yarp::dev::ISixAxisForceTorqueSensors Class Reference

Device interface to one or multiple six axis force torque sensor. More...

#include <yarp/dev/MultipleAnalogSensorsInterfaces.h>

Inheritance diagram for yarp::dev::ISixAxisForceTorqueSensors:

Public Member Functions
virtual size_t	getNrOfSixAxisForceTorqueSensors () const =0
	Get the number of six axis force torque sensors exposed by this device. More...
virtual yarp::dev::MAS_status	getSixAxisForceTorqueSensorStatus (size_t sens_index) const =0
	Get the status of the specified sensor. More...
virtual bool	getSixAxisForceTorqueSensorName (size_t sens_index, std::string &name) const =0
	Get the name of the specified sensor. More...
virtual bool	getSixAxisForceTorqueSensorFrameName (size_t sens_index, std::string &frameName) const =0
	Get the name of the frame of the specified sensor. More...
virtual bool	getSixAxisForceTorqueSensorMeasure (size_t sens_index, yarp::sig::Vector &out, double &timestamp) const =0
	Get the last reading of the specified sensor. More...
virtual	~ISixAxisForceTorqueSensors ()

Detailed Description

Device interface to one or multiple six axis force torque sensor.

The first three element of the returned vector are the three-axis forces, while the last three elements are the three-axis torques.

Sensor Tag
SixAxisForceTorqueSensors

Definition at line 418 of file MultipleAnalogSensorsInterfaces.h.

Constructor & Destructor Documentation

~ISixAxisForceTorqueSensors()

virtual yarp::dev::ISixAxisForceTorqueSensors::~ISixAxisForceTorqueSensors ( )

inlinevirtual

Definition at line 451 of file MultipleAnalogSensorsInterfaces.h.

Member Function Documentation

getNrOfSixAxisForceTorqueSensors()

virtual size_t yarp::dev::ISixAxisForceTorqueSensors::getNrOfSixAxisForceTorqueSensors ( ) const

pure virtual

Get the number of six axis force torque sensors exposed by this device.

Implemented in MultipleAnalogSensorsRemapper, and MultipleAnalogSensorsClient.

getSixAxisForceTorqueSensorFrameName()

virtual bool yarp::dev::ISixAxisForceTorqueSensors::getSixAxisForceTorqueSensorFrameName ( size_t  sens_index, std::string &  frameName  ) const

pure virtual

Get the name of the frame of the specified sensor.

Implemented in MultipleAnalogSensorsRemapper, and MultipleAnalogSensorsClient.

getSixAxisForceTorqueSensorMeasure()

virtual bool yarp::dev::ISixAxisForceTorqueSensors::getSixAxisForceTorqueSensorMeasure ( size_t  sens_index, yarp::sig::Vector &  out, double &  timestamp  ) const

pure virtual

Get the last reading of the specified sensor.

Parameters

[in]	sens_index	The index of the specified sensor (should be between 0 and getNrOfSixAxisForceTorqueSensors()-1).
[out]	out	The requested measure. The vector should be 6-dimensional. The measure is expressed in Newton for the first three elements, Newton Meters for the last three elements.
[out]	timestamp	The timestamp of the requested measure, expressed in seconds.

Implemented in MultipleAnalogSensorsRemapper, and MultipleAnalogSensorsClient.

getSixAxisForceTorqueSensorName()

virtual bool yarp::dev::ISixAxisForceTorqueSensors::getSixAxisForceTorqueSensorName ( size_t  sens_index, std::string &  name  ) const

pure virtual

Get the name of the specified sensor.

Implemented in MultipleAnalogSensorsRemapper, and MultipleAnalogSensorsClient.

getSixAxisForceTorqueSensorStatus()

virtual yarp::dev::MAS_status yarp::dev::ISixAxisForceTorqueSensors::getSixAxisForceTorqueSensorStatus ( size_t  sens_index ) const

pure virtual

Get the status of the specified sensor.

Implemented in MultipleAnalogSensorsRemapper, and MultipleAnalogSensorsClient.

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

• src/libYARP_dev/src/yarp/dev/MultipleAnalogSensorsInterfaces.h