
	get last sampled texel pressure values More...

const rw::sensor::TactileArrayModel::ValueMatrix &	getTexelData (const rw::kinematics::State &state) const
	get last sampled texel pressure values 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<> &snormal, 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<> &snormal, 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 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...

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...

const std::vector< rw::sensor::Contact3D > &	getActualContacts (const rw::kinematics::State &state)
	all contacts that was accumulated into pressure

rw::math::Vector2D	getTexelSize (int x, int y) const
	gets the size of an individual tactile cell with coordinates (x,y) More...

int	getWidth () const
	get width of tactile array More...

int	getHeight () const
	get height of tactile array More...

std::pair< double, double >	getPressureLimit () const
	get the minimum and maximum pressure capability of any tactile cell in the TactileArray More...

const VertexMatrix &	getVertexGrid () const
	gets the 3d geometry of this tactilearray. The vertexes are expressed realtive to the transform. More...

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

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

const rw::math::Transform3D &	getTransform () const
	a transformation from the sensor frame to the geometric data of the tactile array. More...

rw::kinematics::Frame *	getSensorFrame ()
	The frame to which the sensor is attached. More...

rw::sensor::TactileArrayModel::Ptr	getTactileArrayModel ()

rw::sensor::Sensor::Ptr	getSensor (rwlibs::simulation::Simulator::Ptr sim)
	get sensor with specific name More...

rw::sensor::TactileArray::Ptr	getTactileArraySensor (rwlibs::simulation::Simulator::Ptr sim)
	get a handle to the statefull instance of the simulated sensor More...

void	setDeformationMask (const ValueMatrix &dmask, double width, double height)
	sets the deformation mask used for determining the deformation of the sensor surface when a point force is applied to it. More...

void	setMaxPenetration (double penetration)
	set max penetration in meters. The penetration is really max deformation at any point on the elastic surface of the tactile sensor

const rw::geometry::PlainTriMeshD &	getMesh ()
	get triangle mesh representing the tactile array 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...

Protected Member Functions
ClassState::Ptr	getClassState (rw::kinematics::State &state) const

ClassState::Ptr	getClassState (rw::kinematics::State &state)

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
rw::kinematics::StatelessData< int >	_sdata

VertexMatrix	_contactMatrix

VertexMatrix	_distCenterMatrix

Eigen::MatrixXf	_distDefMatrix

const rw::math::Vector2D	_texelSize

double	_texelArea

const rw::math::Transform3D	_fThmap

const rw::math::Transform3D	_hmapTf

Eigen::MatrixXf	_dmask

rwlibs::proximitystrategies::ProximityStrategyPQP *	_narrowStrategy

double	_maxPenetration

double	_elasticity

double	_tau

rw::core::Ptr< rwsim::dynamics::Body >	_body

double	_maskWidth

double	_maskHeight

rw::core::Ptr< rw::geometry::Geometry >	_ngeom

rw::core::Ptr< rw::geometry::PlainTriMesh< rw::geometry::Triangle<> > >	_ntrimesh

rw::proximity::ProximityModel::Ptr	_nmodel

std::map< rw::kinematics::Frame *, std::vector< rw::core::Ptr< rw::geometry::Geometry > > >	_frameToGeoms

rw::sensor::TactileArrayModel::Ptr	_tmodel

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

Constructor & Destructor Documentation

◆ TactileArraySensor()

TactileArraySensor	(	const std::string &	name,
		rw::core::Ptr< rwsim::dynamics::Body >	obj,
		const rw::math::Transform3D<> &	fThmap,
		const ValueMatrix &	heightMap,
		const rw::math::Vector2D< double > &	texelSize
	)

Creates a TactileSensor with a geometry specified by a height map and equally sized Texels in an matrix of a given dimension. The transform describe the location of the lower left corner of the texel (0,0).

Parameters

name	[in]
obj	[in]
fThmap	[in]
heightMap	[in]
texelSize	[in]

Member Function Documentation

◆ addForce()

void addForce	(	const rw::math::Vector3D<> &	point,
		const rw::math::Vector3D<> &	force,
		const rw::math::Vector3D<> &	snormal,
		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
snormal	[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<> &	snormal,
		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
snormal	[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`
	)

virtual

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`
	)

virtual

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

Parameters

force
torque
state
body

Implements SimulatedTactileSensor.

◆ getCenters()

const VertexMatrix& getCenters ( ) const

inline

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.

◆ getHeight()

int getHeight ( ) const

inline

get height of tactile array

◆ getMesh()

const rw::geometry::PlainTriMeshD& getMesh ( )

inline

get triangle mesh representing the tactile array

Returns: triangle mesh

◆ getNormals()

const VertexMatrix& getNormals ( ) const

inline

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.

◆ getPressureLimit()

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

inline

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

Returns: min and max pressure in Pa

◆ getSensor()

rw::sensor::Sensor::Ptr getSensor ( rwlibs::simulation::Simulator::Ptr sim )

get sensor with specific name

◆ getSensorFrame()

rw::kinematics::Frame* getSensorFrame ( )

inline

The frame to which the sensor is attached.

The frame can be NULL.

◆ getTactileArraySensor()

rw::sensor::TactileArray::Ptr getTactileArraySensor ( rwlibs::simulation::Simulator::Ptr sim )

get a handle to the statefull instance of the simulated sensor

Parameters

sim	[in] simulator in which instance is active.

Returns: handle to instance of simulated sensor

◆ getTexelData() [1/2]

const rw::sensor::TactileArrayModel::ValueMatrix& getTexelData ( const rw::kinematics::State & state ) const

get last sampled texel pressure values

Parameters

state [in] state in which values are to be found

◆ getTexelData() [2/2]

rw::sensor::TactileArrayModel::ValueMatrix& getTexelData ( rw::kinematics::State & state ) const

get last sampled texel pressure values

Parameters

state [in] state in which values are to be found

◆ getTexelSize()

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

inline

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()

const rw::math::Transform3D& getTransform ( void ) const

inline

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

Returns

◆ getVertexGrid()

const VertexMatrix& getVertexGrid ( ) const

inline

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

Returns

◆ getWidth()

int getWidth ( ) const

inline

get width of tactile array

◆ 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.

◆ setDeformationMask()

void setDeformationMask	(	const ValueMatrix &	dmask,
		double	width,
		double	height
	)

sets the deformation mask used for determining the deformation of the sensor surface when a point force is applied to it.

Note: make sure that the sum of all elements in the mask is 1 or less.

◆ 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:

TactileArraySensor.hpp

Classes

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ TactileArraySensor()

Member Function Documentation

◆ addForce()

◆ addForceW()

◆ addWrenchToCOM()

◆ addWrenchWToCOM()

◆ getCenters()

◆ getHeight()

◆ getMesh()

◆ getNormals()

◆ getPressureLimit()

◆ getSensor()

◆ getSensorFrame()

◆ getTactileArraySensor()

◆ getTexelData() [1/2]

◆ getTexelData() [2/2]

◆ getTexelSize()

◆ getTransform()

◆ getVertexGrid()

◆ getWidth()

◆ reset()

◆ setDeformationMask()

◆ update()