Convenient class to represent a concrete force platform. More...
#include <btkForcePlatformTypes.h>
Inheritance diagram for btk::ForcePlatformType< t, r, c >:
Static Public Member Functions | |
| static ForcePlatform::Pointer | New () |
 Static Public Member Functions inherited from btk::ForcePlatform | |
| static NullPointer | Null () |
| Static Public Member Functions inherited from btk::DataObject | |
| static NullPointer | Null () |
Protected Member Functions | |
| ForcePlatformType () | |
| Protected Member Functions inherited from btk::ForcePlatform | |
| ForcePlatform () | |
| Protected Member Functions inherited from btk::DataObject | |
| DataObject () | |
| DataObject (const DataObject &toCopy) | |
| virtual | ~DataObject () |
| Protected Member Functions inherited from btk::Object | |
| Object () | |
| Object (const Object &toCopy) | |
| virtual | ~Object () |
Additional Inherited Members | |
| Public Types inherited from btk::ForcePlatform | |
| typedef Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic > | CalMatrix |
| typedef AnalogCollection::ConstIterator | ConstIterator |
| typedef btkSharedPtr< const ForcePlatform > | ConstPointer |
| typedef Eigen::Matrix< double, 3, 1 > | Corner |
| typedef AnalogCollection::Iterator | Iterator |
| typedef btkNullPtr< ForcePlatform > | NullPointer |
| typedef Eigen::Matrix< double, 3, 1 > | Origin |
| typedef btkSharedPtr < ForcePlatform > | Pointer |
| Public Types inherited from btk::DataObject | |
| typedef btkSharedPtr< const DataObject > | ConstPointer |
| typedef btkNullPtr< DataObject > | NullPointer |
| typedef btkSharedPtr< DataObject > | Pointer |
| Public Types inherited from btk::Object | |
| typedef btkSharedPtr< const Object > | ConstPointer |
| typedef btkSharedPtr< Object > | Pointer |
| Public Member Functions inherited from btk::ForcePlatform | |
| Iterator | Begin () |
| ConstIterator | Begin () const |
| Pointer | Clone () const |
| Iterator | End () |
| ConstIterator | End () const |
| CalMatrix & | GetCalMatrix () |
| const CalMatrix & | GetCalMatrix () const |
| Analog::Pointer | GetChannel (int idx) const |
| int | GetChannelNumber () const |
| AnalogCollection::Pointer | GetChannels () const |
| const Corner | GetCorner (int idx) const |
| Corners & | GetCorners () |
| const Corners & | GetCorners () const |
| Origin & | GetOrigin () |
| const Origin & | GetOrigin () const |
| int | GetType () const |
| void | SetCalMatrix (const CalMatrix &cal) |
| void | SetChannel (int idx, Analog::Pointer c) |
| void | SetCorner (int row, int col, double v) |
| void | SetCorner (int idx, double x, double y, double z) |
| void | SetCorner (int idx, const Corner &c) |
| void | SetCorners (const Corners &c) |
| void | SetOrigin (double x, double y, double z) |
| void | SetOrigin (const Origin &o) |
| virtual | ~ForcePlatform () |
| Public Member Functions inherited from btk::DataObject | |
| DataObject * | GetParent () const |
| bool | HasParent () const |
| void | Modified () |
| void | SetParent (DataObject *parent) |
| void | Update () |
| Public Member Functions inherited from btk::Object | |
| unsigned long int | GetTimestamp () const |
| Public Attributes inherited from btk::ForcePlatform | |
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef Eigen::Matrix< double, 3, 4 > | Corners |
| Protected Attributes inherited from btk::ForcePlatform | |
| CalMatrix | m_CalMatrix |
| AnalogCollection::Pointer | m_Channels |
| int | m_Type |
| Protected Attributes inherited from btk::Object | |
| unsigned long int | m_Timestamp |
Detailed Description
template<int t, int r, int c>
class btk::ForcePlatformType< t, r, c >
Convenient class to represent a concrete force platform.
- Template Parameters
-
t Force platform type r Number of rows in the calibration matrix c Number of columns in the calibration matrix. Set also the number of channels.
This class helps to create a configured force platform (ForcePlatform::Pointer object) with required number of channels, calibration matrix, etc. The list of supported force platforms is presented below.
Several force platform types are already provided:
- btk::ForcePlatformType1: Force platform Type-1 (6 channels: FX, FY, FZ, PX, PY, MZ)
- btk::ForcePlatformType2: Force platform Type-2 (6 channels: FX, FY, FZ, MX, MY, MZ)
- btk::ForcePlatformType3: Force platform Type-3 (8 channels: FZ1, FZ2, FZ3, FZ4, FX12, FX34, FY14, FY23)
- btk::ForcePlatformType4: Force platform Type-4 (Same as Type-2 + calibration matrix 6 by 6)
- btk::ForcePlatformType5: Force platform Type-5 (8 channels: FZ1, FZ2, FZ3, FZ4, FX12, FX34, FY14, FY23 + calibration matrix 6 (columns) by 8 (rows))
- btk::ForcePlatformType6: Force platform Type-6 (12 channels: FX[1,2,3,4], FY[1,2,3,4], FZ[1,2,3,4] + calibration matrix 12 by 12)
- Warning
- The use of the New() static method will return a ForcePlatofrm::Pointer object.
Constructor & Destructor Documentation
template<int t, int r, int c>
|
protected |
Constructor.
Member Function Documentation
template<int t, int r, int c>
|
inlinestatic |
Creates a smart pointer associated with a ForcePlatformType object.
