armarx::ForceTorqueUnitObserverInterface

Overview

interface ForceTorqueUnitObserverInterface extends ObserverInterface, ForceTorqueUnitListener

Implements an interface to a ForceTorqueUnitObserver. Provides topics on measured forces and torques which can be subscribed.

Operation Index

getForceDatafield: getForceDatafield returns a reference on the force topic.
getTorqueDatafield: getTorqueDatafield returns a reference on the torque topic.
createNulledDatafield: createNulledDatafield resets the force/torque topic.

Operations

DatafieldRefBase getForceDatafield(string nodeName) throws UserException

getForceDatafield returns a reference on the force topic.

Parameters

nodeName: Name of force sensor topic.

DatafieldRefBase getTorqueDatafield(string nodeName) throws UserException

getTorqueDatafield returns a reference on the torque topic.

Parameters

nodeName: Name of torque sensor topic.

DatafieldRefBase createNulledDatafield(DatafieldRefBase forceTorqueDatafieldRef)

createNulledDatafield resets the force/torque topic.

Parameters

forceTorqueDatafieldRef: Reference of torque/torque sensor topic.