Public Member Functions | List of all members
sdf::v9::ForceTorque Class Reference

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

#include <ForceTorque.hh>

Public Member Functions

 ForceTorque ()
 Default constructor. More...
 
 ForceTorque (const ForceTorque &_ft)
 Copy constructor. More...
 
 ForceTorque (ForceTorque &&_ft) noexcept
 Move constructor. More...
 
 ~ForceTorque ()
 Destructor. More...
 
sdf::ElementPtr Element () const
 Get a pointer to the SDF element that was used during load. More...
 
const NoiseForceXNoise () const
 Get the force noise values in the measurement frame X-axis. More...
 
const NoiseForceYNoise () const
 Get the force noise values in the measurement frame Y-axis. More...
 
const NoiseForceZNoise () 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...
 
ForceTorqueoperator= (const ForceTorque &_ft)
 Assignment operator. More...
 
ForceTorqueoperator= (ForceTorque &&_ft) noexcept
 Move assignment operator. 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) const
 Set the frame in which the wrench values are reported. More...
 
void SetMeasureDirection (ForceTorqueMeasureDirection _direction) const
 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...
 
const NoiseTorqueXNoise () const
 Get the torque noise values in the measurement frame X-axis. More...
 
const NoiseTorqueYNoise () const
 Get the torque noise values in the measurement frame Y-axis. More...
 
const NoiseTorqueZNoise () 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() [1/3]

sdf::v9::ForceTorque::ForceTorque ( )

Default constructor.

◆ ForceTorque() [2/3]

sdf::v9::ForceTorque::ForceTorque ( const ForceTorque _ft)

Copy constructor.

Parameters
[in]_ftThe force torque sensor to copy.

◆ ForceTorque() [3/3]

sdf::v9::ForceTorque::ForceTorque ( ForceTorque &&  _ft)
noexcept

Move constructor.

Parameters
[in]_ftThe force torque sensor to move.

◆ ~ForceTorque()

sdf::v9::ForceTorque::~ForceTorque ( )

Destructor.

Member Function Documentation

◆ Element()

sdf::ElementPtr sdf::v9::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::v9::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::v9::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::v9::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::v9::ForceTorque::Frame ( ) const

Get the frame in which the wrench values are reported.

Returns
The frame of the wrench values.

◆ Load()

Errors sdf::v9::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::v9::ForceTorque::MeasureDirection ( ) const

Get the measure direction of the wrench values.

Returns
The measure direction of the wrench values.

◆ operator!=()

bool sdf::v9::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=() [1/2]

ForceTorque& sdf::v9::ForceTorque::operator= ( const ForceTorque _ft)

Assignment operator.

Parameters
[in]_ftThe force torque sensor to set values from.
Returns
*this

◆ operator=() [2/2]

ForceTorque& sdf::v9::ForceTorque::operator= ( ForceTorque &&  _ft)
noexcept

Move assignment operator.

Parameters
[in]_ftThe force torque sensor to set values from.
Returns
*this

◆ operator==()

bool sdf::v9::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::v9::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::v9::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::v9::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::v9::ForceTorque::SetFrame ( ForceTorqueFrame  _frame) const

Set the frame in which the wrench values are reported.

Parameters
[in]_frameThe frame of the wrench values.

◆ SetMeasureDirection()

void sdf::v9::ForceTorque::SetMeasureDirection ( ForceTorqueMeasureDirection  _direction) const

Set the measure direction of the wrench values.

Parameters
[in]_directionThe measure direction of the wrench values.

◆ SetTorqueXNoise()

void sdf::v9::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::v9::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::v9::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.

◆ TorqueXNoise()

const Noise& sdf::v9::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::v9::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::v9::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: