ForceSensor.h

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#ifndef CNOID_BODY_FORCE_SENSOR_H
#define CNOID_BODY_FORCE_SENSOR_H
 
#include "Device.h"
#include <memory>
#include "exportdecl.h"
 
namespace cnoid {
 
class Mapping;
 
class CNOID_EXPORT ForceSensor : public Device
{
public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
    ForceSensor();
    ForceSensor(const ForceSensor& org, bool copyStateOnly = false);
 
    virtual const char* typeName() const override;
    void copyStateFrom(const ForceSensor& other);
    virtual void copyStateFrom(const DeviceState& other) override;
    virtual DeviceState* cloneState() const override;
    virtual void forEachActualType(std::function<bool(const std::type_info& type)> func) override;
    virtual void clearState() override;
    virtual int stateSize() const override;
    virtual const double* readState(const double* buf) override;
    virtual double* writeState(double* out_buf) const override;
 
    const Vector6& wrench() const { return F_; }
    Vector6& wrench() { return F_; }
    const Vector6& maxWrench() const { return spec->F_max; }
    Vector6& maxWrench() { return spec->F_max; }
    const Vector6& F() const { return F_; }
    Vector6& F() { return F_; }
    const Vector6& F_max() const { return spec->F_max; }
    Vector6& F_max() { return spec->F_max; }
    
    Vector6::FixedSegmentReturnType<3>::Type force() { return F_.head<3>(); }
    Vector6::ConstFixedSegmentReturnType<3>::Type force() const { return F_.head<3>(); }
    Vector6::FixedSegmentReturnType<3>::Type f() { return F_.head<3>(); }
    Vector6::ConstFixedSegmentReturnType<3>::Type f() const { return F_.head<3>(); }
 
    Vector6::FixedSegmentReturnType<3>::Type torque() { return F_.tail<3>(); }
    Vector6::ConstFixedSegmentReturnType<3>::Type torque() const { return F_.tail<3>(); }
    Vector6::FixedSegmentReturnType<3>::Type tau() { return F_.tail<3>(); }
    Vector6::ConstFixedSegmentReturnType<3>::Type tau() const { return F_.tail<3>(); }
 
    bool readSpecifications(const Mapping* info);
    bool writeSpecifications(Mapping* info) const;
 
protected:
    virtual Referenced* doClone(CloneMap* cloneMap) const override;
 
private:
    Vector6 F_; // f (linear force) + tau (torque)
        
    struct Spec {
        EIGEN_MAKE_ALIGNED_OPERATOR_NEW
        Vector6 F_max;
    };
    std::unique_ptr<Spec> spec;
};
 
typedef ref_ptr<ForceSensor> ForceSensorPtr;
    
}
 
#endif