TactileArray Class Reference

Inherits Sensor.

Public Types
typedef rw::core::Ptr< TactileArray >	Ptr
	smart pointer type
typedef TactileArrayModel::ValueMatrix	ValueMatrix
	type of tactile array readings
typedef TactileArrayModel::VertexMatrix	VertexMatrix
	type of vertices describing geometry of sensor
Public Types inherited from Sensor
typedef rw::core::Ptr< Sensor >	Ptr
	smart pointer type

Public Member Functions
	TactileArray (const std::string &name)
	constructor More...
virtual	~TactileArray ()
	destructor
rw::kinematics::Frame *	getFrame () const
virtual rw::math::Vector2D	getTexelSize (int x, int y) const =0
	gets the size of an individual tactile cell with coordinates (x,y) More...
virtual std::pair< double, double >	getPressureLimit () const =0
	get the minimum and maximum pressure capability of any tactile cell in the TactileArray More...
virtual const VertexMatrix &	getVertexGrid () const =0
	gets the 3d geometry of this tactilearray. The vertexes are expressed realtive to the transform. More...
virtual const rw::math::Transform3D &	getTransform () const =0
	a transformation from the sensor frame to the geometric data of the tactile array. More...
virtual const VertexMatrix &	getCenters () const =0
	a matrix with position of each tactile cell center. The coordinates are described relative to the TactileArray transform (see getTransform()) More...
virtual const VertexMatrix &	getNormals () const =0
	a matrix of normals that are described relative to each tactile cell center. More...
virtual int	getWidth () const =0
virtual int	getHeight () const =0
virtual void	acquire ()=0
	acquires force data from the tactile cells
virtual const TactileArrayModel::ValueMatrix &	getTexelData () const =0
	returns the pressure on each texel of the TactileArray in the unit N/m^2. More...
Public Member Functions inherited from Sensor
virtual	~Sensor ()
	destructor
const std::string &	getName () const
	returns the name of this sensor More...
const std::string &	getDescription () const
	returns a description of this sensor More...
rw::core::Ptr< rw::sensor::SensorModel >	getSensorModel () const
	The frame to which the sensor is attached. More...
virtual void	setSensorModel (rw::core::Ptr< rw::sensor::SensorModel > smodel)
	Sets the frame to which the sensor should be attached. More...
rw::core::PropertyMap &	getPropertyMap ()
	gets the propertymap of this sensor
const rw::core::PropertyMap &	getPropertyMap () const
	gets the propertymap of this sensor

Additional Inherited Members
Protected Member Functions inherited from Sensor
	Sensor (const std::string &name)
	constructor More...
	Sensor (const std::string &name, const std::string &description)
	constructor More...
void	setName (const std::string &name)
	sets the name of this sensor More...
void	setDescription (const std::string &description)
	sets the description of this sensor More...

Constructor & Destructor Documentation

TactileArray()

TactileArray ( const std::string &  name )

inline

constructor

Parameters

name	[in] name of sensor

Member Function Documentation

getCenters()

virtual const VertexMatrix& getCenters ( ) const

pure virtual

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()

virtual const VertexMatrix& getNormals ( ) const

pure virtual

a matrix of normals that are described relative to each tactile cell center.

Returns

getPressureLimit()

virtual std::pair<double, double> getPressureLimit ( ) const

pure virtual

get the minimum and maximum pressure capability of any tactile cell in the TactileArray

Returns

getTexelData()

virtual const TactileArrayModel::ValueMatrix& getTexelData ( ) const

pure virtual

returns the pressure on each texel of the TactileArray in the unit N/m^2.

Returns

matrix of texel pressure values

getTexelSize()

virtual rw::math::Vector2D getTexelSize ( int  x, int  y  ) const

pure virtual

gets the size of an individual tactile cell with coordinates (x,y)

Parameters

x
y

Returns

the dimensions of the tactile cell in meters

getTransform()

virtual const rw::math::Transform3D& getTransform ( ) const

pure virtual

a transformation from the sensor frame to the geometric data of the tactile array.

Returns

getVertexGrid()

virtual const VertexMatrix& getVertexGrid ( ) const

pure virtual

gets the 3d geometry of this tactilearray. The vertexes are expressed realtive to the transform.

Returns

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

• TactileArray.hpp