TactileArraySensor::ClassState Class Reference

class for keeping statefull information More...

#include <TactileArraySensor.hpp>

Inherits StateCache.

Public Types
typedef rw::core::Ptr< TactileArraySensor::ClassState >	Ptr
Public Types inherited from StateCache
typedef rw::core::Ptr< StateCache >	Ptr
	Smart pointer type.

Public Member Functions
	ClassState (TactileArraySensor *tsensor, size_t dim_x, size_t dim_y)
void	acquire ()
	acquires force data from the tactile cells More...
Eigen::MatrixXf	getTexelData () const
	returns the pressure on each texel of the TactileArray in the unit N/m^2. More...
void	setTexelData (const Eigen::MatrixXf &data)
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<> &snormal, rw::core::Ptr< rwsim::dynamics::Body > 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<> &snormal, rw::core::Ptr< rwsim::dynamics::Body > body=NULL)
	add a force to a point on the sensor geometry. The force is described relative to the sensor frame. More...
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...
const std::vector< rw::sensor::Contact3D > &	getActualContacts ()
	all contacts that was accumulated into pressure More...
std::vector< TactileArraySensor::DistPoint >	generateContacts (dynamics::Body *body, const rw::math::Vector3D<> &normal, const rw::kinematics::State &state)
size_t	size () const
	An integer ID for the StateCache. More...
rw::core::Ptr< rw::kinematics::StateCache >	clone () const
	this creates a deep copy of this cache
Public Member Functions inherited from StateCache
virtual	~StateCache ()
	destructor

Public Attributes
TactileArraySensor *	_tsensor
Eigen::MatrixXf	_distMatrix
ValueMatrix	_accForces
ValueMatrix	_pressure
double	_accTime
double	_stime
rw::math::Transform3D	_wTf
rw::math::Transform3D	_fTw
std::vector< rw::sensor::Contact3D >	_allAccForces
std::vector< rw::sensor::Contact3D >	_allForces
std::map< rw::core::Ptr< rwsim::dynamics::Body >, std::vector< rw::sensor::Contact3D > >	_forces
rw::proximity::ProximityStrategyData	_pdata

Detailed Description

class for keeping statefull information

Member Function Documentation

acquire()

void acquire

(

)

acquires force data from the tactile cells

addForce()

void addForce	(	const rw::math::Vector3D<> &	point,
		const rw::math::Vector3D<> &	force,
		const rw::math::Vector3D<> &	snormal,
		rw::core::Ptr< rwsim::dynamics::Body >	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
snormal	[in] the contact normal where the origin is on the contacting body and the direction is toward the sensor
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<> &	snormal,
		rw::core::Ptr< rwsim::dynamics::Body >	body = NULL
	)

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

Parameters

point	[in] the point where the force is acting.
force	[in] the direction in which the force is acting
snormal	[in] the contact normal where the origin is on the contacting body and the direction is toward the sensor
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

getActualContacts()

const std::vector<rw::sensor::Contact3D>& getActualContacts ( )

inline

all contacts that was accumulated into pressure

getTexelData()

Eigen::MatrixXf getTexelData

(

)

const

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

Returns

matrix of texel pressure values

reset()

void reset

(

const rw::kinematics::State &

state

)

Resets the state of the SimulatedSensor to that of state.

Parameters

state

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

size()

size_t size ( ) const

inlinevirtual

An integer ID for the StateCache.

IDs are assigned to the state data upon insertion State. StateCache that are not in a State have an ID of -1.

StateCache present in different trees may have identical IDs.

IDs are used for the efficient implementation of State. Normally, you should not make use of frame IDs yourself.

Returns

An integer ID for the frame.

The number of doubles allocated by this StateCache in each State object.

Returns

The number of doubles allocated by the StateCache

Implements StateCache.

update()

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.

Parameters

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

---

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

• TactileArraySensor.hpp