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

Constructor & Destructor Documentation

ForceTorqueHelper()

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

Member Function Documentation

getForce()

Eigen::Vector3f getForce

(

)

getFramedForce()

FramedDirection getFramedForce

(

)

getTorque()

Eigen::Vector3f getTorque

(

)

setZero()

void setZero

(

)

Member Data Documentation

forceDf

DatafieldRefPtr forceDf

initialForce

Eigen::Vector3f initialForce

initialTorque

Eigen::Vector3f initialTorque

torqueDf

DatafieldRefPtr torqueDf

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

• RobotAPI/libraries/RobotStatechartHelpers/ForceTorqueHelper.h
• RobotAPI/libraries/RobotStatechartHelpers/ForceTorqueHelper.cpp