raisim::ForceSensor

final class · #include <raisim/sensors/ForceSensor.hpp>

Inherits: raisim::WrenchSensor

Six-axis load cell. Reports the wrench exerted by the parent on the joint's child subtree, including gravity, inertia and external loads. Fixed-joint cuts retain their original link membership after fixed bodies are merged.

Nested classes

• struct ForceSensorProperties

Constructors & destructor

ForceSensor

ForceSensor(
    const ForceSensorProperties &prop,
    ArticulatedSystem *as,
    const Vec<3> &pos,
    const Mat<3, 3> &rot)

Public member functions

getProperties

const ForceSensorProperties &getProperties() const

setProperties

void setProperties(const ForceSensorProperties &prop)

serializeProp

server::BoundedWriter serializeProp(server::BoundedWriter data) const final

Used by the server. Do not use it if you don't know what it does. It serializes the sensor properties

Parameters

Parameter	Description
data (in)	where the property is written; throws server::SerializationError if it does not fit

Returns where the next data should be written

serializeMeasurements

server::BoundedWriter serializeMeasurements(server::BoundedWriter data) const final

Used by the server. Do not use it if you don't know what it does. It serializes sensor measurements.

Parameters

Parameter	Description
data (in)	where the measurements are written; throws server::SerializationError if they do not fit

Returns where the next data should be written

Static member functions

getType static

static Type getType()

Inherited members

From raisim::WrenchSensor: getAcquisitionStartTime, getDeliveryTimeStamp, getDroppedMeasurementCount, getForce, getTorque, reset, resetNoise, update

From raisim::Sensor: getArticulatedSystem, getFrameId, getFrameOrientation, getFramePosition, getFullName, getMeasurementSource, getName, getOrientation, getOriInSensorFrame, getPosInSensorFrame, getPosition, getSensorSetModel, getSerialNumber, getUpdateRate, getUpdateTimeStamp, isUpdateDue, lock, lockMutex, MeasurementSource, setAttachmentFrame, setMeasurementSource, setSerialNumber, setUpdateRate, setUpdateTimeStamp, try_lock, Type, unlock, unlockMutex, updatePose