#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 SensorValueForceTorque *	getSensorValue () const final override

	SensorDeviceTemplate (const std::string &name)

Public Member Functions inherited from SensorDevice
template<class T>
const T *	getSensorValue () const

std::string	getSensorValueType (bool withoutNamespaceSpecifier=false) const
	Returns the SensorValue's type as a string.

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.

	SensorDevice (const std::string &name)
	Create a SensorDevice with the given name.

Public Member Functions inherited from DeviceBase
	DeviceBase (const std::string &name)
	Create a Device with the given name.

const std::string &	getDeviceName () const

const std::set< std::string > &	getTags () const

virtual bool	hasError ()

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.

Protected Member Functions inherited from DeviceBase
void	addDeviceTag (const std::string &tag)
	adds the given tag to the Device

Constructor & Destructor Documentation

◆ ForceTorqueSimulationSensorDevice()

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

inline

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.