ForceTorqueSimulationSensorDevice Class Reference

#include <ArmarXSimulation/components/RobotUnitSimulation/Devices/ForceTorqueSimulationSensorDevice.h>

+ Inheritance diagram for ForceTorqueSimulationSensorDevice:

Public Member Functions

 ForceTorqueSimulationSensorDevice (const std::string &name, const std::string reportingFrame, const Eigen::Matrix3f reportingTransformation)
 
std::string getReportingFrame () const override
 
- Public Member Functions inherited from SensorDeviceTemplate< SensorValueForceTorque >
const SensorValueForceTorquegetSensorValue () const final override
 
 SensorDeviceTemplate (const std::string &name)
 
- Public Member Functions inherited from SensorDevice
template<class T >
const TgetSensorValue () const
 
virtual const SensorValueBasegetSensorValue () const =0
 
std::string getSensorValueType (bool withoutNamespaceSpecifier=false) const
 Returns the SensorValue's type as a string. More...
 
virtual void rtReadSensorValues (const IceUtil::Time &sensorValuesTimestamp, const IceUtil::Time &timeSinceLastIteration)
 This is a hook for implementations to read the sensor value from a bus. More...
 
 SensorDevice (const std::string &name)
 Create a SensorDevice with the given name. More...
 
- Public Member Functions inherited from DeviceBase
 DeviceBase (const std::string &name)
 Create a Device with the given name. More...
 
const std::string & getDeviceName () const
 
const std::set< std::string > & getTags () const
 
bool hasTag (const std::string &tag) const
 
const char * rtGetDeviceName () const
 
virtual ~DeviceBase ()=default
 

Public Attributes

filters::ButterworthFilter fx {2, 100, Lowpass, 1}
 
filters::ButterworthFilter fy {2, 100, Lowpass, 1}
 
filters::ButterworthFilter fz {2, 100, Lowpass, 1}
 
const std::string reportingFrame
 
const Eigen::Matrix3f reportingTransformation
 
filters::ButterworthFilter tx {2, 100, Lowpass, 1}
 
filters::ButterworthFilter ty {2, 100, Lowpass, 1}
 
filters::ButterworthFilter tz {2, 100, Lowpass, 1}
 
- Public Attributes inherited from SensorDeviceTemplate< SensorValueForceTorque >
SensorValueForceTorque sensorValue
 

Additional Inherited Members

- Static Public Attributes inherited from SensorDevice
static const SensorDevicePtr NullPtr {nullptr}
 A static const nullptr in case a const ref to a nullptr needs to be returned. More...
 
- Protected Member Functions inherited from DeviceBase
void addDeviceTag (const std::string &tag)
 adds the given tag to the Device More...
 

Detailed Description

Definition at line 33 of file ForceTorqueSimulationSensorDevice.h.

Constructor & Destructor Documentation

◆ ForceTorqueSimulationSensorDevice()

ForceTorqueSimulationSensorDevice ( const std::string &  name,
const std::string  reportingFrame,
const Eigen::Matrix3f  reportingTransformation 
)
inline

Definition at line 36 of file ForceTorqueSimulationSensorDevice.h.

Member Function Documentation

◆ getReportingFrame()

std::string getReportingFrame ( ) const
inlineoverridevirtual
Returns
The reporting frame name of this sensor (e.g. The frame some force torque values are in). This may be empty for virtual sensors e.g. execution time sensors.

Reimplemented from SensorDevice.

Definition at line 48 of file ForceTorqueSimulationSensorDevice.h.

Member Data Documentation

◆ fx

filters::ButterworthFilter fx {2, 100, Lowpass, 1}

Definition at line 56 of file ForceTorqueSimulationSensorDevice.h.

◆ fy

filters::ButterworthFilter fy {2, 100, Lowpass, 1}

Definition at line 57 of file ForceTorqueSimulationSensorDevice.h.

◆ fz

filters::ButterworthFilter fz {2, 100, Lowpass, 1}

Definition at line 58 of file ForceTorqueSimulationSensorDevice.h.

◆ reportingFrame

const std::string reportingFrame

Definition at line 60 of file ForceTorqueSimulationSensorDevice.h.

◆ reportingTransformation

const Eigen::Matrix3f reportingTransformation

Definition at line 61 of file ForceTorqueSimulationSensorDevice.h.

◆ tx

filters::ButterworthFilter tx {2, 100, Lowpass, 1}

Definition at line 53 of file ForceTorqueSimulationSensorDevice.h.

◆ ty

filters::ButterworthFilter ty {2, 100, Lowpass, 1}

Definition at line 54 of file ForceTorqueSimulationSensorDevice.h.

◆ tz

filters::ButterworthFilter tz {2, 100, Lowpass, 1}

Definition at line 55 of file ForceTorqueSimulationSensorDevice.h.


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