Class robot_dart::sensor::Torque¶

ClassList > robot_dart > sensor > Torque

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

Public Functions¶

Type	Name
	Torque (dart::dynamics::Joint * joint, size_t frequency=1000)
	Torque (const std::shared_ptr< Robot > & robot, const std::string & joint_name, size_t frequency=1000)
virtual void	attach_to_body (dart::dynamics::BodyNode *, const Eigen::Isometry3d &) override
virtual void	calculate (double) override
virtual void	init () override
const Eigen::VectorXd &	torques () const
virtual std::string	type () override 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
Eigen::VectorXd	_torques

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 Torque [½]¶

robot_dart::sensor::Torque::Torque (
    dart::dynamics::Joint * joint,
    size_t frequency=1000
)

function Torque [2/2]¶

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

function attach_to_body¶

inline virtual void robot_dart::sensor::Torque::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::Torque::calculate (
    double
) override

Implements robot_dart::sensor::Sensor::calculate

function init¶

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

Implements robot_dart::sensor::Sensor::init

function torques¶

const Eigen::VectorXd & robot_dart::sensor::Torque::torques () const

function type¶

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

Implements robot_dart::sensor::Sensor::type

Protected Attributes Documentation¶

variable _torques¶

Eigen::VectorXd robot_dart::sensor::Torque::_torques;

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