Package org.robwork.sdurw

Class FTSensorModel

java.lang.Object

org.robwork.sdurw_kinematics.Stateless

org.robwork.sdurw.SensorModel

org.robwork.sdurw.FTSensorModel

public class FTSensorModel
extends SensorModel

N-axis Force Torque sensor model

Constructor Summary

Constructors

Constructor	Description
FTSensorModel(long cPtr, boolean cMemoryOwn)
FTSensorModel(java.lang.String name, Frame frame)	Constructor
FTSensorModel(java.lang.String name, Frame frame, java.lang.String desc)	Constructor

Method Summary

Modifier and Type	Method	Description
void	delete()
static long	getCPtr(FTSensorModel obj)
Vector3Dd	getForce(State state)	gets the force in N that is acting on the origin.
Vector3Dd	getMaxForce()	gets the maximum force in Newton that this sensor can measure on any of its axis.
Vector3Dd	getMaxTorque()	gets the maximum torque in Newton Meter (N m)that this sensor can measure on any of its axis.
Wrench6Dd	getMaxWrench()	get maximum wrench (force and torque) characteristics
Vector3Dd	getTorque(State state)	gets the torgue in Nm that is acting on the origin.
Transform3Dd	getTransform()	the transform from the sensor frame to the point of origin.
Wrench6Dd	getWrench(State state)	gets the force in N that is acting on the origin.
void	setForce(Vector3Dd force, State state)	set the force that is acting on the origin of this FTsensor
void	setMaxWrench(Wrench6Dd max)	set the maximum wrench of this FTSensor
void	setTorque(Vector3Dd force, State state)	set the torque that is acting on the origin of this FTsensor
void	setTransform(Transform3Dd t3d)	set the transform between frame and origin.
void	setWrench(Wrench6Dd wrench, State state)	set the wrench that is acting on the origin of this FTsensor

Methods inherited from class org.robwork.sdurw.SensorModel

attachTo, getCPtr, getDescription, getFrame, getName, getPropertyMap, setDescription, setName

Methods inherited from class org.robwork.sdurw_kinematics.Stateless

getCPtr, getStateStructure, isRegistered, registerIn, registerIn, unregister

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

FTSensorModel

public FTSensorModel(long cPtr,
                     boolean cMemoryOwn)

FTSensorModel

public FTSensorModel(java.lang.String name,
                     Frame frame,
                     java.lang.String desc)

Constructor

Parameters:

name - [in] name of FT sensor

frame - [in] the frame to which this sensor is attached

desc - [in] optional description of sensor

FTSensorModel

public FTSensorModel(java.lang.String name,
                     Frame frame)

Constructor

Parameters:

name - [in] name of FT sensor

frame - [in] the frame to which this sensor is attached

Method Detail

getCPtr

public static long getCPtr(FTSensorModel obj)

delete

public void delete()

Overrides:

delete in class SensorModel

getMaxWrench

public Wrench6Dd getMaxWrench()

get maximum wrench (force and torque) characteristics

Returns:

getMaxForce

public Vector3Dd getMaxForce()

gets the maximum force in Newton that this sensor can measure on any of its
axis.

Returns:

max force in Newton.

getMaxTorque

public Vector3Dd 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).

setMaxWrench

public void setMaxWrench(Wrench6Dd max)

set the maximum wrench of this FTSensor

Parameters:

max - [in] maximum allowed wrench

getWrench

public Wrench6Dd getWrench(State state)

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.

setWrench

public void setWrench(Wrench6Dd wrench,
                      State state)

set the wrench that is acting on the origin of this FTsensor

getForce

public Vector3Dd getForce(State state)

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.

setForce

public void setForce(Vector3Dd force,
                     State state)

set the force that is acting on the origin of this FTsensor

getTorque

public Vector3Dd getTorque(State state)

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.

setTorque

public void setTorque(Vector3Dd force,
                      State state)

set the torque that is acting on the origin of this FTsensor

getTransform

public Transform3Dd getTransform()

the transform from the sensor frame to the point of origin.

Returns:

transform from sensor frame to point of origin.

setTransform

public void setTransform(Transform3Dd t3d)

set the transform between frame and origin. The origin of the
sensor is the frame where sensor data is described.

Parameters:

t3d - [in] transformation from frame to origin