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ContactForceTorqueSensor Class Reference

ContactForceTorqueSensor outputs the net force and torque applied to a given body by all contacts with other bodies. More...

Inheritance diagram for ContactForceTorqueSensor:
Collaboration diagram for ContactForceTorqueSensor:

Public Member Functions

function ContactForceTorqueSensor (tsmanip, frame)
 manip; % warning: could get stale, but keeping it around for the draw method More...
 
function isDirectFeedthrough (obj)
 
function compile (obj, tsmanip, manip)
 
- Public Member Functions inherited from TimeSteppingRigidBodySensorWithState
virtual function constructStateFrame (obj, tsmanip)
 
virtual function getInitialState (obj, tsmanip)
 
virtual function update (obj, tsmanip, t, x, u)
 
- Public Member Functions inherited from TimeSteppingRigidBodySensor
virtual function output (obj, tsmanip, manip, t, x, u)
 
virtual function constructFrame (obj, tsmanip)
 
function compile (obj, tsmanip, manip)
 intentionally do nothing here, but can be overloaded if this functionality is needed More...
 

Public Attributes

Property kinframe
 
- Public Attributes inherited from TimeSteppingRigidBodySensor
Property name
 

Detailed Description

ContactForceTorqueSensor outputs the net force and torque applied to a given body by all contacts with other bodies.

Constructor & Destructor Documentation

function ContactForceTorqueSensor ( tsmanip  ,
frame   
)

manip; % warning: could get stale, but keeping it around for the draw method

default frame to initialize visualizer if tsmanip.twoD fr = CoordinateFrame('DefaultForceTorqueFrame',getNumStates(tsmanip)+3,'f'); else fr = CoordinateFrame('DefaultForceTorqueFrame',getNumStates(tsmanip)+6,'f'); end obj = obj(fr);

Return values
obj

Member Function Documentation

function compile ( obj  ,
tsmanip  ,
manip   
)
Return values
obj
function isDirectFeedthrough ( obj  )
virtual
Return values
tf

Reimplemented from TimeSteppingRigidBodySensor.

Member Data Documentation

Property kinframe

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