ForceTorqueUtility Class Reference

#include <armarx/control/common/ft/utils/ForceTorqueUtility.h>

Public Member Functions
void	calibrate ()
	ForceTorqueUtility (const ForceTorqueUnitObserverInterfacePrx &forceTorqueObserver, const std::string &FTDatefieldName)
Eigen::Vector3f	getForce ()
Eigen::Vector6f	getForceTorque ()
FramedDirection	getFramedForce ()
Eigen::Vector3f	getTorque ()

Public Attributes
DatafieldRefPtr	forceDf
Eigen::Vector3f	initialForce = Eigen::Vector3f::Zero()
Eigen::Vector3f	initialTorque = Eigen::Vector3f::Zero()
DatafieldRefPtr	torqueDf

Detailed Description

Definition at line 39 of file ForceTorqueUtility.h.

Constructor & Destructor Documentation

ForceTorqueUtility()

ForceTorqueUtility	(	const ForceTorqueUnitObserverInterfacePrx &	forceTorqueObserver,
		const std::string &	FTDatefieldName
	)

Definition at line 31 of file ForceTorqueUtility.cpp.

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Member Function Documentation

calibrate()

void calibrate

(

)

Definition at line 64 of file ForceTorqueUtility.cpp.

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getForce()

Eigen::Vector3f getForce

(

)

Definition at line 38 of file ForceTorqueUtility.cpp.

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getForceTorque()

Eigen::Vector6f getForceTorque

(

)

Definition at line 55 of file ForceTorqueUtility.cpp.

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getFramedForce()

FramedDirection getFramedForce

(

)

Definition at line 43 of file ForceTorqueUtility.cpp.

getTorque()

Eigen::Vector3f getTorque

(

)

Definition at line 50 of file ForceTorqueUtility.cpp.

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Member Data Documentation

forceDf

DatafieldRefPtr forceDf

Definition at line 52 of file ForceTorqueUtility.h.

initialForce

Eigen::Vector3f initialForce = Eigen::Vector3f::Zero()

Definition at line 54 of file ForceTorqueUtility.h.

initialTorque

Eigen::Vector3f initialTorque = Eigen::Vector3f::Zero()

Definition at line 55 of file ForceTorqueUtility.h.

torqueDf

DatafieldRefPtr torqueDf

Definition at line 53 of file ForceTorqueUtility.h.

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

• armarx/control/common/ft/utils/ForceTorqueUtility.h
• armarx/control/common/ft/utils/ForceTorqueUtility.cpp