Class TactileArrayPtr


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

      • TactileArrayPtr

        public TactileArrayPtr​(long cPtr,
                               boolean cMemoryOwn)
      • TactileArrayPtr

        public TactileArrayPtr()
        Default constructor yielding a NULL-pointer.
      • TactileArrayPtr

        public TactileArrayPtr​(TactileArray 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 TactileArray deref()
        The pointer stored in the object.
      • __ref__

        public TactileArray __ref__()
        Dereferencing operator.
      • getDeref

        public TactileArray 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
      • getFrame

        public Frame getFrame()
      • getTexelSize

        public Vector2Dd getTexelSize​(int x,
                                      int y)
        gets the size of an individual tactile cell with coordinates (x,y)
        Parameters:
        x -
        y -
        Returns:
        the dimensions of the tactile cell in meters
      • getPressureLimit

        public pairDoubleDouble getPressureLimit()
        get the minimum and maximum pressure capability of any tactile
        cell in the TactileArray
        Returns:
      • getVertexGrid

        public TactileVertexMatrix getVertexGrid()
        gets the 3d geometry of this tactilearray. The vertexes are expressed
        realtive to the transform.
        Returns:
      • getTransform

        public Transform3Dd getTransform()
        a transformation from the sensor frame to the geometric data of
        the tactile array.
        Returns:
      • getCenters

        public TactileVertexMatrix getCenters()
        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

        public TactileVertexMatrix getNormals()
        a matrix of normals that are described relative to each tactile
        cell center.
        Returns:
      • getWidth

        public int getWidth()
      • getHeight

        public int getHeight()
      • acquire

        public void acquire()
        acquires force data from the tactile cells
      • getTexelData

        public EigenMatrixXf getTexelData()
        returns the pressure on each texel of the TactileArray in
        the unit N/m^2.
        Returns:
        matrix of texel pressure values
      • 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
      • getSensorModel

        public SensorModelPtr getSensorModel()
        The frame to which the sensor is attached.

        The frame can be NULL.
        Returns:
        pointer to sensor model
      • setSensorModel

        public void setSensorModel​(SensorModelPtr smodel)
        Sets the frame to which the sensor should be attached

        Parameters:
        smodel - set the sensor model
      • getPropertyMap

        public PropertyMap getPropertyMap()
        gets the propertymap of this sensor