Klampt::ContactSensor Class Reference

Simulates a contact sensor / tactile sensor. More...

#include <ForceSensors.h>

Inheritance diagram for Klampt::ContactSensor:

Public Member Functions
virtual const char *	Type () const override
virtual void	Simulate (SimRobotController *robot, Simulator *sim) override
	Called whenever the sensor is updated from the simulaton.
virtual void	SimulateKinematic (RobotModel &robot, WorldModel &world) override
	Updates the sensor for a kinematic world. Useful for non-simulation debugging.
virtual void	Reset () override
	Should be overridden if the sensor is stateful to reset to an initial state.
virtual void	MeasurementNames (vector< string > &names) const override
	Must be overridden to produce a list of names of each measurement.
virtual void	GetMeasurements (vector< double > &values) const override
	Must be overridden to returns a list of all measurements.
virtual void	SetMeasurements (const vector< double > &values) override
virtual map< string, string >	Settings () const override
	Returns a map of all current name-value pairs of the sensor's settings.
virtual bool	GetSetting (const string &name, string &str) const override
	Get a named setting. Returns false if the name is not supported.
virtual bool	SetSetting (const string &name, const string &str) override
virtual void	DrawGL (const RobotModel &robot, const vector< double > &measurements) override
Public Member Functions inherited from Klampt::SensorBase
virtual void	Advance (double dt)
	Advances to the next time step with duration dt elapsed.
virtual bool	ReadState (File &f)
virtual bool	WriteState (File &f) const
virtual void	GetInternalState (vector< double > &state) const
	Any other state besides measurements/settings that you might want to store. Used in ReadState.
virtual void	SetInternalState (const vector< double > &state)
	Any other state besides measurements/settings that you might want to store. Used in WriteState.

Public Attributes
int	link
	The link on which the sensor is located.
RigidTransform	Tsensor
	Local frame of the sensor relative to the link (by convention, origin is at contact patch center, z is normal to surface, out of robot)
Vector2	patchMin
Vector2	patchMax
	The 2D contact patch in the local frame of the sensor.
Real	patchTolerance
	The deformation tolerance of the contact patch (default 0.001)
bool	hasForce [3]
	If an element is true, that component of force is measured (default false)
Vector3	fResolution
	Resolution of the sensor (default 0)
Vector3	fVariance
	Estimated variance of the sensor (default 0)
Real	fSensitivity
	The minimum z force needed to register contact (default 0)
Vector3	fSaturation
	The maximum force registered on each axis (default inf)
Real	falloffCoefficient
	The falloff coefficient (default 0)
bool	contact
	Measurement: true if contact has been made.
Vector3	force
	Measurement: the force magnitude.
Public Attributes inherited from Klampt::SensorBase
string	name
double	rate
bool	enabled

Detailed Description

Simulates a contact sensor / tactile sensor.

The sensor comprises a block of space which needs to be placed on the surface of a robot. The x-y coordinates of this block form a "contact patch" over which the sensor obtains readings. The sensor origin is the center of this block.

If the simulator generates any contacts inside the contact patch, where the contact z-coordinate lies within patchTolerance of 0, then the sensor reports contact. The sensor can also have up to 3 axes of force sensing.

If falloffCoefficient=0, then the entire patch basically acts as a rigid strain gauge. Otherwise, the contact force at local point (x,y) attenuates according to the weight (1-4*|x||y|/(xpatchSize*ypatchSize))^falloffCoefficient so that forces near the edge of the patch are reduced in their influence on the measurement.

Configurable settings:

• link (int)
• Tsensor (RigidTransform)
• patchMin (Vector2)
• patchMax (Vector2)
• patchTolerance (float)
• hasForce (bool [3])
• fResolution (Vector3)
• fVariance (Vector3)
• fSensitivity (float)
• fSaturation (Vector3)
• falloffCoefficient (float)

Member Function Documentation

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

overridevirtual

If the sensor can be drawn, draw the sensor on the robot's current configuration, using these measurements, using OpenGL calls.

Reimplemented from Klampt::SensorBase.

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

overridevirtual

Updates the internal measurement vector. Should be overridden to correctly restore state using ReadState(), or to visualize a physical robot's sensors.

Reimplemented from Klampt::SensorBase.

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

overridevirtual

Set a named setting. Returns false if the name is not supported, or the value is formatted incorrectly

Reimplemented from Klampt::SensorBase.

---

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

• ForceSensors.h