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 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... | |
ForceTorque & | operator= (const ForceTorque &_ft) |
Assignment operator. More... | |
ForceTorque & | operator= (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 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... | |
ForceTorque contains information about a force torque sensor.
This sensor can be attached to a joint.
sdf::v9::ForceTorque::ForceTorque | ( | ) |
Default constructor.
sdf::v9::ForceTorque::ForceTorque | ( | const ForceTorque & | _ft | ) |
Copy constructor.
[in] | _ft | The force torque sensor to copy. |
|
noexcept |
Move constructor.
[in] | _ft | The force torque sensor to move. |
sdf::v9::ForceTorque::~ForceTorque | ( | ) |
Destructor.
sdf::ElementPtr sdf::v9::ForceTorque::Element | ( | ) | const |
const Noise& sdf::v9::ForceTorque::ForceXNoise | ( | ) | const |
Get the force noise values in the measurement frame X-axis.
const Noise& sdf::v9::ForceTorque::ForceYNoise | ( | ) | const |
Get the force noise values in the measurement frame Y-axis.
const Noise& sdf::v9::ForceTorque::ForceZNoise | ( | ) | const |
Get the force noise values in the measurement frame Z-axis.
ForceTorqueFrame sdf::v9::ForceTorque::Frame | ( | ) | const |
Get the frame in which the wrench values are reported.
Errors sdf::v9::ForceTorque::Load | ( | ElementPtr | _sdf | ) |
ForceTorqueMeasureDirection sdf::v9::ForceTorque::MeasureDirection | ( | ) | const |
Get the measure direction of the wrench values.
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.
[_in] | _ft Force torque value to compare. \returen True if 'this' != _ft. |
ForceTorque& sdf::v9::ForceTorque::operator= | ( | const ForceTorque & | _ft | ) |
Assignment operator.
[in] | _ft | The force torque sensor to set values from. |
|
noexcept |
Move assignment operator.
[in] | _ft | The force torque sensor to set values from. |
bool sdf::v9::ForceTorque::operator== | ( | const ForceTorque & | _ft | ) | const |
Return true if both force torque objects contain the same values.
[_in] | _ft Force torque value to compare. \returen True if 'this' == _ft. |
void sdf::v9::ForceTorque::SetForceXNoise | ( | const Noise & | _noise | ) |
Set the force noise values in the measurement frame X-axis.
[in] | _noise | Noise values for the X-axis force. |
void sdf::v9::ForceTorque::SetForceYNoise | ( | const Noise & | _noise | ) |
Set the force noise values in the measurement frame Y-axis.
[in] | _noise | Noise values for the Y-axis force. |
void sdf::v9::ForceTorque::SetForceZNoise | ( | const Noise & | _noise | ) |
Set the force noise values in the measurement frame Z-axis.
[in] | _noise | Noise values for the Z-axis force. |
void sdf::v9::ForceTorque::SetFrame | ( | ForceTorqueFrame | _frame | ) | const |
Set the frame in which the wrench values are reported.
[in] | _frame | The frame of the wrench values. |
void sdf::v9::ForceTorque::SetMeasureDirection | ( | ForceTorqueMeasureDirection | _direction | ) | const |
Set the measure direction of the wrench values.
[in] | _direction | The measure direction of the wrench values. |
void sdf::v9::ForceTorque::SetTorqueXNoise | ( | const Noise & | _noise | ) |
Set the torque noise values in the measurement frame X-axis.
[in] | _noise | Noise values for the X-axis torque. |
void sdf::v9::ForceTorque::SetTorqueYNoise | ( | const Noise & | _noise | ) |
Set the torque noise values in the measurement frame Y-axis.
[in] | _noise | Noise values for the Y-axis torque. |
void sdf::v9::ForceTorque::SetTorqueZNoise | ( | const Noise & | _noise | ) |
Set the torque noise values in the measurement frame Z-axis.
[in] | _noise | Noise values for the Z-axis torque. |
const Noise& sdf::v9::ForceTorque::TorqueXNoise | ( | ) | const |
Get the torque noise values in the measurement frame X-axis.
const Noise& sdf::v9::ForceTorque::TorqueYNoise | ( | ) | const |
Get the torque noise values in the measurement frame Y-axis.
const Noise& sdf::v9::ForceTorque::TorqueZNoise | ( | ) | const |
Get the torque noise values in the measurement frame Z-axis.