sdf::v11::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...

ForceTorqueFrame Frame () const
Get the frame in which the wrench values are reported. More...

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 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...

## Detailed Description

ForceTorque contains information about a force torque sensor.

This sensor can be attached to a joint.

## ◆ ForceTorque()

 sdf::v11::ForceTorque::ForceTorque ( )

Default constructor.

## ◆ Element()

 sdf::ElementPtr sdf::v11::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.

## ◆ Frame()

 ForceTorqueFrame sdf::v11::ForceTorque::Frame ( ) const

Get the frame in which the wrench values are reported.

Returns
The frame of the wrench values.

 Errors sdf::v11::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::v11::ForceTorque::MeasureDirection ( ) const

Get the measure direction of the wrench values.

Returns
The measure direction of the wrench values.

## ◆ operator!=()

 bool sdf::v11::ForceTorque::operator!= ( const ForceTorque & _ft ) const

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

Parameters

## ◆ operator==()

 bool sdf::v11::ForceTorque::operator== ( const ForceTorque & _ft ) const

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

Parameters

## ◆ SetFrame()

 void sdf::v11::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::v11::ForceTorque::SetMeasureDirection ( ForceTorqueMeasureDirection _direction )

Set the measure direction of the wrench values.

Parameters
 [in] _direction The measure direction of the wrench values.

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