rl::hal::SixAxisForceTorqueSensor Class Reference

#include <SixAxisForceTorqueSensor.h>

Inheritance diagram for rl::hal::SixAxisForceTorqueSensor:

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.

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

• rl/hal/SixAxisForceTorqueSensor.h
• rl/hal/SixAxisForceTorqueSensor.cpp