53 const std::string& frame_id,
64 const std::string& frame_id,
std::string getFrameId() const
const double * getForce() const
ForceTorqueSensorHandle(const std::string &name, const std::string &frame_id, double *force, double *torque)
ForceTorqueSensorHandle()=default
Base class for handling hardware resources.
ForceTorqueSensorHandle(const std::string &name, const std::string &frame_id, const double *force, const double *torque)
const double * getTorque() const
Hardware interface to support reading the state of a force-torque sensor.
std::string getName() const
A handle used to read the state of a force-torque sensor.