List of all members | Public Member Functions | Public Attributes
ForceTorqueHelper Class Reference

#include <RobotAPI/libraries/RobotStatechartHelpers/ForceTorqueHelper.h>

Public Member Functions

 ForceTorqueHelper (const ForceTorqueUnitObserverInterfacePrx &forceTorqueObserver, const std::string &FTDatefieldName)
 
Eigen::Vector3f getForce ()
 
FramedDirection getFramedForce ()
 
Eigen::Vector3f getTorque ()
 
void setZero ()
 

Public Attributes

DatafieldRefPtr forceDf
 
Eigen::Vector3f initialForce
 
Eigen::Vector3f initialTorque
 
DatafieldRefPtr torqueDf
 

Detailed Description

Definition at line 41 of file ForceTorqueHelper.h.

Constructor & Destructor Documentation

◆ ForceTorqueHelper()

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

Definition at line 32 of file ForceTorqueHelper.cpp.

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Member Function Documentation

◆ getForce()

Eigen::Vector3f getForce ( )

Definition at line 44 of file ForceTorqueHelper.cpp.

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◆ getFramedForce()

FramedDirection getFramedForce ( )

Definition at line 50 of file ForceTorqueHelper.cpp.

◆ getTorque()

Eigen::Vector3f getTorque ( )

Definition at line 58 of file ForceTorqueHelper.cpp.

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◆ setZero()

void setZero ( )

Definition at line 64 of file ForceTorqueHelper.cpp.

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Member Data Documentation

◆ forceDf

DatafieldRefPtr forceDf

Definition at line 54 of file ForceTorqueHelper.h.

◆ initialForce

Eigen::Vector3f initialForce

Definition at line 56 of file ForceTorqueHelper.h.

◆ initialTorque

Eigen::Vector3f initialTorque

Definition at line 57 of file ForceTorqueHelper.h.

◆ torqueDf

DatafieldRefPtr torqueDf

Definition at line 55 of file ForceTorqueHelper.h.

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