Robot Simulator of the Robotics Group for Self-Organization of Control: TorqueSensor Class Reference

# TorqueSensor Class Reference

Class for sensing the torque that are applied the joint by a motor. More...

`#include <torquesensor.h>`

Inherits lpzrobots::Sensor.

Collaboration diagram for TorqueSensor:
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List of all members.

## Public Member Functions
| TorqueSensor (Joint *joint, double maxtorque=1.0)
virtual | ~TorqueSensor ()
virtual void | init (Primitive *own)
| the primitive is not required here, set it to NULL
virtual int | getSensorNumber () const
| returns the number of sensors values produced by this sensor
virtual bool | sense (const GlobalData &globaldata)
| performs sense action
virtual std::list< sensor > | get () const
| returns a list of sensor values (usually in the range [0,1] ) This function should be overloaded.

## Detailed Description

Class for sensing the torque that are applied the joint by a motor.

The sensor value can be interpretedas a motor current.

## Constructor & Destructor Documentation

TorqueSensor | ( | Joint * | joint,
|  | double | maxtorque = `1.0` |
| ) |  |  |

Parameters:

  | joint | the joint on which to measure the torques.
  | maxtorque | at this torque the sensor value is 1.

~TorqueSensor | ( |  | ) | `[virtual]`

## Member Function Documentation

std::list< sensor > get | ( |  | ) | const`[virtual]`

returns a list of sensor values (usually in the range [0,1] ) This function should be overloaded.

Implements Sensor.

int getSensorNumber | ( |  | ) | const`[virtual]`

returns the number of sensors values produced by this sensor

Implements Sensor.

void init | ( | Primitive * | own | ) | `[virtual]`

the primitive is not required here, set it to NULL

Implements Sensor.

bool sense | ( | const GlobalData & | globaldata | ) | `[virtual]`

performs sense action

Implements Sensor.

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

- torquesensor.h
- torquesensor.cpp