Class FTSensorModel


  • public class FTSensorModel
    extends SensorModel
    N-axis Force Torque sensor model
    • Constructor Detail

      • FTSensorModel

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

        public FTSensorModel​(java.lang.String name,
                             FramePtr frame,
                             java.lang.String desc)
        Constructor
        Parameters:
        name - [in] name of FT sensor
        frame - [in] the frame to which this sensor is attached
        desc - [in] optional description of sensor
      • FTSensorModel

        public FTSensorModel​(java.lang.String name,
                             FramePtr frame)
        Constructor
        Parameters:
        name - [in] name of FT sensor
        frame - [in] the frame to which this sensor is attached
    • Method Detail

      • getMaxWrench

        public Wrench6D getMaxWrench()
        get maximum wrench (force and torque) characteristics
        Returns:
      • getMaxForce

        public Vector3D getMaxForce()
        gets the maximum force in Newton that this sensor can measure on any of its
        axis.
        Returns:
        max force in Newton.
      • getMaxTorque

        public Vector3D 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).
      • setMaxWrench

        public void setMaxWrench​(Wrench6D max)
        set the maximum wrench of this FTSensor
        Parameters:
        max - [in] maximum allowed wrench
      • getWrench

        public Wrench6D getWrench​(State state)
        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.
      • setWrench

        public void setWrench​(Wrench6D wrench,
                              State state)
        set the wrench that is acting on the origin of this FTsensor
      • getForce

        public Vector3D getForce​(State state)
        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.
      • setForce

        public void setForce​(Vector3D force,
                             State state)
        set the force that is acting on the origin of this FTsensor
      • getTorque

        public Vector3D getTorque​(State state)
        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.
      • setTorque

        public void setTorque​(Vector3D force,
                              State state)
        set the torque that is acting on the origin of this FTsensor
      • getTransform

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

        public void setTransform​(Transform3D t3d)
        set the transform between frame and origin. The origin of the
        sensor is the frame where sensor data is described.
        Parameters:
        t3d - [in] transformation from frame to origin