iDynTree::SixAxisForceTorqueSensor class
#include <iDynTree/SixAxisForceTorqueSensor.h>

A six axis force torque sensor class implementation of the Sensor.

Base classes

class JointSensor: Interface for Sensor that are associated to a Joint.

Constructors, destructors, conversion operators

SixAxisForceTorqueSensor(): Constructor.
SixAxisForceTorqueSensor(const SixAxisForceTorqueSensor& other): Copy constructor.
~SixAxisForceTorqueSensor() virtual: Destructor.

Public functions

auto operator=(const SixAxisForceTorqueSensor& other) -> SixAxisForceTorqueSensor&: Copy operator.
auto setName(const std::string& _name) -> bool virtual: Set the name (id) of the sensor.
auto setFirstLinkSensorTransform(const LinkIndex link_index, const iDynTree::Transform& link_H_sensor) const -> bool: Set the transform from the sensor to a first link attached to the sensor.
auto setSecondLinkSensorTransform(const LinkIndex link_index, const iDynTree::Transform& link_H_sensor) const -> bool: Set the transform from the sensor to a the second link attached to the sensor.
auto getFirstLinkIndex() const -> LinkIndex: Get the index of the first link attached to the sensor.
auto getSecondLinkIndex() const -> LinkIndex: Get the index of the first link attached to the sensor.
auto setFirstLinkName(const std::string& name) -> bool: Set the name of the first link at which the FT sensor is attached.
auto setSecondLinkName(const std::string& name) -> bool: Set the name of the first link at which the FT sensor is attached.
auto getFirstLinkName() const -> std::string: Get the name of the first link at which the FT sensor is attached.
auto getSecondLinkName() const -> std::string: Get the name of the second link at which the FT sensor is attached.
auto setParentJoint(const std::string& parentJointName) -> bool virtual: Set the name of the parent Joint.
auto setParentJointIndex(const JointIndex&) -> bool virtual: Set the numeric index of the parent joint of the sensor.
auto setAppliedWrenchLink(const LinkIndex applied_wrench_index) -> bool: The Six Axis Force Torque sensor measure the Force Torque (wrench) applied by a link on another link.
auto getName() const -> std::string virtual: Documented in the sensor.
auto getSensorType() const -> SensorType virtual: Documented in Sensor.
auto getParentJoint() const -> std::string virtual: Get the name of the parent Joint.
auto getParentJointIndex() const -> JointIndex virtual: Get the numeric index of the parent of the sensor.
auto isValid() const -> bool virtual: Return true if the sensor has been appropriately configured (all setters where setted, false otherwise.
auto clone() const -> Sensor* virtual: Return a pointer to a copy of this sensor.
auto updateIndices(const Model& model) -> bool virtual: Update all the indices (link/frames) contained in this sensor.
auto getAppliedWrenchLink() const -> LinkIndex: The Six Axis Force Torque sensor measure the Force Torque (wrench) applied by a link on another link.
auto isLinkAttachedToSensor(const LinkIndex link_index) const -> bool: Check if a given link is attached to this FT sensor.
auto getLinkSensorTransform(const LinkIndex link_index, iDynTree::Transform& link_H_sensor) const -> bool: Get the transform from the sensor to the specified link.
auto getWrenchAppliedOnLink(const LinkIndex link_index, const iDynTree::Wrench& measured_wrench, iDynTree::Wrench& wrench_applied_on_link) const -> bool: Get wrench applied on the specified link expressed in the specified link frame.
auto getWrenchAppliedOnLinkMatrix(const LinkIndex link_index, Matrix6x6& wrench_applied_on_link_matrix) const -> bool: Get the 6x6 matrix that multiplied by the wrench returned by the F/T sensors returnes the wrench applied on the specified link expressed in the specified link frame.
auto getWrenchAppliedOnLinkInverseMatrix(const LinkIndex link_index, Matrix6x6& wrench_applied_on_link_inverse_matrix) const -> bool: Get the 6x6 matrix that multiplied by the wrench applied on the specified link expressed in the specified link frame returns the wrench measured by the F/T sensors.
auto predictMeasurement(const Traversal& traversal, const LinkInternalWrenches& intWrenches) -> iDynTree::Wrench: Predict sensor measurement when given a vector of internal wrenches computed with a given traversal.
auto toString(const Model& model) const -> std::string

Function documentation

bool iDynTree::SixAxisForceTorqueSensor::setFirstLinkSensorTransform(const LinkIndex link_index, const iDynTree::Transform& link_H_sensor) const

Set the transform from the sensor to a first link attached to the sensor.

Returns	true if link_index is one of the two links attached to the FT sensor, false otherwise.

bool iDynTree::SixAxisForceTorqueSensor::setSecondLinkSensorTransform(const LinkIndex link_index, const iDynTree::Transform& link_H_sensor) const

Set the transform from the sensor to a the second link attached to the sensor.

Returns	true if link_index is one of the two links attached to the FT sensor, false otherwise.

LinkIndex iDynTree::SixAxisForceTorqueSensor::getFirstLinkIndex() const

Get the index of the first link attached to the sensor.

Returns	the index of the first link attached to the sensor.

LinkIndex iDynTree::SixAxisForceTorqueSensor::getSecondLinkIndex() const

Get the index of the first link attached to the sensor.

Returns	the index of the first link attached to the sensor.

bool iDynTree::SixAxisForceTorqueSensor::setAppliedWrenchLink(const LinkIndex applied_wrench_index)

The Six Axis Force Torque sensor measure the Force Torque (wrench) applied by a link on another link.

Returns	the index of the link on which the measure force is applied.

This method sets the link on which the measured force is applied.

JointIndex iDynTree::SixAxisForceTorqueSensor::getParentJointIndex() const virtual

Get the numeric index of the parent of the sensor.

Returns	the index of the parent (Junction or Link) of the sensor.

Depending on the type of the sensor, the parent could be a Junction or a Link.

LinkIndex iDynTree::SixAxisForceTorqueSensor::getAppliedWrenchLink() const

The Six Axis Force Torque sensor measure the Force Torque (wrench) applied by a link on another link.

Returns	the index of the link on which the measure force is applied.

This method returns the link on which the measured force is applied.

bool iDynTree::SixAxisForceTorqueSensor::isLinkAttachedToSensor(const LinkIndex link_index) const

Check if a given link is attached to this FT sensor.

Returns	true if link_index is attached to the ft sensor, false otherwise

bool iDynTree::SixAxisForceTorqueSensor::getLinkSensorTransform(const LinkIndex link_index, iDynTree::Transform& link_H_sensor) const

Get the transform from the sensor to the specified link.

Returns	true if link_index is one of the two links attached to the FT sensor, false otherwise.

bool iDynTree::SixAxisForceTorqueSensor::getWrenchAppliedOnLink(const LinkIndex link_index, const iDynTree::Wrench& measured_wrench, iDynTree::Wrench& wrench_applied_on_link) const

Get wrench applied on the specified link expressed in the specified link frame.

Returns	true if link_index is one of the two links attached to the FT sensor, false otherwise.

If the F/T sensors is not connected to link_index, the function will return false and the wrench_applied_on_link will be zeroed.

bool iDynTree::SixAxisForceTorqueSensor::getWrenchAppliedOnLinkMatrix(const LinkIndex link_index, Matrix6x6& wrench_applied_on_link_matrix) const

Get the 6x6 matrix that multiplied by the wrench returned by the F/T sensors returnes the wrench applied on the specified link expressed in the specified link frame.

Returns	true if link_index is one of the two links attached to the FT sensor, false otherwise.

If the F/T sensors is not connected to link_index, the function will return false and the matrix will be zeroed.

Note

This will return and adjoint transformation matrix, possibly with the sign changed depending on the "direction" of the F/T sensor (i.e. if it is measures the wrench applied by a link to another, of viceversa).

The following condition should always hold :

getWrenchAppliedOnLink(link,measured_wrench,wrench_on_link);
getWrenchAppliedOnLinkMatrix(link,wrench_applied_on_link_matrix);
wrench_applied_on_link_matrix*measured_wrench.toVector() == wrench_on_link

bool iDynTree::SixAxisForceTorqueSensor::getWrenchAppliedOnLinkInverseMatrix(const LinkIndex link_index, Matrix6x6& wrench_applied_on_link_inverse_matrix) const

Get the 6x6 matrix that multiplied by the wrench applied on the specified link expressed in the specified link frame returns the wrench measured by the F/T sensors.

Returns	true if link_index is one of the two links attached to the FT sensor, false otherwise.