mc_rbdyn::ForceSensor Struct Reference

#include <mc_rbdyn/ForceSensor.h>

Inheritance diagram for mc_rbdyn::ForceSensor:

Collaboration diagram for mc_rbdyn::ForceSensor:

Public Member Functions
	ForceSensor ()
	ForceSensor (const std::string &name, const std::string &parentBodyName, const sva::PTransformd &X_p_f)
	ForceSensor (const ForceSensor &fs)
ForceSensor &	operator= (const ForceSensor &fs)
	ForceSensor (ForceSensor &&)=default
ForceSensor &	operator= (ForceSensor &&)=default
	~ForceSensor () noexcept override
const std::string &	parentBody () const
const sva::PTransformd &	X_p_f () const
sva::PTransformd	X_0_f (const mc_rbdyn::Robot &robot) const
const sva::ForceVecd &	wrench () const
const Eigen::Vector3d &	force () const
const Eigen::Vector3d &	couple () const
void	wrench (const sva::ForceVecd &wrench)
sva::ForceVecd	wrenchWithoutGravity (const mc_rbdyn::Robot &robot) const
sva::ForceVecd	worldWrench (const mc_rbdyn::Robot &robot) const
sva::ForceVecd	worldWrenchWithoutGravity (const mc_rbdyn::Robot &robot) const
DevicePtr	clone () const override
Calibration
These functions are related to the sensor's calibration
void	loadCalibrator (const detail::ForceSensorCalibData &data) noexcept
void	loadCalibrator (const std::string &calib_file, const Eigen::Vector3d &gravity={0., 0., 9.81})
void	copyCalibrator (const mc_rbdyn::ForceSensor &other)
void	resetCalibrator ()
const sva::PTransformd &	X_fsmodel_fsactual () const
const sva::PTransformd	X_fsactual_parent () const
double	mass () const
const sva::ForceVecd &	offset () const
const detail::ForceSensorCalibData &	calib () const noexcept
Public Member Functions inherited from mc_rbdyn::Device
	Device (const std::string &name)
	Device (const std::string &name, const std::string &parent, const sva::PTransformd &X_p_s)
	Device (const Device &)=delete
Device &	operator= (const Device &)=delete
	Device (Device &&)=default
Device &	operator= (Device &&)=default
virtual	~Device () noexcept=default
const std::string &	name () const
const std::string &	type () const
const std::string &	parent () const
void	parent (const std::string &p)
const sva::PTransformd &	X_p_d () const
const sva::PTransformd &	X_p_s () const
void	X_p_d (const sva::PTransformd &pt)
void	X_p_s (const sva::PTransformd &pt)
sva::PTransformd	X_0_d (const mc_rbdyn::Robot &robot) const
sva::PTransformd	X_0_s (const mc_rbdyn::Robot &robot) const

Additional Inherited Members
Protected Attributes inherited from mc_rbdyn::Device
std::string	type_
std::string	name_
std::string	parent_
sva::PTransformd	X_p_s_

Detailed Description

This struct is intended to hold static information about a force sensor and the current reading of said sensor. If the appropriate data is provided, a gravity-free reading can be provided.

Constructor & Destructor Documentation

ForceSensor() [1/4]

mc_rbdyn::ForceSensor::ForceSensor

(

)

Default constructor, this does not represent a valid force sensor

ForceSensor() [2/4]

mc_rbdyn::ForceSensor::ForceSensor	(	const std::string &	name,
		const std::string &	parentBodyName,
		const sva::PTransformd &	X_p_f
	)

Construct a valid force sensor based on static information, this force sensor can then be used to provide sensing information to the robot. However, filtering will have no effect

Parameters

name	Name of the sensor
parentBodyName	Name of the sensor's parent body
X_p_f	Model transformation from the parent body to the model (not real) sensor frame

ForceSensor() [3/4]

mc_rbdyn::ForceSensor::ForceSensor

(

const ForceSensor &

fs

)

ForceSensor() [4/4]

mc_rbdyn::ForceSensor::ForceSensor ( ForceSensor &&  )

default

~ForceSensor()

mc_rbdyn::ForceSensor::~ForceSensor ( )

overridenoexcept

Destructor

Member Function Documentation

calib()

const detail::ForceSensorCalibData& mc_rbdyn::ForceSensor::calib ( ) const

inlinenoexcept

Access the calibration object

clone()

DevicePtr mc_rbdyn::ForceSensor::clone ( ) const

overridevirtual

Perform a device copy

Implements mc_rbdyn::Device.

copyCalibrator()

void mc_rbdyn::ForceSensor::copyCalibrator

(

const mc_rbdyn::ForceSensor &

other

)

Copy the calibration data from another force sensor

Parameters

other

Other force sensor from which the data is copied

couple()

const Eigen::Vector3d& mc_rbdyn::ForceSensor::couple ( ) const

inline

Return the couple reading

Shortcut for wrench().couple()

force()

const Eigen::Vector3d& mc_rbdyn::ForceSensor::force ( ) const

inline

Return the force reading

Shortcut for wrench().force()

loadCalibrator() [1/2]

void mc_rbdyn::ForceSensor::loadCalibrator ( const detail::ForceSensorCalibData &  data )

noexcept

Load data from a file, using a gravity vector. The file should contain 13 parameters in that order: mass (1), rpy for X_f_ds (3), position for X_p_vb (3), wrench offset (6).

Parameters

calib_file	Calibration file, the file should exist
gravity	Gravity vector, defaults to Z

loadCalibrator() [2/2]

void mc_rbdyn::ForceSensor::loadCalibrator	(	const std::string &	calib_file,
		const Eigen::Vector3d &	gravity = {0., 0., 9.81}
	)

Load data from a file, using a gravity vector. The file should contain 13 parameters in that order: mass (1), rpy for X_f_ds (3), position for X_p_vb (3), wrench offset (6).

Parameters

calib_file	Calibration file, the file should exist
gravity	Gravity vector, defaults to Z

mass()

double mc_rbdyn::ForceSensor::mass

(

)

const

Return the mass of the sensor

offset()

const sva::ForceVecd& mc_rbdyn::ForceSensor::offset

(

)

const

Return the sensor offset

operator=() [1/2]

ForceSensor& mc_rbdyn::ForceSensor::operator=

(

const ForceSensor &

fs

)

operator=() [2/2]

ForceSensor& mc_rbdyn::ForceSensor::operator= ( ForceSensor &&  )

default

parentBody()

const std::string& mc_rbdyn::ForceSensor::parentBody ( ) const

inline

Return the sensor's parent body

resetCalibrator()

void mc_rbdyn::ForceSensor::resetCalibrator

(

)

Reset the force calibration to its default values such that the calibrator has no effect on the sensor wrench

worldWrench()

sva::ForceVecd mc_rbdyn::ForceSensor::worldWrench

(

const mc_rbdyn::Robot &

robot

)

const

Return measured wrench in the inertial frame

Parameters

robot

Robot that the sensor belongs to

Returns

w_0 Spatial force vector of measured wrench

worldWrenchWithoutGravity()

sva::ForceVecd mc_rbdyn::ForceSensor::worldWrenchWithoutGravity

(

const mc_rbdyn::Robot &

robot

)

const

Return measured gravity-free wrench in the inertial frame

Parameters

robot

Robot that the sensor belongs to

Returns

w_0 Spatial force vector of measured wrench

wrench() [1/2]

const sva::ForceVecd& mc_rbdyn::ForceSensor::wrench ( ) const

inline

Return the current wrench

wrench() [2/2]

void mc_rbdyn::ForceSensor::wrench ( const sva::ForceVecd &  wrench )

inline

Set the current wrench expressed in sensor frame

Parameters

wrench

New wrench reading

wrenchWithoutGravity()

sva::ForceVecd mc_rbdyn::ForceSensor::wrenchWithoutGravity

(

const mc_rbdyn::Robot &

robot

)

const

Return a gravity-free wrench in sensor frame

Parameters

robot

Robot that the sensor belongs to

Returns

A gravity-free reading of the wrench

X_0_f()

sva::PTransformd mc_rbdyn::ForceSensor::X_0_f ( const mc_rbdyn::Robot &  robot ) const

inline

Return the sensor pose in the inertial frame (convenience function)

X_fsactual_parent()

const sva::PTransformd mc_rbdyn::ForceSensor::X_fsactual_parent

(

)

const

Return the transform from the parent body to the real force sensor

X_fsmodel_fsactual()

const sva::PTransformd& mc_rbdyn::ForceSensor::X_fsmodel_fsactual

(

)

const

Return the local rotation associated to the sensor, i.e. the error between the model forceSensor and real one

X_p_f()

const sva::PTransformd& mc_rbdyn::ForceSensor::X_p_f ( ) const

inline

Return the transformation from the parent body to the sensor (model)

---

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

• include/mc_rbdyn/ForceSensor.h