Package org.robwork.sdurw_sensor

Class FTSensorModelPtr

  • public class FTSensorModelPtr
extends java.lang.Object
    Ptr stores a pointer and optionally takes ownership of the value.

    • Constructor Detail

      • FTSensorModelPtr

        public FTSensorModelPtr​(long cPtr,
                        boolean cMemoryOwn)

      • FTSensorModelPtr

        public FTSensorModelPtr()
        Default constructor yielding a NULL-pointer.

      • FTSensorModelPtr

        public FTSensorModelPtr​(FTSensorModel ptr)
        Do not take ownership of ptr.

        ptr can be null.

        The constructor is implicit on purpose.

    • Method Detail

      • delete

        public void delete()

      • deref

        public FTSensorModel deref()
        The pointer stored in the object.

      • __ref__

        public FTSensorModel __ref__()
        Dereferencing operator.

      • getDeref

        public FTSensorModel getDeref()
        Member access operator.

      • isShared

        public boolean isShared()
        check if this Ptr has shared ownership or none
        ownership
        Returns:
        true if Ptr has shared ownership, false if it has no ownership.

      • isNull

        public boolean isNull()
        checks if the pointer is null
        Returns:
        Returns true if the pointer is null

      • getMaxWrench

        public Wrench6D getMaxWrench()
        get maximum wrench (force and torque) characteristics
        Returns:

      • getMaxForce

        public Vector3D getMaxForce()
        gets the maximum force in Newton that this sensor can measure on any of its
        axis.
        Returns:
        max force in Newton.

      • getMaxTorque

        public Vector3D 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).

      • setMaxWrench

        public void setMaxWrench​(Wrench6D max)
        set the maximum wrench of this FTSensor
        Parameters:
        max - [in] maximum allowed wrench

      • getWrench

        public Wrench6D 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.

      • setWrench

        public void setWrench​(Wrench6D wrench,
                      State state)
        set the wrench that is acting on the origin of this FTsensor

      • getForce

        public Vector3D 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.

      • setForce

        public void setForce​(Vector3D force,
                     State state)
        set the force that is acting on the origin of this FTsensor

      • getTorque

        public Vector3D 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.

      • setTorque

        public void setTorque​(Vector3D force,
                      State state)
        set the torque that is acting on the origin of this FTsensor

      • getTransform

        public Transform3D getTransform()
        the transform from the sensor frame to the point of origin.
        Returns:
        transform from sensor frame to point of origin.

      • setTransform

        public void setTransform​(Transform3D 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

      • setName

        public void setName​(java.lang.String name)
        sets the name of this sensor
        Parameters:
        name - [in] name of this sensor

      • setDescription

        public void setDescription​(java.lang.String description)
        sets the description of this sensor
        Parameters:
        description - [in] description of this sensor

      • getName

        public java.lang.String getName()
        returns the name of this sensor
        Returns:
        name of sensor

      • getDescription

        public java.lang.String getDescription()
        returns a description of this sensor
        Returns:
        reference to this sensors description

      • getFrame

        public Frame getFrame()
        The frame to which the sensor is attached.

        The frame can be NULL.

      • attachTo

        public void attachTo​(FramePtr frame)
        Sets the frame to which the sensor should be attached

        Parameters:
        frame - The frame, which can be NULL

      • getPropertyMap

        public PropertyMap getPropertyMap()
        gets the propertymap of this sensor

      • registerIn

        public void registerIn​(State state)
        initialize this stateless data to a specific state
        Parameters:
        state - [in] the state in which to register the data.

        Note: the data will be registered in the state structure of the state
        and any copies or other instances of the state will therefore also
        contain the added states.

      • registerIn

        public void registerIn​(StateStructurePtr state)
        register this stateless object in a statestructure.

      • unregister

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

      • getStateStructure

        public StateStructurePtr getStateStructure()
        Get the state structure.
        Returns:
        the state structure.

      • isRegistered

        public boolean isRegistered()
        Check if object has registered its state.
        Returns:
        true if registered, false otherwise.