Package org.robwork.sdurw_sensor

Class TactileArrayModel

java.lang.Object

org.robwork.sdurw_kinematics.Stateless

org.robwork.sdurw_sensor.SensorModel

org.robwork.sdurw_sensor.TactileArrayModel

public class TactileArrayModel
extends SensorModel

the TactileArrayModel describes tactile sensor consisting of
arrays of tactile cells that can be placed on a defined shape. The shape is described
with a matrix of 3d vertices. Such that tactil (0,0) maps to the quad
defined by the four vertices {(0,0),(0,1),(1,1),(1,0)}. Notice that the
normal is defined by sequence of the vertices and that the normal defines
the direction of tactile sensing.

Constructor Summary

Constructors

Constructor	Description
TactileArrayModel(long cPtr, boolean cMemoryOwn)
TactileArrayModel(java.lang.String name, FramePtr sensorframe, Transform3D fThmap, SWIGTYPE_p_Eigen__MatrixXf heightMap, double cell_width, double cell_height)	constructor

Method Summary

Modifier and Type	Method	Description
void	delete()
TactileVertexMatrix	getCenters()	a matrix with position of each tactile cell center.
static long	getCPtr(TactileArrayModel obj)
int	getHeight()	get height of tactile array
TactileVertexMatrix	getNormals()	a matrix of normals that are described relative to each tactile cell center.
pair_d_d	getPressureLimit()	get the minimum and maximum pressure capability of any tactile cell in the TactileArray
SWIGTYPE_p_Eigen__MatrixXf	getTexelData(State state)	returns the pressure on each texel of the TactileArray in the unit Pa (N/m^2).
Vector2D	getTexelSize(int x, int y)	gets the size of an individual tactile cell with coordinates (x,y)
Transform3D	getTransform()	a transformation from the sensor frame to the geometric data of the tactile array.
TactileVertexMatrix	getVertexGrid()	gets the 3d geometry of this tactilearray.
int	getWidth()	get width of tactile array
void	setPressureLimit(double min, double max)	set pressure limits.
void	setPressureLimit(pair_d_d range)
void	setTexelData(SWIGTYPE_p_Eigen__MatrixXf data, State state)	set the pressure on each texel of the TactileArray in the unit Pa (N/m^2).

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

TactileArrayModel

public TactileArrayModel(long cPtr,
                         boolean cMemoryOwn)

TactileArrayModel

public TactileArrayModel(java.lang.String name,
                         FramePtr sensorframe,
                         Transform3D fThmap,
                         SWIGTYPE_p_Eigen__MatrixXf heightMap,
                         double cell_width,
                         double cell_height)

constructor

Parameters:

name - [in] name of sensor

sensorframe - [in] the frame to which the sensor is attached

fThmap - [in] transformation from sensor frame to the heightmap definition

heightMap - [in] a height map defining the height of each corner in the tactile
array

cell_width - [in] width of cell

cell_height - [in] height of cell

Method Detail

getCPtr

public static long getCPtr(TactileArrayModel obj)

delete

public void delete()

Overrides:

delete in class SensorModel

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:

min and max pressure in Pa

setPressureLimit

public void setPressureLimit(double min,
                             double max)

set pressure limits. should define min max of any tactile cell in array

Parameters:

min - [in] min pressure in Pa

max - [in] max pressure in Pa

setPressureLimit

public void setPressureLimit(pair_d_d range)

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()

get width of tactile array

getHeight

public int getHeight()

get height of tactile array

getTexelData

public SWIGTYPE_p_Eigen__MatrixXf getTexelData(State state)

returns the pressure on each texel of the TactileArray in
the unit Pa (N/m^2).

Parameters:

state - [in] state to get the values from

Returns:

matrix of texel pressure values

setTexelData

public void setTexelData(SWIGTYPE_p_Eigen__MatrixXf data,
                         State state)

set the pressure on each texel of the TactileArray in
the unit Pa (N/m^2).

Parameters:

data - [in] pressure values

state - [in] state to set the values in