latest/klampt_docs/ForceSensors_8h_source.html

 #ifndef CONTROL_FORCE_SENSORS_H

 #define CONTROL_FORCE_SENSORS_H


 #include "Sensor.h"

 #include <KrisLibrary/math3d/primitives.h>


 namespace Klampt {


 using namespace Math3D;


 class ContactSensor : public SensorBase

 {

  public:

   ContactSensor();

   virtual ~ContactSensor() {}

   virtual const char* Type() const override { return "ContactSensor"; }

   virtual void Simulate(SimRobotController* robot,Simulator* sim) override;

   virtual void SimulateKinematic(RobotModel& robot,WorldModel& world) override;

   virtual void Reset() override;

   virtual void MeasurementNames(vector<string>& names) const override;

   virtual void GetMeasurements(vector<double>& values) const override;

   virtual void SetMeasurements(const vector<double>& values) override;

   virtual map<string,string> Settings() const override;

   virtual bool GetSetting(const string& name,string& str) const override;

   virtual bool SetSetting(const string& name,const string& str) override;

   virtual void DrawGL(const RobotModel& robot,const vector<double>& measurements) override;


   int link;

   RigidTransform Tsensor;

   Vector2 patchMin,patchMax;

   Real patchTolerance;

   bool hasForce[3];

   Vector3 fResolution;

   Vector3 fVariance;

   Real fSensitivity;

   Vector3 fSaturation;

   Real falloffCoefficient;


   bool contact;

   Vector3 force;

 };


 class ForceTorqueSensor : public SensorBase

 {

  public:

   ForceTorqueSensor();

   virtual ~ForceTorqueSensor() {}

   virtual const char* Type() const override { return "ForceTorqueSensor"; }

   virtual void Simulate(SimRobotController* robot,Simulator* sim) override;

   virtual void SimulateKinematic(RobotModel& robot,WorldModel& world) override;

   virtual void Reset() override;

   virtual void MeasurementNames(vector<string>& names) const override;

   virtual void GetMeasurements(vector<double>& values) const override;

   virtual void SetMeasurements(const vector<double>& values) override;

   virtual map<string,string> Settings() const override;

   virtual bool GetSetting(const string& name,string& str) const override;

   virtual bool SetSetting(const string& name,const string& str) override;

   virtual void DrawGL(const RobotModel& robot,const vector<double>& measurements) override;


   int link;

   bool hasForce[3];

   bool hasTorque[3];

   Vector3 fVariance, tVariance;


   Vector3 f,t;

 };


 } //namespace Klampt


 #endif

Klampt::ContactSensor
Simulates a contact sensor / tactile sensor.
Definition: ForceSensors.h:44

Klampt::ContactSensor::DrawGL
virtual void DrawGL(const RobotModel &robot, const vector< double > &measurements) override

Klampt::ContactSensor::MeasurementNames
virtual void MeasurementNames(vector< string > &names) const override
Must be overridden to produce a list of names of each measurement.

Klampt::ContactSensor::fResolution
Vector3 fResolution
Resolution of the sensor (default 0)
Definition: ForceSensors.h:65

Klampt::ContactSensor::force
Vector3 force
Measurement: the force magnitude.
Definition: ForceSensors.h:72

Klampt::ContactSensor::fSaturation
Vector3 fSaturation
The maximum force registered on each axis (default inf)
Definition: ForceSensors.h:68

Klampt::ContactSensor::GetSetting
virtual bool GetSetting(const string &name, string &str) const override
Get a named setting. Returns false if the name is not supported.

Klampt::ContactSensor::patchMax
Vector2 patchMax
The 2D contact patch in the local frame of the sensor.
Definition: ForceSensors.h:62

Klampt::ContactSensor::Settings
virtual map< string, string > Settings() const override
Returns a map of all current name-value pairs of the sensor's settings.

Klampt::ContactSensor::SetSetting
virtual bool SetSetting(const string &name, const string &str) override

Klampt::ContactSensor::Tsensor
RigidTransform Tsensor
Local frame of the sensor relative to the link (by convention, origin is at contact patch center,...
Definition: ForceSensors.h:61

Klampt::ContactSensor::Reset
virtual void Reset() override
Should be overridden if the sensor is stateful to reset to an initial state.

Klampt::ContactSensor::SetMeasurements
virtual void SetMeasurements(const vector< double > &values) override

Klampt::ContactSensor::contact
bool contact
Measurement: true if contact has been made.
Definition: ForceSensors.h:71

Klampt::ContactSensor::fVariance
Vector3 fVariance
Estimated variance of the sensor (default 0)
Definition: ForceSensors.h:66

Klampt::ContactSensor::Simulate
virtual void Simulate(SimRobotController *robot, Simulator *sim) override
Called whenever the sensor is updated from the simulaton.

Klampt::ContactSensor::SimulateKinematic
virtual void SimulateKinematic(RobotModel &robot, WorldModel &world) override
Updates the sensor for a kinematic world. Useful for non-simulation debugging.

Klampt::ContactSensor::link
int link
The link on which the sensor is located.
Definition: ForceSensors.h:60

Klampt::ContactSensor::GetMeasurements
virtual void GetMeasurements(vector< double > &values) const override
Must be overridden to returns a list of all measurements.

Klampt::ForceTorqueSensor
Simulates a force-torque sensor mounted between a link and its parent. Can be configured to be up to ...
Definition: ForceSensors.h:94

Klampt::ForceTorqueSensor::GetMeasurements
virtual void GetMeasurements(vector< double > &values) const override
Must be overridden to returns a list of all measurements.

Klampt::ForceTorqueSensor::MeasurementNames
virtual void MeasurementNames(vector< string > &names) const override
Must be overridden to produce a list of names of each measurement.

Klampt::ForceTorqueSensor::GetSetting
virtual bool GetSetting(const string &name, string &str) const override
Get a named setting. Returns false if the name is not supported.

Klampt::ForceTorqueSensor::SimulateKinematic
virtual void SimulateKinematic(RobotModel &robot, WorldModel &world) override
Updates the sensor for a kinematic world. Useful for non-simulation debugging.

Klampt::ForceTorqueSensor::link
int link
The link on which the sensor is located (between link and parent)
Definition: ForceSensors.h:110

Klampt::ForceTorqueSensor::DrawGL
virtual void DrawGL(const RobotModel &robot, const vector< double > &measurements) override

Klampt::ForceTorqueSensor::t
Vector3 t
Measurement: the force/torque at the given position, on the link (negative on the parent link)
Definition: ForceSensors.h:115

Klampt::ForceTorqueSensor::Settings
virtual map< string, string > Settings() const override
Returns a map of all current name-value pairs of the sensor's settings.

Klampt::ForceTorqueSensor::SetSetting
virtual bool SetSetting(const string &name, const string &str) override

Klampt::ForceTorqueSensor::SetMeasurements
virtual void SetMeasurements(const vector< double > &values) override

Klampt::ForceTorqueSensor::Simulate
virtual void Simulate(SimRobotController *robot, Simulator *sim) override
Called whenever the sensor is updated from the simulaton.

Klampt::ForceTorqueSensor::Reset
virtual void Reset() override
Should be overridden if the sensor is stateful to reset to an initial state.

Klampt::ForceTorqueSensor::tVariance
Vector3 tVariance
Estimated variance of the sensor (default 0)
Definition: ForceSensors.h:113

Klampt::RobotModel
The main robot type used in RobotSim.
Definition: Robot.h:84

Klampt::SensorBase
A sensor base class. A SensorBase should allow a Controller to both connect to a simulation as well a...
Definition: Sensor.h:56

Klampt::SimRobotController
A class containing information about an ODE-simulated and controlled robot.
Definition: SimRobotController.h:20

Klampt::Simulator
A physical simulator for a WorldModel.
Definition: Simulator.h:70

Klampt::WorldModel
The main world class containing multiple robots, objects, and static geometries (terrains)....
Definition: World.h:25