Simox  2.3.49
VirtualRobot::ForceTorqueSensor Class Reference
Inheritance diagram for VirtualRobot::ForceTorqueSensor:
VirtualRobot::Sensor VirtualRobot::SceneObject

Public Member Functions

EIGEN_MAKE_ALIGNED_OPERATOR_NEW ForceTorqueSensor (RobotNodeWeakPtr robotNode, const std::string &name, const Eigen::Matrix4f &rnTrafo=Eigen::Matrix4f::Identity())
 
virtual ~ForceTorqueSensor ()
 
void updateSensors (const Eigen::VectorXf &newForceTorque)
 
const Eigen::VectorXf & getForceTorque ()
 
Eigen::Vector3f getForce () const
 
Eigen::Vector3f getTorque () const
 
Eigen::Vector3f getAxisTorque ()
 
virtual void print (bool printChildren=false, bool printDecoration=true) const
 
virtual std::string toXML (const std::string &modelPath, int tabs)
 
- Public Member Functions inherited from VirtualRobot::Sensor
EIGEN_MAKE_ALIGNED_OPERATOR_NEW Sensor (RobotNodeWeakPtr robotNode, const std::string &name, VisualizationNodePtr visualization=VisualizationNodePtr(), const Eigen::Matrix4f &rnTrafo=Eigen::Matrix4f::Identity())
 
virtual ~Sensor ()
 
RobotNodePtr getRobotNode () const
 
virtual Eigen::Matrix4f getRobotNodeToSensorTransformation ()
 
virtual void setRobotNodeToSensorTransformation (const Eigen::Matrix4f &t)
 
virtual void setGlobalPose (const Eigen::Matrix4f &pose)
 
virtual SensorPtr clone (RobotNodePtr newRobotNode, float scaling=1.0f)
 
SceneObjectPtr clone (const std::string &, CollisionCheckerPtr=CollisionCheckerPtr(), float=1.0f) const
 Forbid cloning method from SceneObject. We need to know the new robotnode for cloning. More...
 
virtual void updatePose (bool updateChildren=true)
 
virtual bool initialize (SceneObjectPtr parent=SceneObjectPtr(), const std::vector< SceneObjectPtr > &children=std::vector< SceneObjectPtr >())
 
- Public Member Functions inherited from VirtualRobot::SceneObject
 SceneObject (const std::string &name, VisualizationNodePtr visualization=VisualizationNodePtr(), CollisionModelPtr collisionModel=CollisionModelPtr(), const Physics &p=Physics(), CollisionCheckerPtr colChecker=CollisionCheckerPtr())
 
virtual ~SceneObject ()
 
std::string getName () const
 
void setName (const std::string &name)
 
virtual Eigen::Matrix4f getGlobalPose () const
 
virtual void setGlobalPoseNoChecks (const Eigen::Matrix4f &pose)
 
virtual CollisionModelPtr getCollisionModel ()
 
virtual CollisionCheckerPtr getCollisionChecker ()
 
void setVisualization (VisualizationNodePtr visualization)
 
void setCollisionModel (CollisionModelPtr colModel)
 
virtual VisualizationNodePtr getVisualization (SceneObject::VisualizationType visuType=SceneObject::Full)
 
virtual void setUpdateVisualization (bool enable)
 
bool getUpdateVisualizationStatus ()
 
virtual void setUpdateCollisionModel (bool enable)
 
bool getUpdateCollisionModelStatus ()
 
virtual void setupVisualization (bool showVisualization, bool showAttachedVisualizations)
 
virtual void showCoordinateSystem (bool enable, float scaling=1.0f, std::string *text=NULL, const std::string &visualizationType="")
 
virtual void showPhysicsInformation (bool enableCoM, bool enableInertial, VisualizationNodePtr comModel=VisualizationNodePtr())
 
virtual bool showCoordinateSystemState ()
 
virtual void showBoundingBox (bool enable, bool wireframe=false)
 
virtual bool ensureVisualization (const std::string &visualizationType="")
 
Eigen::Matrix4f toLocalCoordinateSystem (const Eigen::Matrix4f &poseGlobal) const
 
Eigen::Vector3f toLocalCoordinateSystemVec (const Eigen::Vector3f &positionGlobal) const
 
Eigen::Matrix4f toGlobalCoordinateSystem (const Eigen::Matrix4f &poseLocal) const
 
Eigen::Vector3f toGlobalCoordinateSystemVec (const Eigen::Vector3f &positionLocal) const
 
Eigen::Matrix4f getTransformationTo (const SceneObjectPtr otherObject)
 
Eigen::Matrix4f getTransformationFrom (const SceneObjectPtr otherObject)
 
Eigen::Matrix4f transformTo (const SceneObjectPtr otherObject, const Eigen::Matrix4f &poseInOtherCoordSystem)
 
Eigen::Vector3f transformTo (const SceneObjectPtr otherObject, const Eigen::Vector3f &positionInOtherCoordSystem)
 
virtual int getNumFaces (bool collisionModel=false)
 
virtual Eigen::Vector3f getCoMLocal ()
 
virtual Eigen::Vector3f getCoMGlobal ()
 
float getMass () const
 
void setMass (float m)
 
Physics::SimulationType getSimulationType () const
 
void setSimulationType (Physics::SimulationType s)
 
Eigen::Matrix3f getInertiaMatrix ()
 
void setInertiaMatrix (const Eigen::Matrix3f &im)
 
SceneObject::Physics getPhysics ()
 
std::vector< std::string > getIgnoredCollisionModels ()
 
template<typename T >
boost::shared_ptr< T > getVisualization (SceneObject::VisualizationType visuType=SceneObject::Full)
 
void highlight (VisualizationPtr visualization, bool enable)
 
SceneObjectPtr clone (const std::string &name, CollisionCheckerPtr colChecker=CollisionCheckerPtr(), float scaling=1.0f) const
 
virtual bool attachChild (SceneObjectPtr child)
 
virtual void detachChild (SceneObjectPtr child)
 
virtual bool hasChild (SceneObjectPtr child, bool recursive=false) const
 
virtual bool hasChild (const std::string &childName, bool recursive=false) const
 
virtual bool hasParent ()
 
virtual SceneObjectPtr getParent () const
 
virtual std::vector< SceneObjectPtrgetChildren () const
 
virtual bool saveModelFiles (const std::string &modelPath, bool replaceFilenames)
 

Protected Member Functions

 ForceTorqueSensor ()
 
virtual SensorPtr _clone (const RobotNodePtr newRobotNode, const VisualizationNodePtr visualizationModel, float scaling)
 
- Protected Member Functions inherited from VirtualRobot::Sensor
virtual void updatePose (const Eigen::Matrix4f &parentPose, bool updateChildren=true)
 
 Sensor ()
 
virtual SceneObject_clone (const std::string &, CollisionCheckerPtr=CollisionCheckerPtr(), float=1.0f) const
 
- Protected Member Functions inherited from VirtualRobot::SceneObject
virtual void detachedFromParent ()
 Parent detached this object. More...
 
virtual void attached (SceneObjectPtr parent)
 Parent attached this object. More...
 
std::string getFilenameReplacementVisuModel (const std::string standardExtension=".wrl")
 
std::string getFilenameReplacementColModel (const std::string standardExtension=".wrl")
 
 SceneObject ()
 
std::string getSceneObjectXMLString (const std::string &basePath, int tabs)
 basic data, used by Obstacle and ManipulationObject More...
 
virtual bool initializePhysics ()
 

Protected Attributes

Eigen::VectorXf forceTorqueValues
 
- Protected Attributes inherited from VirtualRobot::Sensor
Eigen::Matrix4f rnTransformation
 
RobotNodeWeakPtr robotNode
 
- Protected Attributes inherited from VirtualRobot::SceneObject
std::string name
 
bool initialized
 
Eigen::Matrix4f globalPose
 
std::vector< SceneObjectPtrchildren
 
SceneObjectWeakPtr parent
 
CollisionModelPtr collisionModel
 
VisualizationNodePtr visualizationModel
 
bool updateVisualization
 
bool updateCollisionModel
 
Physics physics
 
CollisionCheckerPtr collisionChecker
 

Friends

class Robot
 
class RobotIO
 

Additional Inherited Members

- Public Types inherited from VirtualRobot::SceneObject
enum  VisualizationType { Full, Collision, CollisionData }
 

Detailed Description

This is a force torque sensor in a joint The force torque values are in world coordinates

Constructor & Destructor Documentation

VirtualRobot::ForceTorqueSensor::ForceTorqueSensor ( RobotNodeWeakPtr  robotNode,
const std::string &  name,
const Eigen::Matrix4f &  rnTrafo = Eigen::Matrix4f::Identity() 
)

Constructor with settings.

VirtualRobot::ForceTorqueSensor::~ForceTorqueSensor ( )
virtual
VirtualRobot::ForceTorqueSensor::ForceTorqueSensor ( )
inlineprotected

Member Function Documentation

SensorPtr VirtualRobot::ForceTorqueSensor::_clone ( const RobotNodePtr  newRobotNode,
const VisualizationNodePtr  visualizationModel,
float  scaling 
)
protectedvirtual

Derived classes must implement their clone method here.

Implements VirtualRobot::Sensor.

Eigen::Vector3f VirtualRobot::ForceTorqueSensor::getAxisTorque ( )

Projects torque on joint axis

Eigen::Vector3f VirtualRobot::ForceTorqueSensor::getForce ( ) const
const Eigen::VectorXf & VirtualRobot::ForceTorqueSensor::getForceTorque ( )
Eigen::Vector3f VirtualRobot::ForceTorqueSensor::getTorque ( ) const
void VirtualRobot::ForceTorqueSensor::print ( bool  printChildren = false,
bool  printDecoration = true 
) const
virtual

Print status information.

Reimplemented from VirtualRobot::Sensor.

std::string VirtualRobot::ForceTorqueSensor::toXML ( const std::string &  modelPath,
int  tabs 
)
virtual

Reimplemented from VirtualRobot::Sensor.

void VirtualRobot::ForceTorqueSensor::updateSensors ( const Eigen::VectorXf &  newForceTorque)

Friends And Related Function Documentation

friend class Robot
friend
friend class RobotIO
friend

Field Documentation

Eigen::VectorXf VirtualRobot::ForceTorqueSensor::forceTorqueValues
protected