Package org.robwork.sdurw_sensor

Class TactileArrayModelPtr

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

    • Constructor Detail

      • TactileArrayModelPtr

        public TactileArrayModelPtr​(long cPtr,
                            boolean cMemoryOwn)

      • TactileArrayModelPtr

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

      • TactileArrayModelPtr

        public TactileArrayModelPtr​(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

      • 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

      • setName

        public void setName​(java.lang.String name)
        sets the name of this sensor
        Parameters:
        name - [in] name of this sensor

      • setDescription

        public void setDescription​(java.lang.String description)
        sets the description of this sensor
        Parameters:
        description - [in] description of this sensor

      • 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.

      • attachTo

        public void attachTo​(FramePtr frame)
        Sets the frame to which the sensor should be attached

        Parameters:
        frame - The frame, which can be NULL

      • getPropertyMap

        public PropertyMap getPropertyMap()
        gets the propertymap of this sensor

      • registerIn

        public void registerIn​(State state)
        initialize this stateless data to a specific state
        Parameters:
        state - [in] the state in which to register the data.

        Note: the data will be registered in the state structure of the state
        and any copies or other instances of the state will therefore also
        contain the added states.

      • registerIn

        public void registerIn​(StateStructurePtr state)
        register this stateless object in a statestructure.

      • unregister

        public void unregister()
        unregisters all state data of this stateless object

      • getStateStructure

        public StateStructurePtr getStateStructure()
        Get the state structure.
        Returns:
        the state structure.

      • isRegistered

        public boolean isRegistered()
        Check if object has registered its state.
        Returns:
        true if registered, false otherwise.