Package org.robwork.sdurw

Class TactileArrayUtil

java.lang.Object

org.robwork.sdurw.TactileArrayUtil

public class TactileArrayUtil
extends java.lang.Object

Utillity class for general computations on a tactile array

Constructor Summary

Constructors

Constructor	Description
TactileArrayUtil()
TactileArrayUtil(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
void	delete()
static VectorContact3D	estimateContacts(TactileArrayModel arraySensor, State state, double minContactForce)	Estimate the contacts on the tactile array sensor.
static long	getCPtr(TactileArrayUtil obj)

Methods inherited from class java.lang.Object

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

Constructor Detail

TactileArrayUtil

public TactileArrayUtil(long cPtr,
                        boolean cMemoryOwn)

TactileArrayUtil

public TactileArrayUtil()

Method Detail

getCPtr

public static long getCPtr(TactileArrayUtil obj)

delete

public void delete()

estimateContacts

public static VectorContact3D estimateContacts(TactileArrayModel arraySensor,
                                               State state,
                                               double minContactForce)

Estimate the contacts on the tactile array sensor.

Parameters:

arraySensor - [in] the array sensor that describe the tactile array

state - [in] the current state of the system

minContactForce - [in] A threshold value that determines when a force is a contact
force and not just noise.

Returns:

All estimated contacts