Robotics Library  0.7.0
Public Member Functions | List of all members
rl::hal::SixAxisForceTorqueSensor Class Referenceabstract

#include <SixAxisForceTorqueSensor.h>

Inheritance diagram for rl::hal::SixAxisForceTorqueSensor:
Inheritance graph
[legend]

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 ::rl::math::Vector getForcesTorques () 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 ::rl::math::Vector getForces () 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 stop ()=0
 
- Public Member Functions inherited from rl::hal::TorqueSensor
 TorqueSensor ()
 
virtual ~TorqueSensor ()
 
virtual ::rl::math::Vector getTorques () 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

◆ SixAxisForceTorqueSensor()

rl::hal::SixAxisForceTorqueSensor::SixAxisForceTorqueSensor ( )

◆ ~SixAxisForceTorqueSensor()

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

Member Function Documentation

◆ getForcesCount()

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

Implements rl::hal::ForceSensor.

◆ getForcesMaximum()

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

Implements rl::hal::ForceSensor.

◆ getForcesMinimum()

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

Implements rl::hal::ForceSensor.

◆ getForcesTorques()

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

Implemented in rl::hal::WeissKms40, rl::hal::Jr3, and rl::hal::Ati.

◆ getForcesTorquesMaximum()

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::WeissKms40, rl::hal::Jr3, and rl::hal::Ati.

◆ getForcesTorquesMinimum()

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::WeissKms40, rl::hal::Jr3, and rl::hal::Ati.

◆ getTorquesCount()

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

Implements rl::hal::TorqueSensor.

◆ getTorquesMaximum()

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

Implements rl::hal::TorqueSensor.

◆ getTorquesMinimum()

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

Implements rl::hal::TorqueSensor.


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