the TactileArrayModel describes tactile sensor consisting of arrays of tactile cells that can be placed on a defined shape. The shape is described with a matrix of 3d vertices. Such that tactil (0,0) maps to the quad defined by the four vertices {(0,0),(0,1),(1,1),(1,0)}. Notice that the normal is defined by sequence of the vertices and that the normal defines the direction of tactile sensing. More...

#include <TactileArrayModel.hpp>

Inherits SensorModel.

Classes
class	TactileModelCache
	cache to store state information More...

Public Types
typedef rw::core::Ptr< TactileArrayModel >	Ptr
	smart pointer type

typedef Eigen::MatrixXf	ValueMatrix
	type of tactile array readings

typedef boost::multi_array< rw::math::Vector3D<>, 2 >	VertexMatrix
	type of vertices describing geometry of sensor

Public Types inherited from SensorModel
typedef rw::core::Ptr< SensorModel >	Ptr
	smart pointer type

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

Public Member Functions
	TactileArrayModel (const std::string &name, rw::core::Ptr< rw::kinematics::Frame > sensorframe, const rw::math::Transform3D<> &fThmap, const ValueMatrix &heightMap, double cell_width, double cell_height)
	constructor More...

virtual	~TactileArrayModel ()
	destructor

rw::math::Vector2D	getTexelSize (int x, int y) const
	gets the size of an individual tactile cell with coordinates (x,y) More...

std::pair< double, double >	getPressureLimit () const
	get the minimum and maximum pressure capability of any tactile cell in the TactileArray More...

void	setPressureLimit (double min, double max)
	set pressure limits. should define min max of any tactile cell in array More...

void	setPressureLimit (std::pair< double, double > range)

const VertexMatrix &	getVertexGrid () const
	gets the 3d geometry of this tactilearray. The vertexes are expressed realtive to the transform. More...

const rw::math::Transform3D &	getTransform () const
	a transformation from the sensor frame to the geometric data of the tactile array. More...

const VertexMatrix &	getCenters () const
	a matrix with position of each tactile cell center. The coordinates are described relative to the TactileArray transform (see getTransform()) More...

const VertexMatrix &	getNormals () const
	a matrix of normals that are described relative to each tactile cell center. More...

int	getWidth () const
	get width of tactile array

int	getHeight () const
	get height of tactile array

ValueMatrix &	getTexelData (rw::kinematics::State &state) const
	returns the pressure on each texel of the TactileArray in the unit Pa (N/m^2). More...

const ValueMatrix &	getTexelData (const rw::kinematics::State &state) const

void	setTexelData (const ValueMatrix &data, rw::kinematics::State &state) const
	set the pressure on each texel of the TactileArray in the unit Pa (N/m^2). More...

Public Member Functions inherited from SensorModel
	SensorModel (const std::string &name, rw::core::Ptr< kinematics::Frame > frame)
	constructor More...

	SensorModel (const std::string &name, rw::core::Ptr< kinematics::Frame > frame, const std::string &description)
	constructor More...

virtual	~SensorModel ()
	destructor

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...

const std::string &	getName () const
	returns the name of this sensor More...

const std::string &	getDescription () const
	returns a description of this sensor More...

kinematics::Frame *	getFrame () const
	The frame to which the sensor is attached. More...

virtual void	attachTo (rw::core::Ptr< kinematics::Frame > frame)
	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

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 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

the TactileArrayModel describes tactile sensor consisting of arrays of tactile cells that can be placed on a defined shape. The shape is described with a matrix of 3d vertices. Such that tactil (0,0) maps to the quad defined by the four vertices {(0,0),(0,1),(1,1),(1,0)}. Notice that the normal is defined by sequence of the vertices and that the normal defines the direction of tactile sensing.

Constructor & Destructor Documentation

◆ TactileArrayModel()

TactileArrayModel	(	const std::string &	name,
		rw::core::Ptr< rw::kinematics::Frame >	sensorframe,
		const rw::math::Transform3D<> &	fThmap,
		const ValueMatrix &	heightMap,
		double	cell_width,
		double	cell_height
	)

constructor

Parameters

name	[in] name of sensor
sensorframe	[in] the frame to which the sensor is attached
fThmap	[in] transformation from sensor frame to the heightmap definition
heightMap	[in] a height map defining the height of each corner in the tactile array
cell_width	[in] width of cell
cell_height	[in] height of cell

Member Function Documentation

◆ getCenters()

const VertexMatrix& getCenters ( ) const

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()

const VertexMatrix& getNormals ( ) const

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

Returns

◆ getPressureLimit()

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

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

Returns: min and max pressure in Pa

◆ getTexelData()

ValueMatrix& getTexelData ( rw::kinematics::State & state ) const

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

Parameters

state [in] state to get the values from

Returns: matrix of texel pressure values

◆ getTexelSize()

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

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()

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

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

Returns

◆ getVertexGrid()

const VertexMatrix& getVertexGrid ( ) const

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

Returns

◆ setPressureLimit()

void setPressureLimit	(	double	min,
		double	max
	)

set pressure limits. should define min max of any tactile cell in array

Parameters

min	[in] min pressure in Pa
max	[in] max pressure in Pa

◆ setTexelData()

void setTexelData	(	const ValueMatrix &	data,
		rw::kinematics::State &	state
	)		const

set the pressure on each texel of the TactileArray in the unit Pa (N/m^2).

Parameters

data	[in] pressure values
state	[in] state to set the values in

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

TactileArrayModel.hpp

Classes

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ TactileArrayModel()

Member Function Documentation

◆ getCenters()

◆ getNormals()

◆ getPressureLimit()

◆ getTexelData()

◆ getTexelSize()

◆ getTransform()

◆ getVertexGrid()

◆ setPressureLimit()

◆ setTexelData()