FTSensor (RobWork Java API Documentation)

java.lang.Object
- org.robwork.sdurw_sensor.Sensor
- - org.robwork.sdurw_sensor.FTSensor

```
public class FTSensor
extends Sensor
```
Interface of a N-axis Force Torque sensor

Constructor Summary

Constructors
Constructor Description

FTSensor(long cPtr, boolean cMemoryOwn)

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`void`	`acquire()`	acquires force data from the tactile cells
`void`	`delete()`
`static long`	`getCPtr(FTSensor obj)`
`Vector3D`	`getForce()`	gets the force in N that is acting on the origin.
`double`	`getMaxForce()`	gets the maximum force in Newton that this sensor can measure on any of its axis.
`double`	`getMaxTorque()`	gets the maximum torque in Newton Meter (N m)that this sensor can measure on any of its axis.
`Vector3D`	`getTorque()`	gets the torgue in Nm that is acting on the origin.
`Transform3D`	`getTransform()`	the transform from the sensor frame to the point of origin.

Methods inherited from class org.robwork.sdurw_sensor.Sensor
getCPtr, getDescription, getName, getPropertyMap, getSensorModel, setSensorModel

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- 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.