raisim::WrenchSensor

abstract class · #include <raisim/sensors/WrenchSensor.hpp>

Inherits: raisim::Sensor
Derived by: raisim::ForceSensor, raisim::TactileSensor

Shared acquisition and delivery model for force/torque and tactile sensors. Wrenches use sensor-frame axes and torques about the sensor origin. Samples average impulses over their actual acquisition interval, including all physics substeps.

Nested classes

• struct Model — Optional measurement effects on the six net wrench channels; disabled by default.

Public member functions

getForce

const Eigen::Vector3d &getForce() const

Delivered sensor-frame force [N].

getTorque

const Eigen::Vector3d &getTorque() const

Delivered sensor-frame torque about the sensor origin [Nm].

getAcquisitionStartTime

double getAcquisitionStartTime() const

Start of the delivered sample's acquisition interval [s]; negative before delivery.

getDeliveryTimeStamp

double getDeliveryTimeStamp() const

Time when the delivered sample became available [s]; negative before delivery.

getDroppedMeasurementCount

std::uint64_t getDroppedMeasurementCount() const

Number of measurements dropped when the bounded latency queue was full.

reset

void reset()

Reset all measurements, acquisition history, pending deliveries and random state.

resetNoise

void resetNoise() noexcept

Restart only the random stream, preserving measurements and pending deliveries.

update

void update(World &world) final

Deliver pending completed measurements; collection is performed by World::integrate().

Inherited members

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