Class robot_dart::sensor::ForceTorque¶

ClassList > robot_dart > sensor > ForceTorque

Inherits the following classes: robot_dart::sensor::Sensor

Public Functions¶

Type	Name
	ForceTorque (dart::dynamics::Joint * joint, size_t frequency=1000, const std::string & direction="child_to_parent")
	ForceTorque (const std::shared_ptr< Robot > & robot, const std::string & joint_name, size_t frequency=1000, const std::string & direction="child_to_parent")
virtual void	attach_to_body (dart::dynamics::BodyNode *, const Eigen::Isometry3d &) override
virtual void	calculate (double) override
Eigen::Vector3d	force () const
virtual void	init () override
Eigen::Vector3d	torque () const
virtual std::string	type () override const
const Eigen::Vector6d &	wrench () const

Public Functions inherited from robot_dart::sensor::Sensor¶

See robot_dart::sensor::Sensor

Type	Name
	Sensor (size_t freq=40)
void	activate (bool enable=true)
bool	active () const
virtual void	attach_to_body (dart::dynamics::BodyNode * body, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity())
void	attach_to_body (const std::shared_ptr< Robot > & robot, const std::string & body_name, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity())
virtual void	attach_to_joint (dart::dynamics::Joint * joint, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity())
void	attach_to_joint (const std::shared_ptr< Robot > & robot, const std::string & joint_name, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity())
const std::string &	attached_to () const
virtual void	calculate (double) = 0
void	detach ()
size_t	frequency () const
virtual void	init () = 0
const Eigen::Isometry3d &	pose () const
void	refresh (double t)
void	set_frequency (size_t freq)
void	set_pose (const Eigen::Isometry3d & tf)
void	set_simu (RobotDARTSimu * simu)
const RobotDARTSimu *	simu () const
virtual std::string	type () const = 0
virtual	~Sensor ()

Protected Attributes¶

Type	Name
std::string	_direction
Eigen::Vector6d	_wrench

Protected Attributes inherited from robot_dart::sensor::Sensor¶

See robot_dart::sensor::Sensor

Type	Name
bool	_active
Eigen::Isometry3d	_attached_tf
bool	_attached_to_body = = false
bool	_attached_to_joint = = false
bool	_attaching_to_body = = false
bool	_attaching_to_joint = = false
dart::dynamics::BodyNode *	_body_attached
size_t	_frequency
dart::dynamics::Joint *	_joint_attached
RobotDARTSimu *	_simu = = nullptr
Eigen::Isometry3d	_world_pose

Public Functions Documentation¶

function ForceTorque [½]¶

robot_dart::sensor::ForceTorque::ForceTorque (
    dart::dynamics::Joint * joint,
    size_t frequency=1000,
    const std::string & direction="child_to_parent"
)

function ForceTorque [2/2]¶

inline robot_dart::sensor::ForceTorque::ForceTorque (
    const std::shared_ptr< Robot > & robot,
    const std::string & joint_name,
    size_t frequency=1000,
    const std::string & direction="child_to_parent"
)

function attach_to_body¶

inline virtual void robot_dart::sensor::ForceTorque::attach_to_body (
    dart::dynamics::BodyNode *,
    const Eigen::Isometry3d &
) override

Implements robot_dart::sensor::Sensor::attach_to_body

function calculate¶

virtual void robot_dart::sensor::ForceTorque::calculate (
    double
) override

Implements robot_dart::sensor::Sensor::calculate

function force¶

Eigen::Vector3d robot_dart::sensor::ForceTorque::force () const

function init¶

virtual void robot_dart::sensor::ForceTorque::init () override

Implements robot_dart::sensor::Sensor::init

function torque¶

Eigen::Vector3d robot_dart::sensor::ForceTorque::torque () const

function type¶

virtual std::string robot_dart::sensor::ForceTorque::type () override const

Implements robot_dart::sensor::Sensor::type

function wrench¶

const Eigen::Vector6d & robot_dart::sensor::ForceTorque::wrench () const

Protected Attributes Documentation¶

variable _direction¶

std::string robot_dart::sensor::ForceTorque::_direction;

variable _wrench¶

Eigen::Vector6d robot_dart::sensor::ForceTorque::_wrench;

The documentation for this class was generated from the following file robot_dart/sensor/force_torque.hpp