FTSensor (RobWork Java API Documentation)

java.lang.Object
- org.robwork.sdurw.Sensor
- - org.robwork.sdurw.FTSensor

```
public class FTSensor
extends Sensor
```
Interface of a N-axis Force Torque sensor

Constructor Summary

Constructors
Constructor Description

FTSensor(long cPtr, boolean cMemoryOwn)

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`void`	`acquire()`	acquires force data from the tactile cells
`void`	`delete()`
`static long`	`getCPtr(FTSensor obj)`
`Vector3Dd`	`getForce()`	gets the force in N that is acting on the origin.
`double`	`getMaxForce()`	gets the maximum force in Newton that this sensor can measure on any of its axis.
`double`	`getMaxTorque()`	gets the maximum torque in Newton Meter (N m)that this sensor can measure on any of its axis.
`Vector3Dd`	`getTorque()`	gets the torgue in Nm that is acting on the origin.
`Transform3Dd`	`getTransform()`	the transform from the sensor frame to the point of origin.

Methods inherited from class org.robwork.sdurw.Sensor
getCPtr, getDescription, getName, getPropertyMap, getSensorModel, setSensorModel

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Constructor Detail
  - FTSensor
```
public FTSensor(long cPtr,
                boolean cMemoryOwn)
```
- Method Detail
  - getCPtr
```
public static long getCPtr(FTSensor obj)
```
  - delete
```
public void delete()
```
    Overrides:
    
    delete in class Sensor
  - acquire
```
public void acquire()
```
    acquires force data from the tactile cells
  - getMaxForce
```
public double getMaxForce()
```
    gets the maximum force in Newton that this sensor can measure on any of its
    axis.
    
    Returns:
    
    max force in Newton.
  - getMaxTorque
```
public double getMaxTorque()
```
    gets the maximum torque in Newton Meter (N m)that this sensor can measure on any
    of its axis.
    
    Returns:
    
    max torque in Newton Meter(N m).
  - getForce
```
public Vector3Dd getForce()
```
    gets the force in N that is acting on the origin. The
    force is described in relation to the origin.
    
    Returns:
    
    force acting on origin.
  - getTorque
```
public Vector3Dd getTorque()
```
    gets the torgue in Nm that is acting on the origin. The
    torque is described in relation to the origin.
    
    Returns:
    
    torque acting on origin.
  - getTransform
```
public Transform3Dd getTransform()
```
    the transform from the sensor frame to the point of origin.
    
    Returns:
    
    transform from sensor frame to point of origin.