Package org.robwork.sdurw_sensor

Class FTSensorModel

java.lang.Object

org.robwork.sdurw_kinematics.Stateless

org.robwork.sdurw_sensor.SensorModel

org.robwork.sdurw_sensor.FTSensorModel

public class FTSensorModel
extends SensorModel

N-axis Force Torque sensor model

Constructor Summary

Constructors

Constructor	Description
FTSensorModel(long cPtr, boolean cMemoryOwn)
FTSensorModel(java.lang.String name, FramePtr frame)	Constructor
FTSensorModel(java.lang.String name, FramePtr frame, java.lang.String desc)	Constructor

Method Summary

Modifier and Type	Method	Description
void	delete()
static long	getCPtr(FTSensorModel obj)
Vector3D	getForce(State state)	gets the force in N that is acting on the origin.
Vector3D	getMaxForce()	gets the maximum force in Newton that this sensor can measure on any of its axis.
Vector3D	getMaxTorque()	gets the maximum torque in Newton Meter (N m)that this sensor can measure on any of its axis.
Wrench6D	getMaxWrench()	get maximum wrench (force and torque) characteristics
Vector3D	getTorque(State state)	gets the torgue in Nm that is acting on the origin.
Transform3D	getTransform()	the transform from the sensor frame to the point of origin.
Wrench6D	getWrench(State state)	gets the force in N that is acting on the origin.
void	setForce(Vector3D force, State state)	set the force that is acting on the origin of this FTsensor
void	setMaxWrench(Wrench6D max)	set the maximum wrench of this FTSensor
void	setTorque(Vector3D force, State state)	set the torque that is acting on the origin of this FTsensor
void	setTransform(Transform3D t3d)	set the transform between frame and origin.
void	setWrench(Wrench6D wrench, State state)	set the wrench that is acting on the origin of this FTsensor

Methods inherited from class org.robwork.sdurw_sensor.SensorModel

attachTo, getCPtr, getDescription, getFrame, getName, getPropertyMap, setDescription, setName

Methods inherited from class org.robwork.sdurw_kinematics.Stateless

getCPtr, getStateStructure, isRegistered, registerIn, registerIn, unregister

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

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

getCPtr

public static long getCPtr(FTSensorModel obj)

delete

public void delete()

Overrides:

delete in class SensorModel

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