Klamp't  0.8.1
Public Member Functions | Public Attributes | List of all members
DriverTorqueSensor Class Reference

Simulates a torque sensor. More...

#include <JointSensors.h>

Inheritance diagram for DriverTorqueSensor:
SensorBase

Public Member Functions

virtual const char * Type () const
 
virtual void Simulate (ControlledRobotSimulator *robot, WorldSimulation *sim)
 Called whenever the sensor is updated from the simulaton.
 
virtual void SimulateKinematic (Robot &robot, RobotWorld &world)
 Updates the sensor for a kinematic world. Useful for non-simulation debugging.
 
virtual void Reset ()
 Should be overridden if the sensor is stateful to reset to an initial state.
 
virtual void MeasurementNames (vector< string > &names) const
 Must be overridden to produce a list of names of each measurement.
 
virtual void GetMeasurements (vector< double > &values) const
 Must be overridden to returns a list of all measurements.
 
virtual void SetMeasurements (const vector< double > &values)
 
virtual map< string, string > Settings () const
 Returns a map of all current name-value pairs of the sensor's settings.
 
virtual bool GetSetting (const string &name, string &str) const
 Get a named setting. Returns false if the name is not supported.
 
virtual bool SetSetting (const string &name, const string &str)
 
- Public Member Functions inherited from 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.
 
virtual void DrawGL (const Robot &robot, const vector< double > &measurements)
 

Public Attributes

vector< int > indices
 The indices on which the torque sensors are located.
 
Vector tvariance
 Estimated variance of the torque values.
 
Vector tresolution
 Estimate on the torque resolution.
 
Vector t
 Measurement: joint torques.
 
- Public Attributes inherited from SensorBase
string name
 
double rate
 

Detailed Description

Simulates a torque sensor.

Motors typically provide current/voltage information, and this assumes that it is transformed into torque units.

Configurable settings:

Member Function Documentation

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

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

Reimplemented from SensorBase.

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

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

Reimplemented from SensorBase.


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