Package org.robwork.sdurw
Class FTSensorModel
- java.lang.Object
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- org.robwork.sdurw_kinematics.Stateless
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- org.robwork.sdurw.SensorModel
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- org.robwork.sdurw.FTSensorModel
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public class FTSensorModel extends SensorModel
N-axis Force Torque sensor model
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Constructor Summary
Constructors Constructor Description FTSensorModel(long cPtr, boolean cMemoryOwn)
FTSensorModel(java.lang.String name, Frame frame)
ConstructorFTSensorModel(java.lang.String name, Frame frame, java.lang.String desc)
Constructor
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods 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) characteristicsVector3Dd
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 FTsensorvoid
setMaxWrench(Wrench6Dd max)
set the maximum wrench of this FTSensorvoid
setTorque(Vector3Dd force, State state)
set the torque that is acting on the origin of this FTsensorvoid
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
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Methods inherited from class org.robwork.sdurw_kinematics.Stateless
getCPtr, getStateStructure, isRegistered, registerIn, registerIn, unregister
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Constructor Detail
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FTSensorModel
public FTSensorModel(long cPtr, boolean cMemoryOwn)
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FTSensorModel
public FTSensorModel(java.lang.String name, Frame frame, java.lang.String desc)
Constructor- Parameters:
name
- [in] name of FT sensorframe
- [in] the frame to which this sensor is attacheddesc
- [in] optional description of sensor
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FTSensorModel
public FTSensorModel(java.lang.String name, Frame frame)
Constructor- Parameters:
name
- [in] name of FT sensorframe
- [in] the frame to which this sensor is attached
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Method Detail
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getCPtr
public static long getCPtr(FTSensorModel obj)
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delete
public void delete()
- Overrides:
delete
in classSensorModel
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getMaxWrench
public Wrench6Dd getMaxWrench()
get maximum wrench (force and torque) characteristics- Returns:
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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.
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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).
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setMaxWrench
public void setMaxWrench(Wrench6Dd max)
set the maximum wrench of this FTSensor- Parameters:
max
- [in] maximum allowed wrench
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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.
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setWrench
public void setWrench(Wrench6Dd wrench, State state)
set the wrench that is acting on the origin of this FTsensor
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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.
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setForce
public void setForce(Vector3Dd force, State state)
set the force that is acting on the origin of this FTsensor
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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.
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setTorque
public void setTorque(Vector3Dd force, State state)
set the torque that is acting on the origin of this FTsensor
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getTransform
public Transform3Dd getTransform()
the transform from the sensor frame to the point of origin.- Returns:
- transform from sensor frame to point of origin.
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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
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