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 ()=default
	ForceTorqueSensorHandle (const std::string &name, const std::string &frame_id, const double *force, const double *torque)
const double *	getForce () const
std::string	getFrameId () const
std::string	getName () const
const double *	getTorque () const

Private Attributes
const double *	force_ = {nullptr}
std::string	frame_id_
std::string	name_
const double *	torque_ = {nullptr}

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

ForceTorqueSensorHandle() [1/2]

hardware_interface::ForceTorqueSensorHandle::ForceTorqueSensorHandle ( )

default

ForceTorqueSensorHandle() [2/2]

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.

Member Function Documentation

getForce()

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

inline

Definition at line 64 of file force_torque_sensor_interface.h.

getFrameId()

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

inline

Definition at line 63 of file force_torque_sensor_interface.h.

getName()

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

inline

Definition at line 62 of file force_torque_sensor_interface.h.

getTorque()

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

inline

Definition at line 65 of file force_torque_sensor_interface.h.

Member Data Documentation

force_

const double* hardware_interface::ForceTorqueSensorHandle::force_ = {nullptr}

private

Definition at line 70 of file force_torque_sensor_interface.h.

frame_id_

std::string hardware_interface::ForceTorqueSensorHandle::frame_id_

private

Definition at line 69 of file force_torque_sensor_interface.h.

name_

std::string hardware_interface::ForceTorqueSensorHandle::name_

private

Definition at line 68 of file force_torque_sensor_interface.h.

torque_

const double* hardware_interface::ForceTorqueSensorHandle::torque_ = {nullptr}

private

Definition at line 71 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