Class TactileArrayModelCPtr


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

      • TactileArrayModelCPtr

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

        public TactileArrayModelCPtr()
        Default constructor yielding a NULL-pointer.
      • TactileArrayModelCPtr

        public TactileArrayModelCPtr​(TactileArrayModel ptr)
        Do not take ownership of ptr.

        ptr can be null.

        The constructor is implicit on purpose.
    • Method Detail

      • delete

        public void delete()
      • 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
      • 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
      • 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
      • 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.