Package org.robwork.sdurw_sensor

Class FTSensorModelCPtr

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

    • Constructor Detail

      • FTSensorModelCPtr

        public FTSensorModelCPtr​(long cPtr,
                         boolean cMemoryOwn)

      • FTSensorModelCPtr

        public FTSensorModelCPtr()
        Default constructor yielding a NULL-pointer.

      • FTSensorModelCPtr

        public FTSensorModelCPtr​(FTSensorModel 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 FTSensorModel deref()
        The pointer stored in the object.

      • __ref__

        public FTSensorModel __ref__()
        Dereferencing operator.

      • getDeref

        public FTSensorModel 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

      • 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).

      • 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.

      • 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.

      • 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.

      • getTransform

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

      • 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

      • getFrame

        public Frame getFrame()
        The frame to which the sensor is attached.

        The frame can be NULL.