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

Class representing a three axis force-torque contact sensor.

It is meant to represent sole sensor composed of a array of uniaxial pressure sensors, such as the one present in the soles of Boston Dynamics Atlas, SoftBank Robotics Nao or ROBOTIS OP2.

The sensor is assumed to be measuring the z-component of the force and the x,y component of the torque of the net external force/torque applied on the link expressed in the sensor frame.

Base classes

class LinkSensor: Interface for Sensor that are associated to a Link.

Constructors, destructors, conversion operators

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

Public functions

auto operator=(const ThreeAxisForceTorqueContactSensor& other) -> ThreeAxisForceTorqueContactSensor&: Copy operator.
auto setName(const std::string& _name) -> bool virtual: Set the name (id) of the sensor.
auto setLinkSensorTransform(const iDynTree::Transform& link_H_sensor) -> bool virtual: Set the transform from the sensor to the parent link attached to the sensor.
auto setParentLink(const std::string& parentLinkName) -> bool virtual: Set the name of the parent Link.
auto setParentLinkIndex(const LinkIndex&) -> bool virtual: Set the numeric index of the parent link of the sensor.
auto getName() const -> std::string virtual: Get the id (name) of sensor.
auto getSensorType() const -> SensorType virtual: Get the type of the sensor.
auto getParentLink() const -> std::string virtual: Get the name of the parent Link.
auto getParentLinkIndex() const -> LinkIndex virtual: Get the numeric index of the parent Link.
auto getLinkSensorTransform() const -> Transform virtual: Return the transform that applied on a element expressed in sensor frames it transform it in one expressed in the link frame (.
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.

Function documentation

bool iDynTree::ThreeAxisForceTorqueContactSensor::setLinkSensorTransform(const iDynTree::Transform& link_H_sensor) virtual

Set the transform from the sensor to the parent link attached to the sensor.

Returns	true if link_index is parent link attached to the accelerometer sensor, false otherwise.

SensorType iDynTree::ThreeAxisForceTorqueContactSensor::getSensorType() const virtual

Get the type of the sensor.

Returns	the type of the sensor.

LinkIndex iDynTree::ThreeAxisForceTorqueContactSensor::getParentLinkIndex() const virtual

Get the numeric index of the parent Link.

Returns	the index of the parent Link of the sensor.

Transform iDynTree::ThreeAxisForceTorqueContactSensor::getLinkSensorTransform() const virtual

Return the transform that applied on a element expressed in sensor frames it transform it in one expressed in the link frame (.

Returns	the link_H_sensor transform