Robot Simulator of the Robotics Group for Self-Organization of Control: torquesensor.h Source File

# torquesensor.h

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    00001 /***************************************************************************
    00002  *   Copyright (C) 2005-2011 LpzRobots development team                    *
    00003  *    Georg Martius  <georg dot martius at web dot de>                     *
    00004  *    Frank Guettler <guettler at informatik dot uni-leipzig dot de        *
    00005  *    Frank Hesse    <frank at nld dot ds dot mpg dot de>                  *
    00006  *    Ralf Der       <ralfder at mis dot mpg dot de>                       *
    00007  *                                                                         *
    00008  *   This program is free software; you can redistribute it and/or modify  *
    00009  *   it under the terms of the GNU General Public License as published by  *
    00010  *   the Free Software Foundation; either version 2 of the License, or     *
    00011  *   (at your option) any later version.                                   *
    00012  *                                                                         *
    00013  *   This program is distributed in the hope that it will be useful,       *
    00014  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00015  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
    00016  *   GNU General Public License for more details.                          *
    00017  *                                                                         *
    00018  *   You should have received a copy of the GNU General Public License     *
    00019  *   along with this program; if not, write to the                         *
    00020  *   Free Software Foundation, Inc.,                                       *
    00021  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
    00022  *                                                                         *
    00023  ***************************************************************************/
    00024 #ifndef __TORQUESENSOR_H
    00025 #define __TORQUESENSOR_H
    00026
    00027 #include "sensor.h"
    00028 #include <ode-dbl/ode.h>
    00029
    00030 namespace lpzrobots {
    00031
    00032   class Joint;
    00033
    00034   /** Class for sensing the torque that are applied the joint by a motor.
    00035       The sensor value can be interpretedas a motor current.
    00036   */
    00037   class TorqueSensor : public Sensor {
    00038   public:
    00039
    00040     /**
    00041        @param joint the joint on which to measure the torques.
    00042        @param maxtorque at this torque the sensor value is 1.
    00043      */
    00044     TorqueSensor(Joint* joint, double maxtorque = 1.0);
    00045     virtual ~TorqueSensor();
    00046
    00047     /// the primitive is not required here, set it to NULL
    00048     virtual void init(Primitive* own);
    00049     virtual int getSensorNumber() const;
    00050
    00051     virtual bool sense(const GlobalData& globaldata);
    00052     virtual std::list<sensor> get() const;
    00053
    00054   private:
    00055     Joint* joint;
    00056     double maxtorque;
    00057     dJointFeedback* feedback;
    00058     bool allocatedfb;
    00059   };
    00060
    00061
    00062 }
    00063
    00064 #endif