semantic_components::ForceTorqueSensor Class Reference

Inheritance diagram for semantic_components::ForceTorqueSensor:

Collaboration diagram for semantic_components::ForceTorqueSensor:

Public Member Functions
	ForceTorqueSensor (const std::string &name)
	Constructor for "standard" 6D FTS.
	ForceTorqueSensor (const std::string &interface_force_x, const std::string &interface_force_y, const std::string &interface_force_z, const std::string &interface_torque_x, const std::string &interface_torque_y, const std::string &interface_torque_z)
	Constructor for 6D FTS with custom interface names.
std::array< double, 3 >	get_forces () const
	Return forces.
std::array< double, 3 >	get_torques () const
	Return torque.
bool	get_values_as_message (geometry_msgs::msg::Wrench &message) const
	Return Wrench message with forces and torques.
Public Member Functions inherited from semantic_components::SemanticComponentInterface< geometry_msgs::msg::Wrench >
	SemanticComponentInterface (const std::string &name, const std::vector< std::string > &interface_names)
	SemanticComponentInterface (const std::string &name, std::size_t size=0)
bool	assign_loaned_state_interfaces (std::vector< hardware_interface::LoanedStateInterface > &state_interfaces)
	Assign loaned state interfaces from the hardware.
void	release_interfaces ()
	Release loaned interfaces from the hardware.
virtual std::vector< std::string >	get_state_interface_names ()
	Definition of state interface names for the component.
bool	get_values (std::vector< double > &values) const
	Return all values.
bool	get_values_as_message (geometry_msgs::msg::Wrench &)
	Return values as MessageReturnType.

Protected Member Functions
void	update_data_from_interfaces () const
	Update the data from the state interfaces.

Protected Attributes
std::array< double, 6 >	data_
	Array to store the data of the FT sensors.
std::array< bool, 6 >	existing_axes_
	Vector with existing axes for sensors with less then 6D axes.
Protected Attributes inherited from semantic_components::SemanticComponentInterface< geometry_msgs::msg::Wrench >
std::string	name_
std::vector< std::string >	interface_names_
std::vector< std::reference_wrapper< hardware_interface::LoanedStateInterface > >	state_interfaces_

Constructor & Destructor Documentation

ForceTorqueSensor()

semantic_components::ForceTorqueSensor::ForceTorqueSensor ( const std::string &  interface_force_x, const std::string &  interface_force_y, const std::string &  interface_force_z, const std::string &  interface_torque_x, const std::string &  interface_torque_y, const std::string &  interface_torque_z  )

inline

Constructor for 6D FTS with custom interface names.

Constructor for 6D FTS with custom interface names or FTS with less then six measurement axes, e.g., 1D and 2D force load cells. For non existing axes interface is empty string, i.e., ("");

The name should be in the following order: force X, force Y, force Z, torque X, torque Y, torque Z.

Member Function Documentation

get_forces()

std::array< double, 3 > semantic_components::ForceTorqueSensor::get_forces ( ) const

inline

Return forces.

Return forces of a FTS.

Returns

array of size 3 with force values (x, y, z).

get_torques()

std::array< double, 3 > semantic_components::ForceTorqueSensor::get_torques ( ) const

inline

Return torque.

Return torques of a FTS.

Returns

array of size 3 with torque values (x, y, z).

get_values_as_message()

bool semantic_components::ForceTorqueSensor::get_values_as_message ( geometry_msgs::msg::Wrench &  message ) const

inline

Return Wrench message with forces and torques.

Constructs and return a wrench message from the current values. The method assumes that the interface names on the construction are in the following order: force X, force Y, force Z, torque X, torque Y, torque Z.

Returns

wrench message from values;

update_data_from_interfaces()

void semantic_components::ForceTorqueSensor::update_data_from_interfaces ( ) const

inlineprotected

Update the data from the state interfaces.

Note

The method is thread-safe and non-blocking.

This method might return stale data if the data is not updated. This is to ensure that the data from the sensor is not discontinuous.

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

• ros2_control/controller_interface/include/semantic_components/force_torque_sensor.hpp