Package org.robwork.sdurw_sensor

Class TactileArray

  • public class TactileArray
extends Sensor

    • Constructor Detail

      • TactileArray

        public TactileArray​(long cPtr,
                    boolean cMemoryOwn)

    • Method Detail

      • getCPtr

        public static long getCPtr​(TactileArray obj)

      • delete

        public void delete()
        Overrides:
        delete in class Sensor

      • getFrame

        public Frame getFrame()

      • getTexelSize

        public Vector2D getTexelSize​(int x,
                             int y)
        gets the size of an individual tactile cell with coordinates (x,y)
        Parameters:
        x -
        y -
        Returns:
        the dimensions of the tactile cell in meters

      • getPressureLimit

        public pair_d_d getPressureLimit()
        get the minimum and maximum pressure capability of any tactile
        cell in the TactileArray
        Returns:

      • getVertexGrid

        public TactileVertexMatrix getVertexGrid()
        gets the 3d geometry of this tactilearray. The vertexes are expressed
        realtive to the transform.
        Returns:

      • getTransform

        public Transform3D getTransform()
        a transformation from the sensor frame to the geometric data of
        the tactile array.
        Returns:

      • getCenters

        public TactileVertexMatrix getCenters()
        a matrix with position of each tactile cell center. The coordinates
        are described relative to the TactileArray transform (see getTransform())
        Returns:
        a matrix describing the center of each tactile cell.

      • getNormals

        public TactileVertexMatrix getNormals()
        a matrix of normals that are described relative to each tactile
        cell center.
        Returns:

      • getWidth

        public int getWidth()

      • getHeight

        public int getHeight()

      • acquire

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

      • getTexelData

        public SWIGTYPE_p_Eigen__MatrixXf getTexelData()
        returns the pressure on each texel of the TactileArray in
        the unit N/m^2.
        Returns:
        matrix of texel pressure values