Rcs::OMForceTorque Class Reference

#include <OMForceTorque.h>

Inheritance diagram for Rcs::OMForceTorque:

Collaboration diagram for Rcs::OMForceTorque:

Public Member Functions
	OMForceTorque (RcsGraph *graph, const char *sensorName, double maxForce=std::numeric_limits< double >::infinity(), bool transformToWorldFrame=false)
virtual	~OMForceTorque ()
virtual unsigned int	getStateDim () const
virtual unsigned int	getVelocityDim () const
virtual void	computeObservation (double *state, double *velocity, const MatNd *currentAction, double dt) const
virtual void	getLimits (double *minState, double *maxState, double *maxVelocity) const
virtual std::vector< std::string >	getStateNames () const
Public Member Functions inherited from Rcs::ObservationModel
virtual	~ObservationModel ()
MatNd *	computeObservation (const MatNd *currentAction, double dt) const
void	computeObservation (MatNd *observation, const MatNd *currentAction, double dt) const
virtual void	reset ()
virtual std::vector< std::string >	getVelocityNames () const
virtual void	getMinMax (double *min, double *max) const final
virtual unsigned int	getDim () const final
virtual std::vector< std::string >	getNames () const final
template<typename OM >
OM *	findModel ()
template<typename OM >
Offsets	findOffsets ()
virtual std::vector< ObservationModel * >	getNested () const
Public Member Functions inherited from Rcs::BoxSpaceProvider
	BoxSpaceProvider ()
virtual	~BoxSpaceProvider ()
	BoxSpaceProvider (const BoxSpaceProvider &)=delete
BoxSpaceProvider &	operator= (const BoxSpaceProvider &)=delete
	BoxSpaceProvider (BoxSpaceProvider &&)=delete
BoxSpaceProvider &	operator= (BoxSpaceProvider &&)=delete
const BoxSpace *	getSpace () const

Private Attributes
RcsSensor *	sensor
double	max_force
double	max_torque
bool	transformToWorldFrame

Detailed Description

Observes measurements of a single force/torque sensor.

Definition at line 44 of file OMForceTorque.h.

Constructor & Destructor Documentation

OMForceTorque()

Rcs::OMForceTorque::OMForceTorque	(	RcsGraph *	graph,
		const char *	sensorName,
		double	maxForce = std::numeric_limits<double>::infinity(),
		bool	transformToWorldFrame = false
	)

Constructor

Parameters

graph	graph to observe
sensorName	name of sensor to observe
maxForce	maximum force in Newton for all sensed dimensions, e.g. 1200 N for the Kuka iiwa

Definition at line 45 of file OMForceTorque.cpp.

~OMForceTorque()

Rcs::OMForceTorque::~OMForceTorque ( )

virtualdefault

Member Function Documentation

computeObservation()

void Rcs::OMForceTorque::computeObservation ( double *  state, double *  velocity, const MatNd *  currentAction, double  dt  ) const

virtual

Implement to fill the observation vector with the observed values.

Parameters

[out]	state	state observation vector to fill, has getStateDim() elements.
[out]	velocity	velocity observation vector to fill, has getVelocityDim() elements.
[in]	currentAction	action in current step. May be NULL if not available.
[in]	dt	time step since the last observation has been taken

Implements Rcs::ObservationModel.

Definition at line 69 of file OMForceTorque.cpp.

getLimits()

void Rcs::OMForceTorque::getLimits ( double *  minState, double *  maxState, double *  maxVelocity  ) const

virtual

Provides the minimum and maximum observable values. Since the velocity is symmetric, only the maximum needs to be provided. The default implementation uses -inf and inf.

Parameters

[out]	minState	minimum state vector to fill, has getStateDim() elements.
[out]	maxState	maximum state vector to fill, has getStateDim() elements.
[out]	maxVelocity	maximum velocity vector to fill, has getVelocityDim() elements.

Reimplemented from Rcs::ObservationModel.

Definition at line 93 of file OMForceTorque.cpp.

getStateDim()

unsigned int Rcs::OMForceTorque::getStateDim ( ) const

virtual

The number of state variables.

Implements Rcs::ObservationModel.

Definition at line 58 of file OMForceTorque.cpp.

getStateNames()

std::vector< std::string > Rcs::OMForceTorque::getStateNames ( ) const

virtual

Provides names for each state entry.

Returns

a vector of name strings. Must be of length getStateDim() or empty for a nameless space.

Reimplemented from Rcs::ObservationModel.

Definition at line 107 of file OMForceTorque.cpp.

getVelocityDim()

unsigned int Rcs::OMForceTorque::getVelocityDim ( ) const

virtual

The number of velocity variables. The default implementation assumes that for each state there is a velocity.

Reimplemented from Rcs::ObservationModel.

Definition at line 63 of file OMForceTorque.cpp.

Member Data Documentation

max_force

double Rcs::OMForceTorque::max_force

private

Definition at line 77 of file OMForceTorque.h.

max_torque

double Rcs::OMForceTorque::max_torque

private

Definition at line 78 of file OMForceTorque.h.

sensor

RcsSensor* Rcs::OMForceTorque::sensor

private

FTS to observe.

Definition at line 75 of file OMForceTorque.h.

transformToWorldFrame

bool Rcs::OMForceTorque::transformToWorldFrame

private

Definition at line 79 of file OMForceTorque.h.

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

• src/cpp/core/observation/OMForceTorque.h
• src/cpp/core/observation/OMForceTorque.cpp