sdf::v12::ForceTorque Class Reference

ForceTorque contains information about a force torque sensor. More...

#include <ForceTorque.hh>

Public Member Functions
	ForceTorque ()
	Default constructor. More...
sdf::ElementPtr	Element () const
	Get a pointer to the SDF element that was used during load. More...
const Noise &	ForceXNoise () const
	Get the force noise values in the measurement frame X-axis. More...
const Noise &	ForceYNoise () const
	Get the force noise values in the measurement frame Y-axis. More...
const Noise &	ForceZNoise () const
	Get the force noise values in the measurement frame Z-axis. More...
ForceTorqueFrame	Frame () const
	Get the frame in which the wrench values are reported. More...
Errors	Load (ElementPtr _sdf)
	Load the force torque sensor based on an element pointer. More...
ForceTorqueMeasureDirection	MeasureDirection () const
	Get the measure direction of the wrench values. More...
bool	operator!= (const ForceTorque &_ft) const
	Return true this force torque object does not contain the same values as the passed-in parameter. More...
bool	operator== (const ForceTorque &_ft) const
	Return true if both force torque objects contain the same values. More...
void	SetForceXNoise (const Noise &_noise)
	Set the force noise values in the measurement frame X-axis. More...
void	SetForceYNoise (const Noise &_noise)
	Set the force noise values in the measurement frame Y-axis. More...
void	SetForceZNoise (const Noise &_noise)
	Set the force noise values in the measurement frame Z-axis. More...
void	SetFrame (ForceTorqueFrame _frame)
	Set the frame in which the wrench values are reported. More...
void	SetMeasureDirection (ForceTorqueMeasureDirection _direction)
	Set the measure direction of the wrench values. More...
void	SetTorqueXNoise (const Noise &_noise)
	Set the torque noise values in the measurement frame X-axis. More...
void	SetTorqueYNoise (const Noise &_noise)
	Set the torque noise values in the measurement frame Y-axis. More...
void	SetTorqueZNoise (const Noise &_noise)
	Set the torque noise values in the measurement frame Z-axis. More...
sdf::ElementPtr	ToElement () const
	Create and return an SDF element filled with data from this force torque sensor. More...
const Noise &	TorqueXNoise () const
	Get the torque noise values in the measurement frame X-axis. More...
const Noise &	TorqueYNoise () const
	Get the torque noise values in the measurement frame Y-axis. More...
const Noise &	TorqueZNoise () const
	Get the torque noise values in the measurement frame Z-axis. More...

Detailed Description

ForceTorque contains information about a force torque sensor.

This sensor can be attached to a joint.

Constructor & Destructor Documentation

ForceTorque()

sdf::v12::ForceTorque::ForceTorque

(

)

Default constructor.

Member Function Documentation

Element()

sdf::ElementPtr sdf::v12::ForceTorque::Element

(

)

const

Get a pointer to the SDF element that was used during load.

Returns

SDF element pointer. The value will be nullptr if Load has not been called.

ForceXNoise()

const Noise& sdf::v12::ForceTorque::ForceXNoise

(

)

const

Get the force noise values in the measurement frame X-axis.

Returns

Noise values for the X-axis force.

ForceYNoise()

const Noise& sdf::v12::ForceTorque::ForceYNoise

(

)

const

Get the force noise values in the measurement frame Y-axis.

Returns

Noise values for the Y-axis force.

ForceZNoise()

const Noise& sdf::v12::ForceTorque::ForceZNoise

(

)

const

Get the force noise values in the measurement frame Z-axis.

Returns

Noise values for the Z-axis force.

Frame()

ForceTorqueFrame sdf::v12::ForceTorque::Frame

(

)

const

Get the frame in which the wrench values are reported.

Returns

The frame of the wrench values.

Load()

Errors sdf::v12::ForceTorque::Load

(

ElementPtr

_sdf

)

Load the force torque sensor based on an element pointer.

This is not the usual entry point. Typical usage of the SDF DOM is through the Root object.

Parameters

[in]

_sdf

The SDF Element pointer

Returns

Errors, which is a vector of Error objects. Each Error includes an error code and message. An empty vector indicates no error.

MeasureDirection()

ForceTorqueMeasureDirection sdf::v12::ForceTorque::MeasureDirection

(

)

const

Get the measure direction of the wrench values.

Returns

The measure direction of the wrench values.

operator!=()

bool sdf::v12::ForceTorque::operator!=

(

const ForceTorque &

_ft

)

const

Return true this force torque object does not contain the same values as the passed-in parameter.

Parameters

[_in]

_ft Force torque value to compare. \returen True if 'this' != _ft.

operator==()

bool sdf::v12::ForceTorque::operator==

(

const ForceTorque &

_ft

)

const

Return true if both force torque objects contain the same values.

Parameters

[_in]

_ft Force torque value to compare. \returen True if 'this' == _ft.

SetForceXNoise()

void sdf::v12::ForceTorque::SetForceXNoise

(

const Noise &

_noise

)

Set the force noise values in the measurement frame X-axis.

Parameters

[in]

_noise

Noise values for the X-axis force.

SetForceYNoise()

void sdf::v12::ForceTorque::SetForceYNoise

(

const Noise &

_noise

)

Set the force noise values in the measurement frame Y-axis.

Parameters

[in]

_noise

Noise values for the Y-axis force.

SetForceZNoise()

void sdf::v12::ForceTorque::SetForceZNoise

(

const Noise &

_noise

)

Set the force noise values in the measurement frame Z-axis.

Parameters

[in]

_noise

Noise values for the Z-axis force.

SetFrame()

void sdf::v12::ForceTorque::SetFrame

(

ForceTorqueFrame

_frame

)

Set the frame in which the wrench values are reported.

Parameters

[in]

_frame

The frame of the wrench values.

SetMeasureDirection()

void sdf::v12::ForceTorque::SetMeasureDirection

(

ForceTorqueMeasureDirection

_direction

)

Set the measure direction of the wrench values.

Parameters

[in]

_direction

The measure direction of the wrench values.

SetTorqueXNoise()

void sdf::v12::ForceTorque::SetTorqueXNoise

(

const Noise &

_noise

)

Set the torque noise values in the measurement frame X-axis.

Parameters

[in]

_noise

Noise values for the X-axis torque.

SetTorqueYNoise()

void sdf::v12::ForceTorque::SetTorqueYNoise

(

const Noise &

_noise

)

Set the torque noise values in the measurement frame Y-axis.

Parameters

[in]

_noise

Noise values for the Y-axis torque.

SetTorqueZNoise()

void sdf::v12::ForceTorque::SetTorqueZNoise

(

const Noise &

_noise

)

Set the torque noise values in the measurement frame Z-axis.

Parameters

[in]

_noise

Noise values for the Z-axis torque.

ToElement()

sdf::ElementPtr sdf::v12::ForceTorque::ToElement

(

)

const

Create and return an SDF element filled with data from this force torque sensor.

Returns

SDF element pointer with updated sensor values.

TorqueXNoise()

const Noise& sdf::v12::ForceTorque::TorqueXNoise

(

)

const

Get the torque noise values in the measurement frame X-axis.

Returns

Noise values for the X-axis torque.

TorqueYNoise()

const Noise& sdf::v12::ForceTorque::TorqueYNoise

(

)

const

Get the torque noise values in the measurement frame Y-axis.

Returns

Noise values for the Y-axis torque.

TorqueZNoise()

const Noise& sdf::v12::ForceTorque::TorqueZNoise

(

)

const

Get the torque noise values in the measurement frame Z-axis.

Returns

Noise values for the Z-axis torque.

---

The documentation for this class was generated from the following file:

• ForceTorque.hh