Inheritance diagram for barrett::ForceTorqueSensor:

Classes
struct	AccelParser
struct	ForceParser
struct	TorqueParser
Public Member Functions
	ForceTorqueSensor (Puck *puck=NULL)
	~ForceTorqueSensor ()
void	setPuck (Puck *puck)
void	tare ()
void	update (bool realtime=false)
const cf_type &	getForce () const
const ct_type &	getTorque () const
void	updateAccel (bool realtime=false)
const ca_type &	getAccel () const
Public Attributes
	BARRETT_UNITS_FIXED_SIZE_TYPEDEFS
Protected Attributes
const bus::CommunicationsBus *	bus
int	id
int	propId
cf_type	cf
ct_type	ct
ca_type	ca

Constructor & Destructor Documentation

barrett::ForceTorqueSensor::ForceTorqueSensor ( Puck * puck = NULL ) [inline]

barrett::ForceTorqueSensor::~ForceTorqueSensor ( ) [inline]

Member Function Documentation

const ca_type& barrett::ForceTorqueSensor::getAccel ( ) const [inline]

getAccel Method returns cartesian acceleration for each axis in n/m^2

const cf_type& barrett::ForceTorqueSensor::getForce ( ) const [inline]

getForce Method returns cartesian force values for each axis in n/m

const ct_type& barrett::ForceTorqueSensor::getTorque ( ) const [inline]

getTorque Method returns cartesian torque values for each axis in torque units

void barrett::ForceTorqueSensor::setPuck ( Puck * puck )

setPuck Method changes puck properties to be ForceTorqueSensor settings

void barrett::ForceTorqueSensor::tare ( ) [inline]

tare Method establishes new baseline for differential calculations.

void barrett::ForceTorqueSensor::update ( bool realtime = false )

update Method establishes new force and torque values from the sensor

void barrett::ForceTorqueSensor::updateAccel ( bool realtime = false )

updateAccel Method clears stored acceleration values in each axis

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