YARP
Yet Another Robot Platform
yarp::dev::ISixAxisForceTorqueSensors Class Referenceabstract

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 411 of file MultipleAnalogSensorsInterfaces.h.

Constructor & Destructor Documentation

◆ ~ISixAxisForceTorqueSensors()

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

Definition at line 444 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_indexThe index of the specified sensor (should be between 0 and getNrOfSixAxisForceTorqueSensors()-1).
[out]outThe 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]timestampThe 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.


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