Class for updating SimulatedTactileSensor from Bullet simulation. More...

#include <BtTactileSensor.hpp>

Public Member Functions
	BtTactileSensor (rw::core::Ptr< rwsim::sensor::SimulatedTactileSensor > sensor)
	Create new tactile sensor. More...

virtual	~BtTactileSensor ()
	Destructor.

void	addConstraintsFeedback (const rwlibs::simulation::Simulator::UpdateInfo &info, rw::kinematics::State &state) const
	Add the feedbacks from constraints that have been added in addFeedback. More...

void	addContactManifold (const rwlibs::simulation::Simulator::UpdateInfo &info, rw::kinematics::State &state, const btPersistentManifold manifold, const BtBody bodyA, const BtBody *bodyB) const
	Add feedback from contacts. More...

void	addFeedback (BtConstraint *constraint)
	Add a constraint that should be measured by the sensor. More...

Detailed Description

Class for updating SimulatedTactileSensor from Bullet simulation.

Note that currently only SimulatedFTSensor is supported, and the sensor measures constraint forces.

Constructor & Destructor Documentation

BtTactileSensor ( rw::core::Ptr< rwsim::sensor::SimulatedTactileSensor > sensor )

Create new tactile sensor.

Parameters

sensor [in] the RobWork sensor.

void addConstraintsFeedback	(	const rwlibs::simulation::Simulator::UpdateInfo &	info,
		rw::kinematics::State &	state
	)		const

Add the feedbacks from constraints that have been added in addFeedback.

Parameters

info	[in] information about the simulation update (not used currently).
state	[in/out] the state to update with new sensor information.

void addContactManifold	(	const rwlibs::simulation::Simulator::UpdateInfo &	info,
		rw::kinematics::State &	state,
		const btPersistentManifold *	manifold,
		const BtBody *	bodyA,
		const BtBody *	bodyB
	)		const

Add feedback from contacts.

Parameters

info	[in] information about time-step (used to transform from impulse to force).
state	[in/out] the state to add information to.
manifold	[in] the contact manifold with contact information from bullet solver.
bodyA	[in] the first BtBody.
bodyB	[in] the second BtBody.

void addFeedback ( BtConstraint * constraint )

Add a constraint that should be measured by the sensor.

Parameters

constraint [in] the constraint to get feedback from.

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