hardware_interface::ForceTorqueSensorHandle Class Reference

A handle used to read the state of a force-torque sensor. More...

#include <force_torque_sensor_interface.h>

Public Member Functions
	ForceTorqueSensorHandle ()
	ForceTorqueSensorHandle (const std::string &name, const std::string &frame_id, const double *force, const double *torque)
	ForceTorqueSensorHandle (const std::string &name, const std::string &frame_id, double *force, double *torque)
const double *	getForce () const
std::string	getFrameId () const
std::string	getName () const
const double *	getTorque () const

Private Attributes
const double *	force_
std::string	frame_id_
std::string	name_
const double *	torque_

Detailed Description

A handle used to read the state of a force-torque sensor.

Definition at line 40 of file force_torque_sensor_interface.h.

Constructor & Destructor Documentation

hardware_interface::ForceTorqueSensorHandle::ForceTorqueSensorHandle ( )

inline

Definition at line 43 of file force_torque_sensor_interface.h.

hardware_interface::ForceTorqueSensorHandle::ForceTorqueSensorHandle ( const std::string &  name, const std::string &  frame_id, const double *  force, const double *  torque  )

inline

Parameters

name	The name of the sensor
frame_id	The reference frame to which this sensor is associated
force	A pointer to the storage of the force value: a triplet (x,y,z)
torque	A pointer to the storage of the torque value: a triplet (x,y,z)

Definition at line 52 of file force_torque_sensor_interface.h.

hardware_interface::ForceTorqueSensorHandle::ForceTorqueSensorHandle ( const std::string &  name, const std::string &  frame_id, double *  force, double *  torque  )

inline

Definition at line 63 of file force_torque_sensor_interface.h.

Member Function Documentation

const double* hardware_interface::ForceTorqueSensorHandle::getForce ( ) const

inline

Definition at line 75 of file force_torque_sensor_interface.h.

std::string hardware_interface::ForceTorqueSensorHandle::getFrameId ( ) const

inline

Definition at line 74 of file force_torque_sensor_interface.h.

std::string hardware_interface::ForceTorqueSensorHandle::getName ( ) const

inline

Definition at line 73 of file force_torque_sensor_interface.h.

const double* hardware_interface::ForceTorqueSensorHandle::getTorque ( ) const

inline

Definition at line 76 of file force_torque_sensor_interface.h.

Member Data Documentation

const double* hardware_interface::ForceTorqueSensorHandle::force_

private

Definition at line 81 of file force_torque_sensor_interface.h.

std::string hardware_interface::ForceTorqueSensorHandle::frame_id_

private

Definition at line 80 of file force_torque_sensor_interface.h.

std::string hardware_interface::ForceTorqueSensorHandle::name_

private

Definition at line 79 of file force_torque_sensor_interface.h.

const double* hardware_interface::ForceTorqueSensorHandle::torque_

private

Definition at line 82 of file force_torque_sensor_interface.h.

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

• force_torque_sensor_interface.h