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

#include <ForceTorque.hh>

Public Member Functions
	ForceTorque ()
	Default constructor.

sdf::ElementPtr	Element () const
	Get a pointer to the SDF element that was used during load.

const Noise &	ForceXNoise () const
	Get the force noise values in the measurement frame X-axis.

const Noise &	ForceYNoise () const
	Get the force noise values in the measurement frame Y-axis.

const Noise &	ForceZNoise () const
	Get the force noise values in the measurement frame Z-axis.

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

Errors	Load (ElementPtr _sdf)
	Load the force torque sensor based on an element pointer.

ForceTorqueMeasureDirection	MeasureDirection () const
	Get the measure direction of the wrench values.

bool	operator!= (const ForceTorque &_ft) const
	Return true this force torque object does not contain the same values as the passed-in parameter.

bool	operator== (const ForceTorque &_ft) const
	Return true if both force torque objects contain the same values.

void	SetForceXNoise (const Noise &_noise)
	Set the force noise values in the measurement frame X-axis.

void	SetForceYNoise (const Noise &_noise)
	Set the force noise values in the measurement frame Y-axis.

void	SetForceZNoise (const Noise &_noise)
	Set the force noise values in the measurement frame Z-axis.

void	SetFrame (ForceTorqueFrame _frame)
	Set the frame in which the wrench values are reported.

void	SetMeasureDirection (ForceTorqueMeasureDirection _direction)
	Set the measure direction of the wrench values.

void	SetTorqueXNoise (const Noise &_noise)
	Set the torque noise values in the measurement frame X-axis.

void	SetTorqueYNoise (const Noise &_noise)
	Set the torque noise values in the measurement frame Y-axis.

void	SetTorqueZNoise (const Noise &_noise)
	Set the torque noise values in the measurement frame Z-axis.

sdf::ElementPtr	ToElement () const
	Create and return an SDF element filled with data from this force torque sensor.

sdf::ElementPtr	ToElement (sdf::Errors &_errors) const
	Create and return an SDF element filled with data from this force torque sensor.

const Noise &	TorqueXNoise () const
	Get the torque noise values in the measurement frame X-axis.

const Noise &	TorqueYNoise () const
	Get the torque noise values in the measurement frame Y-axis.

const Noise &	TorqueZNoise () const
	Get the torque noise values in the measurement frame Z-axis.

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

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ForceTorque()

Member Function Documentation

◆ Element()

◆ ForceXNoise()

◆ ForceYNoise()

◆ ForceZNoise()

◆ Frame()

◆ Load()

◆ MeasureDirection()

◆ operator!=()

◆ operator==()

◆ SetForceXNoise()

◆ SetForceYNoise()

◆ SetForceZNoise()

◆ SetFrame()

◆ SetMeasureDirection()

◆ SetTorqueXNoise()

◆ SetTorqueYNoise()

◆ SetTorqueZNoise()

◆ ToElement() [1/2]

◆ ToElement() [2/2]

◆ TorqueXNoise()

◆ TorqueYNoise()

◆ TorqueZNoise()