Class for sensing the torque that are applied to the joint by a motor. More...

#include <torquesensor.h>

Inheritance diagram for TorqueSensor:

Collaboration diagram for TorqueSensor:

Public Member Functions
	TorqueSensor (double maxtorque=1.0, int avg=1)

virtual	~TorqueSensor ()

virtual void	init (Primitive own, Joint joint=0)
	the primitive is not required here, set it to NULL More...

virtual int	getSensorNumber () const
	returns the number of sensors values produced by this sensor More...

virtual bool	sense (const GlobalData &globaldata)
	performs sense action More...

virtual std::list< sensor >	getList () const
	returns a list of sensor values (usually in the range [-1,1] ) This function should be overloaded. More...

virtual int	get (sensor *sensors, int length) const
	writes the sensor values (usually in the range [-1,1] ) into the given sensor array and returns the number of sensors written. More...

Public Member Functions inherited from Sensor
	Sensor ()

virtual	~Sensor ()

virtual std::list < SensorMotorInfo >	getSensorInfos () const
	returns a list of sensor infos ( More...

virtual void	update ()
	to update any visual appearance More...

std::list< sensor >	getListOfArray () const
	helper function for performance implementation of list<> get() based on array-get More...

Public Member Functions inherited from SensorMotorInfoAble
	SensorMotorInfoAble ()

void	setBaseName (const std::string &basename)

void	setBaseInfo (const SensorMotorInfo &baseinfo)

SensorMotorInfo	getBaseInfo ()

void	setNamingFunc (const NamingFunction &func)

NamingFunction	getNamingFunc () const

void	setNames (const std::vector< std::string > &names)
	set names explicitly (basename is anyway suffixed) More...

std::string	getName (int index) const
	returns the name of a single item. Typically called from within Sensor and Motor class. More...

std::list< SensorMotorInfo >	getInfos (int number) const
	get all infos. More...

Additional Inherited Members
Public Types inherited from Sensor
enum	Dimensions { X = 1, Y = 2, Z = 4, XY = X \| Y, XZ = X \| Z, YZ = Y \| Z, XYZ = X \| Y \| Z }
	defines which dimensions should be sensed. The meaning is sensor specific. More...

Public Types inherited from SensorMotorInfoAble
typedef std::function < std::string(int)>	NamingFunction
	function that returns the name given the index More...

Static Public Member Functions inherited from Sensor
static std::list< sensor >	selectrows (const matrix::Matrix &m, short dimensions)
	selects the rows specified by dimensions (X->0, Y->1, Z->2) More...

static int	selectrows (sensor *sensors, int length, const matrix::Matrix &m, short dimensions)
	selects the rows specified by dimensions (X->0, Y->1, Z->2) More...

static Dimensions	parseSensorDimension (char *str)

static std::string	dimensions2String (short dimensions)

Static Public Member Functions inherited from SensorMotorInfoAble
static std::string	defaultNameing (int index)
	the default implementation is for index==0: basename, otherwise basename + (index+1) More...

Protected Attributes inherited from SensorMotorInfoAble
NamingFunction	func

SensorMotorInfo	baseinfo

Detailed Description

Class for sensing the torque that are applied to the joint by a motor.

The sensor value can be interpreted as a motor current.

Constructor & Destructor Documentation

TorqueSensor	(	double	maxtorque = `1.0`,
		int	avg = `1`
	)

Parameters

maxtorque	at this torque the sensor value is 1.
avg	number of averaging steps (def 1) (very noisy for universal joint)

~TorqueSensor ( )

virtual

Member Function Documentation

int get	(	sensor *	sensors,
		int	length
	)		const

virtual

writes the sensor values (usually in the range [-1,1] ) into the given sensor array and returns the number of sensors written.

A default implementation based on get() is provided. Only if performance matters overwrite this function.

Parameters

sensors	call by refernce array which received the values
length	capacity of sensors array

Returns: number of sensor values written

Reimplemented from Sensor.

std::list< sensor > getList ( ) const

virtual

returns a list of sensor values (usually in the range [-1,1] ) This function should be overloaded.

If performance matters, implement get(double*, int) and use getListOfArray to implement this.

Implements Sensor.

int getSensorNumber ( ) const

virtual

returns the number of sensors values produced by this sensor

Implements Sensor.

void init	(	Primitive *	own,
		Joint *	joint = `0`
	)

virtual

the primitive is not required here, set it to NULL

Parameters

joint the joint on which to measure the torques.

Implements Sensor.

bool sense ( const GlobalData & globaldata )

virtual

performs sense action

Implements Sensor.

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

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation