sdf::SDF_VERSION_NAMESPACE::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...
sdf::ElementPtr	ToElement (sdf::Errors &_errors) 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::SDF_VERSION_NAMESPACE::ForceTorque::ForceTorque

(

)

Default constructor.

Member Function Documentation

Element()

sdf::ElementPtr sdf::SDF_VERSION_NAMESPACE::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::SDF_VERSION_NAMESPACE::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::SDF_VERSION_NAMESPACE::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::SDF_VERSION_NAMESPACE::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::SDF_VERSION_NAMESPACE::ForceTorque::Frame

(

)

const

Get the frame in which the wrench values are reported.

Returns

The frame of the wrench values.

Load()

Errors sdf::SDF_VERSION_NAMESPACE::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::SDF_VERSION_NAMESPACE::ForceTorque::MeasureDirection

(

)

const

Get the measure direction of the wrench values.

Returns

The measure direction of the wrench values.

operator!=()

bool sdf::SDF_VERSION_NAMESPACE::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::SDF_VERSION_NAMESPACE::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::SDF_VERSION_NAMESPACE::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::SDF_VERSION_NAMESPACE::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::SDF_VERSION_NAMESPACE::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::SDF_VERSION_NAMESPACE::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::SDF_VERSION_NAMESPACE::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::SDF_VERSION_NAMESPACE::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::SDF_VERSION_NAMESPACE::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::SDF_VERSION_NAMESPACE::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() [1/2]

sdf::ElementPtr sdf::SDF_VERSION_NAMESPACE::ForceTorque::ToElement

(

)

const

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

Note that parameter passing functionality is not captured with this function.

Returns

SDF element pointer with updated sensor values.

ToElement() [2/2]

sdf::ElementPtr sdf::SDF_VERSION_NAMESPACE::ForceTorque::ToElement

(

sdf::Errors &

_errors

)

const

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

Note that parameter passing functionality is not captured with this function.

Parameters

[out]

_errors

Vector of errors.

Returns

SDF element pointer with updated sensor values.

TorqueXNoise()

const Noise& sdf::SDF_VERSION_NAMESPACE::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::SDF_VERSION_NAMESPACE::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::SDF_VERSION_NAMESPACE::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