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Public Member Functions | List of all members
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.
 
sdf::ElementPtr Element () const
 Get a pointer to the SDF element that was used during load.
 
const NoiseForceXNoise () const
 Get the force noise values in the measurement frame X-axis.
 
const NoiseForceYNoise () const
 Get the force noise values in the measurement frame Y-axis.
 
const NoiseForceZNoise () 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 NoiseTorqueXNoise () const
 Get the torque noise values in the measurement frame X-axis.
 
const NoiseTorqueYNoise () const
 Get the torque noise values in the measurement frame Y-axis.
 
const NoiseTorqueZNoise () 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]_sdfThe 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]_noiseNoise 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]_noiseNoise 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]_noiseNoise 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]_frameThe 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]_directionThe 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]_noiseNoise 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]_noiseNoise 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]_noiseNoise 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]_errorsVector 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: