6 #ifndef CNOID_BODY_FORCE_SENSOR_H 7 #define CNOID_BODY_FORCE_SENSOR_H 10 #include <boost/scoped_ptr.hpp> 20 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
23 boost::scoped_ptr<Spec> spec;
31 virtual const char* typeName();
33 virtual void copyStateFrom(
const DeviceState& other);
35 virtual Device* clone()
const;
36 virtual void forEachActualType(boost::function<
bool(
const std::type_info& type)> func);
37 virtual void clearState();
38 virtual int stateSize()
const;
39 virtual const double* readState(
const double* buf);
40 virtual double* writeState(
double* out_buf)
const;
45 Vector6::FixedSegmentReturnType<3>::Type
f() {
return F_.head<3>(); }
46 Vector6::ConstFixedSegmentReturnType<3>::Type
f()
const {
return F_.head<3>(); }
48 Vector6::FixedSegmentReturnType<3>::Type
tau() {
return F_.tail<3>(); }
49 Vector6::ConstFixedSegmentReturnType<3>::Type
tau()
const {
return F_.tail<3>(); }
Definition: ForceSensor.h:15
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
Definition: ForceSensor.h:26
Vector6::ConstFixedSegmentReturnType< 3 >::Type tau() const
Definition: ForceSensor.h:49
Vector6 & F()
Definition: ForceSensor.h:43
Definition: Referenced.h:128
const Vector6 & F() const
Definition: ForceSensor.h:42
Defines the minimum processing for performing pasing file for STL.
Definition: AbstractSceneLoader.h:9
Vector6 & F_max()
Definition: ForceSensor.h:52
Vector6::ConstFixedSegmentReturnType< 3 >::Type f() const
Definition: ForceSensor.h:46
#define CNOID_EXPORT
Definition: Util/exportdecl.h:37
ref_ptr< ForceSensor > ForceSensorPtr
Definition: ForceSensor.h:55
Vector6::FixedSegmentReturnType< 3 >::Type f()
Definition: ForceSensor.h:45
Eigen::Matrix< double, 6, 1 > Vector6
Definition: EigenTypes.h:63
const Vector6 & F_max() const
Definition: ForceSensor.h:51
Vector6::FixedSegmentReturnType< 3 >::Type tau()
Definition: ForceSensor.h:48