Class TactileArray


  • public class TactileArray
    extends Sensor
    • Constructor Detail

      • TactileArray

        public TactileArray​(long cPtr,
                            boolean cMemoryOwn)
    • Method Detail

      • getCPtr

        public static long getCPtr​(TactileArray obj)
      • delete

        public void delete()
        Overrides:
        delete in class Sensor
      • getFrame

        public Frame getFrame()
      • getTexelSize

        public Vector2Dd getTexelSize​(int x,
                                      int y)
        gets the size of an individual tactile cell with coordinates (x,y)
        Parameters:
        x -
        y -
        Returns:
        the dimensions of the tactile cell in meters
      • getPressureLimit

        public pairDoubleDouble getPressureLimit()
        get the minimum and maximum pressure capability of any tactile
        cell in the TactileArray
        Returns:
      • getVertexGrid

        public TactileVertexMatrix getVertexGrid()
        gets the 3d geometry of this tactilearray. The vertexes are expressed
        realtive to the transform.
        Returns:
      • getTransform

        public Transform3Dd getTransform()
        a transformation from the sensor frame to the geometric data of
        the tactile array.
        Returns:
      • getCenters

        public TactileVertexMatrix getCenters()
        a matrix with position of each tactile cell center. The coordinates
        are described relative to the TactileArray transform (see getTransform())
        Returns:
        a matrix describing the center of each tactile cell.
      • getNormals

        public TactileVertexMatrix getNormals()
        a matrix of normals that are described relative to each tactile
        cell center.
        Returns:
      • getWidth

        public int getWidth()
      • getHeight

        public int getHeight()
      • acquire

        public void acquire()
        acquires force data from the tactile cells
      • getTexelData

        public EigenMatrixXf getTexelData()
        returns the pressure on each texel of the TactileArray in
        the unit N/m^2.
        Returns:
        matrix of texel pressure values