Inheritance diagram for VirtualRobot::ForceTorqueSensor:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	ForceTorqueSensor (GraspableSensorizedObjectWeakPtr node, const std::string &name, const Eigen::Matrix4f &rnTrafo=Eigen::Matrix4f::Identity())

	~ForceTorqueSensor () override

void	updateSensors (const Eigen::VectorXf &newForceTorque)

const Eigen::VectorXf &	getForceTorque ()

Eigen::Vector3f	getForce () const

Eigen::Vector3f	getTorque () const

Eigen::Vector3f	getAxisTorque ()

void	print (bool printChildren=false, bool printDecoration=true) const override

std::string	toXML (const std::string &modelPath, int tabs) override

Public Member Functions inherited from VirtualRobot::Sensor
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	Sensor (GraspableSensorizedObjectWeakPtr parentNode, const std::string &name, VisualizationNodePtr visualization=VisualizationNodePtr(), const Eigen::Matrix4f &rnTrafo=Eigen::Matrix4f::Identity())

	~Sensor () override

RobotNodePtr	getRobotNode () const

GraspableSensorizedObjectPtr	getParentNode () const

virtual Eigen::Matrix4f	getParentNodeToSensorTransformation ()

virtual void	setRobotNodeToSensorTransformation (const Eigen::Matrix4f &t)

void	setGlobalPose (const Eigen::Matrix4f &pose) override

void	print (bool printChildren=false, bool printDecoration=true) const override

virtual SensorPtr	clone (GraspableSensorizedObjectPtr newNode, 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 parent node for cloning. More...

void	updatePose (bool updateChildren=true) override

bool	initialize (SceneObjectPtr parent=SceneObjectPtr(), const std::vector< SceneObjectPtr > &children=std::vector< SceneObjectPtr >()) override

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 Eigen::Vector3f	getGlobalPosition () const

virtual Eigen::Matrix3f	getGlobalOrientation () const

virtual Eigen::Matrix4f	getGlobalPose (const Eigen::Matrix4f &localPose) const

virtual Eigen::Vector3f	getGlobalPosition (const Eigen::Vector3f &localPosition) const

virtual Eigen::Vector3f	getGlobalDirection (const Eigen::Vector3f &localDircetion) const

virtual Eigen::Matrix3f	getGlobalOrientation (const Eigen::Matrix3f &localOrientation) 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) const

Eigen::Matrix4f	getTransformationFrom (const SceneObjectPtr otherObject) const

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 ()

void	setCoMLocal (const Eigen::Vector3f &comLocal)
	Set a new position for the CoM of this bode. More...

virtual Eigen::Vector3f	getCoMGlobal ()

float	getMass () const

void	setMass (float m)

Physics::SimulationType	getSimulationType () const

void	setSimulationType (Physics::SimulationType s)

Eigen::Matrix3f	getInertiaMatrix ()

Eigen::Matrix3f	getInertiaMatrix (const Eigen::Vector3f &shift)
	If the Inertia Matrix is given at the CoM, this function returns the Inertia Matrix at the parallel shifted coordinate system. The shift is done using the parallel axis theorem (https://en.wikipedia.org/wiki/Parallel_axis_theorem) More...

Eigen::Matrix3f	getInertiaMatrix (const Eigen::Vector3f &shift, const Eigen::Matrix3f &rotation)

Eigen::Matrix3f	getInertiaMatrix (const Eigen::Matrix4f &transform)

void	setInertiaMatrix (const Eigen::Matrix3f &im)

float	getFriction ()

void	setFriction (float friction)

SceneObject::Physics	getPhysics ()

std::vector< std::string >	getIgnoredCollisionModels ()

template<typename T >
std::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

SceneObjectPtr	clone (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 () const

virtual SceneObjectPtr	getParent () const

virtual std::vector< SceneObjectPtr >	getChildren () const

virtual void	copyPoseFrom (const SceneObjectPtr &other)

virtual bool	saveModelFiles (const std::string &modelPath, bool replaceFilenames)

void	setScaling (float scaling)

float	getScaling ()

bool	reloadVisualizationFromXML (bool useVisAsColModelIfMissing=true)

const std::string &	getVisualizationModelXML () const

Protected Member Functions
	ForceTorqueSensor ()

SensorPtr	_clone (const GraspableSensorizedObjectPtr newParentNode, const VisualizationNodePtr visualizationModel, float scaling) override

Protected Member Functions inherited from VirtualRobot::Sensor
void	updatePose (const Eigen::Matrix4f &parentPose, bool updateChildren=true) override

	Sensor ()

SceneObject *	_clone (const std::string &, CollisionCheckerPtr=CollisionCheckerPtr(), float=1.0f) const override

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, const std::string &modelPathRelative="")
	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

GraspableSensorizedObjectWeakPtr	parentNode

Protected Attributes inherited from VirtualRobot::SceneObject
std::string	name

bool	initialized

Eigen::Matrix4f	globalPose

std::vector< SceneObjectPtr >	children

SceneObjectWeakPtr	parent

CollisionModelPtr	collisionModel

std::string	collisionModelXML

VisualizationNodePtr	visualizationModel

std::string	visualizationModelXML

std::filesystem::path	basePath

bool	updateVisualization

bool	updateCollisionModel

Physics	physics

CollisionCheckerPtr	collisionChecker

float	scaling = 1.0f

Friends
class	Robot

class	RobotIO

Additional Inherited Members
Public Types inherited from VirtualRobot::SceneObject
enum	VisualizationType { Full, Collision, CollisionData }

Static Public Member Functions inherited from VirtualRobot::SceneObject
static Eigen::Matrix3f	shiftInertia (const Eigen::Matrix3f inertiaMatrix, const Eigen::Vector3f &shift, float mass)
	The shift is done using the parallel axis theorem (https://en.wikipedia.org/wiki/Parallel_axis_theorem) More...

Detailed Description

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

Constructor & Destructor Documentation

◆ ForceTorqueSensor() [1/2]

VirtualRobot::ForceTorqueSensor::ForceTorqueSensor	(	GraspableSensorizedObjectWeakPtr	node,
		const std::string &	name,
		const Eigen::Matrix4f &	rnTrafo = `Eigen::Matrix4f::Identity()`
	)

Constructor with settings.

◆ ~ForceTorqueSensor()

VirtualRobot::ForceTorqueSensor::~ForceTorqueSensor ( )

overridedefault

◆ ForceTorqueSensor() [2/2]

VirtualRobot::ForceTorqueSensor::ForceTorqueSensor ( )

inlineprotected

Member Function Documentation

◆ _clone()

SensorPtr VirtualRobot::ForceTorqueSensor::_clone	(	const GraspableSensorizedObjectPtr	newParentNode,
		const VisualizationNodePtr	visualizationModel,
		float	scaling
	)

overrideprotectedvirtual

Derived classes must implement their clone method here.

Implements VirtualRobot::Sensor.

◆ getAxisTorque()

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

Projects torque on joint axis

◆ getForce()

Eigen::Vector3f VirtualRobot::ForceTorqueSensor::getForce ( ) const

◆ getForceTorque()

const Eigen::VectorXf & VirtualRobot::ForceTorqueSensor::getForceTorque ( )

◆ getTorque()

Eigen::Vector3f VirtualRobot::ForceTorqueSensor::getTorque ( ) const

◆ print()

void VirtualRobot::ForceTorqueSensor::print	(	bool	printChildren = `false`,
		bool	printDecoration = `true`
	)		const

overridevirtual

Print status information.

Reimplemented from VirtualRobot::SceneObject.

◆ toXML()

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

overridevirtual

Reimplemented from VirtualRobot::Sensor.

◆ updateSensors()

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

Friends And Related Function Documentation

◆ Robot

friend class Robot

friend

◆ RobotIO

friend class RobotIO

friend

Field Documentation

◆ forceTorqueValues

Eigen::VectorXf VirtualRobot::ForceTorqueSensor::forceTorqueValues

protected

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members