Package org.robwork.sdurw
Class TactileArray
- java.lang.Object
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- org.robwork.sdurw.Sensor
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- org.robwork.sdurw.TactileArray
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public class TactileArray extends Sensor
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Constructor Summary
Constructors Constructor Description TactileArray(long cPtr, boolean cMemoryOwn)
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description void
acquire()
acquires force data from the tactile cellsvoid
delete()
TactileVertexMatrix
getCenters()
a matrix with position of each tactile cell center.static long
getCPtr(TactileArray obj)
Frame
getFrame()
int
getHeight()
TactileVertexMatrix
getNormals()
a matrix of normals that are described relative to each tactile
cell center.pairDoubleDouble
getPressureLimit()
get the minimum and maximum pressure capability of any tactile
cell in the TactileArrayEigenMatrixXf
getTexelData()
returns the pressure on each texel of the TactileArray in
the unit N/m^2.Vector2Dd
getTexelSize(int x, int y)
gets the size of an individual tactile cell with coordinates (x,y)Transform3Dd
getTransform()
a transformation from the sensor frame to the geometric data of
the tactile array.TactileVertexMatrix
getVertexGrid()
gets the 3d geometry of this tactilearray.int
getWidth()
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Methods inherited from class org.robwork.sdurw.Sensor
getCPtr, getDescription, getName, getPropertyMap, getSensorModel, setSensorModel
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Method Detail
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getCPtr
public static long getCPtr(TactileArray obj)
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getFrame
public Frame getFrame()
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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
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getPressureLimit
public pairDoubleDouble getPressureLimit()
get the minimum and maximum pressure capability of any tactile
cell in the TactileArray- Returns:
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getVertexGrid
public TactileVertexMatrix getVertexGrid()
gets the 3d geometry of this tactilearray. The vertexes are expressed
realtive to the transform.- Returns:
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getTransform
public Transform3Dd getTransform()
a transformation from the sensor frame to the geometric data of
the tactile array.- Returns:
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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.
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getNormals
public TactileVertexMatrix getNormals()
a matrix of normals that are described relative to each tactile
cell center.- Returns:
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getWidth
public int getWidth()
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getHeight
public int getHeight()
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acquire
public void acquire()
acquires force data from the tactile cells
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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
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