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, double *force, double *torque) | |
const double * | getForce () const |
std::string | getFrameId () const |
std::string | getName () const |
const double * | getTorque () const |
Private Attributes | |
double * | force_ |
std::string | frame_id_ |
std::string | name_ |
double * | torque_ |
A handle used to read the state of a force-torque sensor.
Definition at line 40 of file force_torque_sensor_interface.h.
Definition at line 43 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] |
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.
const double* hardware_interface::ForceTorqueSensorHandle::getForce | ( | ) | const [inline] |
Definition at line 64 of file force_torque_sensor_interface.h.
std::string hardware_interface::ForceTorqueSensorHandle::getFrameId | ( | ) | const [inline] |
Definition at line 63 of file force_torque_sensor_interface.h.
std::string hardware_interface::ForceTorqueSensorHandle::getName | ( | ) | const [inline] |
Definition at line 62 of file force_torque_sensor_interface.h.
const double* hardware_interface::ForceTorqueSensorHandle::getTorque | ( | ) | const [inline] |
Definition at line 65 of file force_torque_sensor_interface.h.
double* hardware_interface::ForceTorqueSensorHandle::force_ [private] |
Definition at line 70 of file force_torque_sensor_interface.h.
std::string hardware_interface::ForceTorqueSensorHandle::frame_id_ [private] |
Definition at line 69 of file force_torque_sensor_interface.h.
std::string hardware_interface::ForceTorqueSensorHandle::name_ [private] |
Definition at line 68 of file force_torque_sensor_interface.h.
double* hardware_interface::ForceTorqueSensorHandle::torque_ [private] |
Definition at line 71 of file force_torque_sensor_interface.h.