A sensor that measures force and torque between two bodies around some reference frame. More...

#include <SimulatedFTSensor.hpp>

Public Types
typedef rw::core::Ptr< SimulatedFTSensor >	Ptr
	Smart pointer type for SimulatedFTSensor.

Public Types inherited from SimulatedSensor
typedef rw::core::Ptr< SimulatedSensor >	Ptr
	smart pointer type of this class

Public Types inherited from Stateless
typedef rw::core::Ptr< Stateless >	Ptr
	Smart pointer type for Stateless.

Public Member Functions
	SimulatedFTSensor (const std::string &name, dynamics::Body::Ptr body, dynamics::Body::Ptr body1, rw::core::Ptr< rw::kinematics::Frame > frame=NULL)
	constructor - the forces will be described relative to body body1 More...

virtual	~SimulatedFTSensor ()
	destructor

void	update (const rwlibs::simulation::Simulator::UpdateInfo &info, rw::kinematics::State &state)
	steps the the SimulatedSensor with time dt and saves any state changes in state. More...

void	reset (const rw::kinematics::State &state)
	Resets the state of the SimulatedSensor to that of state. More...

void	addForceW (const rw::math::Vector3D<> &point, const rw::math::Vector3D<> &force, const rw::math::Vector3D<> &cnormal, rw::kinematics::State &state, dynamics::Body::Ptr body=NULL)
	add a force to a point on the sensor geometry. The force is described relative to the world frame. More...

void	addForce (const rw::math::Vector3D<> &point, const rw::math::Vector3D<> &force, const rw::math::Vector3D<> &cnormal, rw::kinematics::State &state, dynamics::Body::Ptr body=NULL)
	add a force to a point on the sensor geometry. The force is described relative to the sensor frame. More...

void	addWrenchToCOM (const rw::math::Vector3D<> &force, const rw::math::Vector3D<> &torque, rw::kinematics::State &state, dynamics::Body::Ptr body=NULL)
	add a wrench to the center of mass of this object More...

void	addWrenchWToCOM (const rw::math::Vector3D<> &force, const rw::math::Vector3D<> &torque, rw::kinematics::State &state, dynamics::Body::Ptr body=NULL)
	add a wrench described in World frame to the center of mass of this object More...

rw::math::Transform3D	getTransform () const
	Get the transform. More...

rw::math::Vector3D	getForce (const rw::kinematics::State &state) const
	Get the measured force in the reference frame. More...

rw::math::Vector3D	getTorque (const rw::kinematics::State &state) const
	Get the measured torque around and in the reference frame. More...

rw::math::Vector3D	getMaxTorque () const
	Maximum torque. More...

rw::math::Vector3D	getMaxForce () const
	Maximum force. More...

rw::kinematics::Frame *	getSensorFrame () const
	Get the sensor frame (the body1 body frame unless reference frame is set differently). More...

void	acquire ()
	Acquire new force reading. More...

rw::sensor::FTSensor::Ptr	getFTSensor (rwlibs::simulation::Simulator::Ptr sim)
	Get a FTSensor version of this sensor. More...

rwsim::dynamics::Body::Ptr	getBody1 () const
	Get the first body (the body influencing the sensor body) More...

rwsim::dynamics::Body::Ptr	getBody2 () const
	Get the second body (the sensor body). More...

Public Member Functions inherited from SimulatedTactileSensor
virtual	~SimulatedTactileSensor ()
	destructor

virtual void	addForceW (const rw::math::Vector3D<> &point, const rw::math::Vector3D<> &force, const rw::math::Vector3D<> &cnormal, rw::kinematics::State &state, rw::core::Ptr< rwsim::dynamics::Body > body=NULL)=0
	add a force to a point on the sensor geometry. The force is described relative to the world frame. More...

virtual void	addForce (const rw::math::Vector3D<> &point, const rw::math::Vector3D<> &force, const rw::math::Vector3D<> &cnormal, rw::kinematics::State &state, rw::core::Ptr< rwsim::dynamics::Body > body=NULL)=0
	add a force to a point on the sensor geometry. The force is described relative to the sensor frame. More...

virtual void	addWrenchToCOM (const rw::math::Vector3D<> &force, const rw::math::Vector3D<> &torque, rw::kinematics::State &state, rw::core::Ptr< rwsim::dynamics::Body > body=NULL)=0
	add a wrench to the center of mass of this object More...

virtual void	addWrenchWToCOM (const rw::math::Vector3D<> &force, const rw::math::Vector3D<> &torque, rw::kinematics::State &state, rw::core::Ptr< rwsim::dynamics::Body > body=NULL)=0
	add a wrench described in World frame to the center of mass of this object More...

Public Member Functions inherited from SimulatedSensor
virtual	~SimulatedSensor ()
	destructor

const std::string &	getName () const
	get name of this simulated sensor

rw::kinematics::Frame *	getFrame () const
	get frame that this sensor is attached to. More...

rw::sensor::SensorModel::Ptr	getSensorModel ()
	get the sensor model of this simulated sensor.

rw::sensor::Sensor::Ptr	getSensorHandle (rwlibs::simulation::Simulator::Ptr sim)
	get a handle to controlling an instance of the simulated sensor in a specific simulator More...

Public Member Functions inherited from Stateless
virtual	~Stateless ()
	destructor

virtual void	registerIn (State &state)
	initialize this stateless data to a specific state More...

virtual void	registerIn (StateStructure::Ptr state)
	register this stateless object in a statestructure.

virtual void	unregister ()
	unregisters all state data of this stateless object

StateStructure::Ptr	getStateStructure ()
	Get the state structure. More...

const StateStructure::Ptr	getStateStructure () const
	Get the state structure. More...

bool	isRegistered ()
	Check if object has registered its state. More...

Additional Inherited Members
Protected Member Functions inherited from SimulatedTactileSensor
	SimulatedTactileSensor (rw::sensor::SensorModel::Ptr model)
	Constructor. More...

Protected Member Functions inherited from SimulatedSensor
	SimulatedSensor (rw::sensor::SensorModel::Ptr model)
	constructor

Protected Member Functions inherited from Stateless
	Stateless ()
	constructor

template<class T >
void	add (StatelessData< T > &data)
	implementations of sensor should add all their stateless data on initialization

void	add (StateData *data)
	Add data. More...

void	add (rw::core::Ptr< StateData > data)
	implementations of sensor should add all their state data on initialization

Protected Attributes inherited from Stateless
bool	_registered
	True if object has registered its state.

std::vector< rw::core::Ptr< StateData > >	_datas
	Data.

StateStructure::Ptr	_stateStruct
	The state structure.

Detailed Description

A sensor that measures force and torque between two bodies around some reference frame.

Constructor & Destructor Documentation

◆ SimulatedFTSensor()

SimulatedFTSensor	(	const std::string &	name,
		dynamics::Body::Ptr	body,
		dynamics::Body::Ptr	body1,
		rw::core::Ptr< rw::kinematics::Frame >	frame = `NULL`
	)

constructor - the forces will be described relative to body body1

Parameters

name	[in] identifier
body	[in] the first body
body1	[in] the second body
frame	[in] (optional) the reference frame - default is the body1 body frame.

Member Function Documentation

◆ acquire()

void acquire ( )

inline

Acquire new force reading.

Note: This function does nothing currently!

◆ addForce()

void addForce	(	const rw::math::Vector3D<> &	point,
		const rw::math::Vector3D<> &	force,
		const rw::math::Vector3D<> &	cnormal,
		rw::kinematics::State &	state,
		dynamics::Body::Ptr	body = `NULL`
	)

add a force to a point on the sensor geometry. The force is described relative to the sensor frame.

Parameters

point	[in] the point where the force is acting.
force	[in] the direction in which the force is acting
cnormal	[in] the contact normal where the origin is on the contacting body and the direction is toward the sensor
state	[in/out] the state is updated with new sensor information.
body	[in] the body that caused the contact force. If no body caused the force on the sensor (could be user input) then the body is NULL

◆ addForceW()

void addForceW	(	const rw::math::Vector3D<> &	point,
		const rw::math::Vector3D<> &	force,
		const rw::math::Vector3D<> &	cnormal,
		rw::kinematics::State &	state,
		dynamics::Body::Ptr	body = `NULL`
	)

add a force to a point on the sensor geometry. The force is described relative to the world frame.

Interface inherited from SimulatedTactileSensor

Parameters

point	[in] the point where the force is acting.
force	[in] the direction in which the force is acting
cnormal	[in] the contact normal where the origin is on the contacting body and the direction is toward the sensor
state	[in/out] the state is updated with new sensor information.
body	[in] the body that caused the contact force. If no body caused the force on the sensor (could be user input) then the body is NULL

◆ addWrenchToCOM()

void addWrenchToCOM	(	const rw::math::Vector3D<> &	force,
		const rw::math::Vector3D<> &	torque,
		rw::kinematics::State &	state,
		dynamics::Body::Ptr	body = `NULL`
	)

add a wrench to the center of mass of this object

Parameters

force
torque
state
body

◆ addWrenchWToCOM()

void addWrenchWToCOM	(	const rw::math::Vector3D<> &	force,
		const rw::math::Vector3D<> &	torque,
		rw::kinematics::State &	state,
		dynamics::Body::Ptr	body = `NULL`
	)

add a wrench described in World frame to the center of mass of this object

Parameters

force
torque
state
body

◆ getBody1()

rwsim::dynamics::Body::Ptr getBody1 ( ) const

inline

Get the first body (the body influencing the sensor body)

Returns: the Body.

◆ getBody2()

rwsim::dynamics::Body::Ptr getBody2 ( ) const

inline

Get the second body (the sensor body).

Returns: the Body.

◆ getForce()

rw::math::Vector3D getForce ( const rw::kinematics::State & state ) const

Get the measured force in the reference frame.

Parameters

state [in] the state.

Returns: the force.

◆ getFTSensor()

rw::sensor::FTSensor::Ptr getFTSensor ( rwlibs::simulation::Simulator::Ptr sim )

Get a FTSensor version of this sensor.

Parameters

sim	[in] the simulator in which the simulated sensor is instantiated

Returns: a smart pointer to a FTSensor

◆ getMaxForce()

rw::math::Vector3D getMaxForce ( ) const

inline

Maximum force.

Returns: the maximum force.

◆ getMaxTorque()

rw::math::Vector3D getMaxTorque ( ) const

inline

Maximum torque.

Returns: the maximum torque.

◆ getSensorFrame()

rw::kinematics::Frame* getSensorFrame ( ) const

inline

Get the sensor frame (the body1 body frame unless reference frame is set differently).

Returns: a pointer to the sensor frame.

◆ getTorque()

rw::math::Vector3D getTorque ( const rw::kinematics::State & state ) const

Get the measured torque around and in the reference frame.

Parameters

state [in] the state.

Returns: the torque.

◆ getTransform()

rw::math::Transform3D getTransform ( ) const

Get the transform.

Returns: the transform.

◆ reset()

void reset ( const rw::kinematics::State & state )

virtual

Resets the state of the SimulatedSensor to that of state.

Parameters

state [in] the state that the sensor is reset too.

Implements SimulatedSensor.

◆ update()

void update	(	const rwlibs::simulation::Simulator::UpdateInfo &	info,
		rw::kinematics::State &	state
	)

virtual

steps the the SimulatedSensor with time dt and saves any state changes in state.

Interface inherited from SimulatedSensor

Parameters

info	[in] update information related to the time step.
state	[out] changes of the SimulatedSensor is saved in state.

Implements SimulatedSensor.

The documentation for this class was generated from the following file:

SimulatedFTSensor.hpp

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ SimulatedFTSensor()

Member Function Documentation

◆ acquire()

◆ addForce()

◆ addForceW()

◆ addWrenchToCOM()

◆ addWrenchWToCOM()

◆ getBody1()

◆ getBody2()

◆ getForce()

◆ getFTSensor()

◆ getMaxForce()

◆ getMaxTorque()

◆ getSensorFrame()

◆ getTorque()

◆ getTransform()

◆ reset()

◆ update()