YARP
Yet Another Robot Platform
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yarp::dev::IContactLoadCellArrays Class Referenceabstract
yarp::dev Yarp Devices » Device Interfaces » Multiple Analog Sensor Interfaces

Device interface to one or multiple contact load cell arrays. More...

#include <yarp/dev/MultipleAnalogSensorsInterfaces.h>

+ Inheritance diagram for yarp::dev::IContactLoadCellArrays:

Public Member Functions

virtual size_t getNrOfContactLoadCellArrays () const =0
 Get the number of contact load cell array exposed by this device. More...
 
virtual yarp::dev::MAS_status getContactLoadCellArrayStatus (size_t sens_index) const =0
 Get the status of the specified sensor. More...
 
virtual bool getContactLoadCellArrayName (size_t sens_index, std::string &name) const =0
 Get the name of the specified sensor. More...
 
virtual bool getContactLoadCellArrayMeasure (size_t sens_index, yarp::sig::Vector &out, double &timestamp) const =0
 Get the last reading of the specified sensor. More...
 
virtual size_t getContactLoadCellArraySize (size_t sens_index) const =0
 Get the size of the specified contact load cell array. More...
 
virtual ~IContactLoadCellArrays ()
 

Detailed Description

Device interface to one or multiple contact load cell arrays.

Sensor Tag
ContactLoadCellArrays
Note
This interface is meant to expose array of sensors of normal force for contact, such as the FSR array present in the Nao Robot ( http://doc.aldebaran.com/1-14/family/robots/fsr_robot.html ).

Definition at line 466 of file MultipleAnalogSensorsInterfaces.h.

Constructor & Destructor Documentation

◆ ~IContactLoadCellArrays()

virtual yarp::dev::IContactLoadCellArrays::~IContactLoadCellArrays ( )
inlinevirtual

Definition at line 502 of file MultipleAnalogSensorsInterfaces.h.

Member Function Documentation

◆ getContactLoadCellArrayMeasure()

virtual bool yarp::dev::IContactLoadCellArrays::getContactLoadCellArrayMeasure ( size_t  sens_index,
yarp::sig::Vector &  out,
double &  timestamp 
) const
pure virtual

Get the last reading of the specified sensor.

Parameters
[in]sens_indexThe index of the specified sensor (should be between 0 and getContactLoadCellArrayMeasure()-1).
[out]outThe requested measure. The vector should be getContactLoadCellArrayMeasure(sens_index)-dimensional. The measure is expressed in Newton.
[out]timestampThe timestamp of the requested measure, expressed in seconds.
Returns
false if an error occurred, true otherwise.

Implemented in MultipleAnalogSensorsRemapper, and MultipleAnalogSensorsClient.

◆ getContactLoadCellArrayName()

virtual bool yarp::dev::IContactLoadCellArrays::getContactLoadCellArrayName ( size_t  sens_index,
std::string &  name 
) const
pure virtual

Get the name of the specified sensor.

Returns
false if an error occurred, true otherwise.

Implemented in MultipleAnalogSensorsRemapper, and MultipleAnalogSensorsClient.

◆ getContactLoadCellArraySize()

virtual size_t yarp::dev::IContactLoadCellArrays::getContactLoadCellArraySize ( size_t  sens_index) const
pure virtual

Get the size of the specified contact load cell array.

Implemented in MultipleAnalogSensorsRemapper, and MultipleAnalogSensorsClient.

◆ getContactLoadCellArrayStatus()

virtual yarp::dev::MAS_status yarp::dev::IContactLoadCellArrays::getContactLoadCellArrayStatus ( size_t  sens_index) const
pure virtual

Get the status of the specified sensor.

Implemented in MultipleAnalogSensorsRemapper, and MultipleAnalogSensorsClient.

◆ getNrOfContactLoadCellArrays()

virtual size_t yarp::dev::IContactLoadCellArrays::getNrOfContactLoadCellArrays ( ) const
pure virtual

Get the number of contact load cell array exposed by this device.

Implemented in MultipleAnalogSensorsRemapper, and MultipleAnalogSensorsClient.

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