Package org.robwork.sdurwsim

Class SimulatedFTSensor

java.lang.Object

org.robwork.sdurwsim.SimulatedFTSensor

public class SimulatedFTSensor
extends java.lang.Object

Constructor Summary

Constructors

Constructor	Description
SimulatedFTSensor(long cPtr, boolean cMemoryOwn)
SimulatedFTSensor(java.lang.String name, BodyPtr body, BodyPtr body1)
SimulatedFTSensor(java.lang.String name, BodyPtr body, BodyPtr body1, FramePtr frame)

Method Summary

Modifier and Type	Method	Description
void	acquire()
void	addForce(Vector3D point, Vector3D force, Vector3D cnormal, State state)
void	addForce(Vector3D point, Vector3D force, Vector3D cnormal, State state, BodyPtr body)
void	addForceW(Vector3D point, Vector3D force, Vector3D cnormal, State state)
void	addForceW(Vector3D point, Vector3D force, Vector3D cnormal, State state, BodyPtr body)
void	addWrenchToCOM(Vector3D force, Vector3D torque, State state)
void	addWrenchToCOM(Vector3D force, Vector3D torque, State state, BodyPtr body)
void	addWrenchWToCOM(Vector3D force, Vector3D torque, State state)
void	addWrenchWToCOM(Vector3D force, Vector3D torque, State state, BodyPtr body)
void	delete()
BodyPtr	getBody1()
BodyPtr	getBody2()
static long	getCPtr(SimulatedFTSensor obj)
Vector3D	getForce(State state)
Frame	getSensorFrame()
Vector3D	getTorque(State state)
Transform3D	getTransform()
void	reset(State state)
void	update(Simulator.UpdateInfo info, State state)

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

SimulatedFTSensor

public SimulatedFTSensor(long cPtr,
                         boolean cMemoryOwn)

SimulatedFTSensor

public SimulatedFTSensor(java.lang.String name,
                         BodyPtr body,
                         BodyPtr body1,
                         FramePtr frame)

SimulatedFTSensor

public SimulatedFTSensor(java.lang.String name,
                         BodyPtr body,
                         BodyPtr body1)

Method Detail

getCPtr

public static long getCPtr(SimulatedFTSensor obj)

delete

public void delete()

update

public void update(Simulator.UpdateInfo info,
                   State state)

reset

public void reset(State state)

addForceW

public void addForceW(Vector3D point,
                      Vector3D force,
                      Vector3D cnormal,
                      State state,
                      BodyPtr body)

addForceW

public void addForceW(Vector3D point,
                      Vector3D force,
                      Vector3D cnormal,
                      State state)

addForce

public void addForce(Vector3D point,
                     Vector3D force,
                     Vector3D cnormal,
                     State state,
                     BodyPtr body)

addForce

public void addForce(Vector3D point,
                     Vector3D force,
                     Vector3D cnormal,
                     State state)

addWrenchToCOM

public void addWrenchToCOM(Vector3D force,
                           Vector3D torque,
                           State state,
                           BodyPtr body)

addWrenchToCOM

public void addWrenchToCOM(Vector3D force,
                           Vector3D torque,
                           State state)

addWrenchWToCOM

public void addWrenchWToCOM(Vector3D force,
                            Vector3D torque,
                            State state,
                            BodyPtr body)

addWrenchWToCOM

public void addWrenchWToCOM(Vector3D force,
                            Vector3D torque,
                            State state)

getTransform

public Transform3D getTransform()

getForce

public Vector3D getForce(State state)

getTorque

public Vector3D getTorque(State state)

getSensorFrame

public Frame getSensorFrame()

acquire

public void acquire()

getBody1

public BodyPtr getBody1()

getBody2

public BodyPtr getBody2()