raisim::TactileSensor

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

Inherits: raisim::WrenchSensor

Contact-force grid on a rectangular pad. +X points out of the pad, +Y and +Z span its surface. Grid entries aggregate solver contact forces [N], not an elastomer pressure reconstruction. Slip is normal-load-weighted relative surface velocity in the pad's Y/Z directions [m/s].

Nested classes

• struct TactileSensorProperties

Constructors & destructor

TactileSensor

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

Public member functions

getProperties

const TactileSensorProperties &getProperties() const

setProperties

void setProperties(const TactileSensorProperties &prop)

getTaxelForces

const std::vector<Eigen::Vector3d> &getTaxelForces() const

Row-major grid of signed sensor-frame force vectors [N].

getTaxelSlipVelocities

const std::vector<Eigen::Vector2d> &getTaxelSlipVelocities() const

Row-major grid of load-weighted Y/Z relative surface velocities [m/s].

getNormalForce

double getNormalForce() const

getCenterOfPressure

const Eigen::Vector2d &getCenterOfPressure() const

Y/Z center of pressure [m]. Check hasCenterOfPressure() before using it.

hasCenterOfPressure

bool hasCenterOfPressure() const

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