Class FTSensor


  • public class FTSensor
    extends Sensor
    Interface of a N-axis Force Torque sensor
    • Constructor Detail

      • FTSensor

        public FTSensor​(long cPtr,
                        boolean cMemoryOwn)
    • Method Detail

      • getCPtr

        public static long getCPtr​(FTSensor obj)
      • delete

        public void delete()
        Overrides:
        delete in class Sensor
      • acquire

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

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

        public double 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).
      • getForce

        public Vector3D getForce()
        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.
      • getTorque

        public Vector3D getTorque()
        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.
      • getTransform

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