XBot::ForceTorqueSensor Class Reference

Force - Torque sensor abstraction: More...

#include <ForceTorqueSensor.h>

Inheritance diagram for XBot::ForceTorqueSensor:

Collaboration diagram for XBot::ForceTorqueSensor:

Public Types
typedef std::shared_ptr< ForceTorqueSensor >	Ptr
typedef std::shared_ptr< const ForceTorqueSensor >	ConstPtr
Public Types inherited from XBot::GenericSensor
typedef std::shared_ptr< GenericSensor >	Ptr
typedef std::shared_ptr< const GenericSensor >	ConstPtr

Public Member Functions
	ForceTorqueSensor ()
	Default Contructor. More...
	ForceTorqueSensor (urdf::LinkConstSharedPtr ft_link, int sensor_id)
	Constructor with the Force-Torque parent link. More...
void	getWrench (Eigen::Matrix< double, 6, 1 > &wrench) const
	Getter for the Force-Torque measured wrench. More...
void	getForce (Eigen::Vector3d &force) const
	Getter for the Force-Torque measured force. More...
void	getTorque (Eigen::Vector3d &torque) const
	Getter for the Force-Torque measured torque. More...
void	getWrench (KDL::Wrench &wrench) const
	Getter for the Force-Torque measured wrench. More...
void	getForce (KDL::Vector &force) const
	Getter for the Force-Torque measured force. More...
void	getTorque (KDL::Vector &torque) const
	Getter for the Force-Torque measured torque. More...
void	setWrench (const Eigen::Matrix< double, 6, 1 > &wrench, double timestamp)
	Setter for the Force-Torque wrench. More...
void	setForce (const Eigen::Vector3d &force, double timestamp)
	Setter for the Force-Torque wrench. More...
void	setTorque (const Eigen::Vector3d &torque, double timestamp)
	Setter for the Force-Torque torque. More...
Public Member Functions inherited from XBot::GenericSensor
	GenericSensor ()
	Default constructor. More...
	GenericSensor (urdf::LinkConstSharedPtr sensor_link, int sensor_id)
	Constructor with the sensor parent link. More...
const std::string &	getParentLinkName () const
	Getter for the sensor parent link name. More...
const std::string &	getParentJointName () const
	Getter for the sensor parent joint name. More...
const std::string &	getSensorName () const
	Getter for the sensor name. More...
const int	getSensorId () const
	Getter for the sensor id. More...
const Eigen::Affine3d &	getSensorPose () const
	Getter for the sensor pose w.r.t. More...
double	getTimestamp () const
	Getter for the timestamp of the last sensor reading. More...
void	setTimestamp (double timestamp)
	Setter for the timestamp of the sensor reading. More...

Friends
std::ostream &	operator<< (std::ostream &os, const XBot::ForceTorqueSensor &j)

Detailed Description

Force - Torque sensor abstraction:

Member Typedef Documentation

ConstPtr

typedef std::shared_ptr<const ForceTorqueSensor> XBot::ForceTorqueSensor::ConstPtr

Ptr

typedef std::shared_ptr<ForceTorqueSensor> XBot::ForceTorqueSensor::Ptr

Constructor & Destructor Documentation

ForceTorqueSensor() [1/2]

XBot::ForceTorqueSensor::ForceTorqueSensor

(

)

Default Contructor.

ForceTorqueSensor() [2/2]

XBot::ForceTorqueSensor::ForceTorqueSensor	(	urdf::LinkConstSharedPtr	ft_link,
		int	sensor_id
	)

Constructor with the Force-Torque parent link.

Parameters

ft_link	the FOrce-Torque parent link
sensor_id	the sensor id

Member Function Documentation

getForce() [1/2]

void XBot::ForceTorqueSensor::getForce

(

Eigen::Vector3d &

force

)

const

Getter for the Force-Torque measured force.

Parameters

force

the measured force that will be filled by this function as Eigen Vector3d

Returns

void

getForce() [2/2]

void XBot::ForceTorqueSensor::getForce

(

KDL::Vector &

force

)

const

Getter for the Force-Torque measured force.

Parameters

force

the measured force that will be filled by this function as KDL Vector

Returns

void

getTorque() [1/2]

void XBot::ForceTorqueSensor::getTorque

(

Eigen::Vector3d &

torque

)

const

Getter for the Force-Torque measured torque.

Parameters

torque

the measured torque that will be filled by this function as Eigen Vector3d

Returns

void

getTorque() [2/2]

void XBot::ForceTorqueSensor::getTorque

(

KDL::Vector &

torque

)

const

Getter for the Force-Torque measured torque.

Parameters

torque

the measured torque that will be filled by this function as KDL Vector

Returns

void

getWrench() [1/2]

void XBot::ForceTorqueSensor::getWrench

(

Eigen::Matrix< double, 6, 1 > &

wrench

)

const

Getter for the Force-Torque measured wrench.

Parameters

wrench

the measured wrench that will be filled by this function as Eigen 6x1 double Matrix

Returns

void

getWrench() [2/2]

void XBot::ForceTorqueSensor::getWrench

(

KDL::Wrench &

wrench

)

const

Getter for the Force-Torque measured wrench.

Parameters

wrench

the measured wrench that will be filled by this function as KDL Wrench

Returns

void

setForce()

void XBot::ForceTorqueSensor::setForce	(	const Eigen::Vector3d &	force,
		double	timestamp
	)

Setter for the Force-Torque wrench.

NOTE if you are a const ptr you cannot call it.

Parameters

force	the force to set
timestamp	the timestamp related to the force reading

Returns

void

setTorque()

void XBot::ForceTorqueSensor::setTorque	(	const Eigen::Vector3d &	torque,
		double	timestamp
	)

Setter for the Force-Torque torque.

NOTE if you are a const ptr you cannot call it.

Parameters

torque	the torque to set
timestamp	the timestamp related to the torque reading

Returns

void

setWrench()

void XBot::ForceTorqueSensor::setWrench	(	const Eigen::Matrix< double, 6, 1 > &	wrench,
		double	timestamp
	)

Setter for the Force-Torque wrench.

NOTE if you are a const ptr you cannot call it.

Parameters

wrench	the wrench to set
timestamp	the timestamp related to the Force-Torque reading

Returns

void

Friends And Related Function Documentation

operator<<

std::ostream& operator<< ( std::ostream &  os, const XBot::ForceTorqueSensor &  j  )

friend

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

• /home/travis/build/ADVRHumanoids/forest_ws/src/XBotInterface/include/XBotInterface/ForceTorqueSensor.h
• /home/travis/build/ADVRHumanoids/forest_ws/src/XBotInterface/src/ForceTorqueSensor.cpp