Robotics Library  0.6.0
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rl::hal::SixAxisForceTorqueSensor Class Reference

#include <SixAxisForceTorqueSensor.h>

Inheritance diagram for rl::hal::SixAxisForceTorqueSensor:
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Collaboration diagram for rl::hal::SixAxisForceTorqueSensor:
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Public Member Functions

 SixAxisForceTorqueSensor ()
virtual ~SixAxisForceTorqueSensor ()
::std::size_t getForcesCount () const
::rl::math::Real getForcesMaximum (const ::std::size_t &i) const
::rl::math::Real getForcesMinimum (const ::std::size_t &i) const
virtual void getForcesTorques (::rl::math::Vector &forcesTorques) const =0
virtual ::rl::math::Real getForcesTorquesMaximum (const ::std::size_t &i) const =0
virtual ::rl::math::Real getForcesTorquesMinimum (const ::std::size_t &i) const =0
::std::size_t getTorquesCount () const
::rl::math::Real getTorquesMaximum (const ::std::size_t &i) const
::rl::math::Real getTorquesMinimum (const ::std::size_t &i) const
- Public Member Functions inherited from rl::hal::ForceSensor
 ForceSensor ()
virtual ~ForceSensor ()
virtual void getForces (::rl::math::Vector &forces) const =0
- Public Member Functions inherited from rl::hal::Device
 Device ()
virtual ~Device ()
virtual void close ()=0
bool isConnected () const
bool isRunning () const
virtual void open ()=0
virtual void start ()=0
virtual void step ()=0
virtual void stop ()=0
- Public Member Functions inherited from rl::hal::TorqueSensor
 TorqueSensor ()
virtual ~TorqueSensor ()
virtual void getTorques (::rl::math::Vector &torques) const =0

Additional Inherited Members

- Protected Member Functions inherited from rl::hal::Device
void setConnected (const bool &connected)
void setRunning (const bool &running)

Constructor & Destructor Documentation

rl::hal::SixAxisForceTorqueSensor::SixAxisForceTorqueSensor ( )
rl::hal::SixAxisForceTorqueSensor::~SixAxisForceTorqueSensor ( )
virtual

Member Function Documentation

std::size_t rl::hal::SixAxisForceTorqueSensor::getForcesCount ( ) const
virtual

Implements rl::hal::ForceSensor.

rl::math::Real rl::hal::SixAxisForceTorqueSensor::getForcesMaximum ( const ::std::size_t &  i) const
virtual
Returns
[N]

Implements rl::hal::ForceSensor.

Reimplemented in rl::hal::Ati, and rl::hal::Jr3.

rl::math::Real rl::hal::SixAxisForceTorqueSensor::getForcesMinimum ( const ::std::size_t &  i) const
virtual
Returns
[N]

Implements rl::hal::ForceSensor.

Reimplemented in rl::hal::Ati, and rl::hal::Jr3.

virtual void rl::hal::SixAxisForceTorqueSensor::getForcesTorques ( ::rl::math::Vector forcesTorques) const
pure virtual
Parameters
forcesTorques[N],[N],[N],[Nm],[Nm],[Nm]

Implemented in rl::hal::Ati, and rl::hal::Jr3.

virtual ::rl::math::Real rl::hal::SixAxisForceTorqueSensor::getForcesTorquesMaximum ( const ::std::size_t &  i) const
pure virtual
Returns
[N],[N],[N],[Nm],[Nm],[Nm]

Implemented in rl::hal::Ati, and rl::hal::Jr3.

virtual ::rl::math::Real rl::hal::SixAxisForceTorqueSensor::getForcesTorquesMinimum ( const ::std::size_t &  i) const
pure virtual
Returns
[N],[N],[N],[Nm],[Nm],[Nm]

Implemented in rl::hal::Ati, and rl::hal::Jr3.

std::size_t rl::hal::SixAxisForceTorqueSensor::getTorquesCount ( ) const
virtual

Implements rl::hal::TorqueSensor.

rl::math::Real rl::hal::SixAxisForceTorqueSensor::getTorquesMaximum ( const ::std::size_t &  i) const
virtual
Returns
[Nm]

Implements rl::hal::TorqueSensor.

Reimplemented in rl::hal::Ati, and rl::hal::Jr3.

rl::math::Real rl::hal::SixAxisForceTorqueSensor::getTorquesMinimum ( const ::std::size_t &  i) const
virtual
Returns
[Nm]

Implements rl::hal::TorqueSensor.

Reimplemented in rl::hal::Ati, and rl::hal::Jr3.


The documentation for this class was generated from the following files: