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sim_force_sensor.m
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sim_force_sensor.m
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%% sim_force_sensor %%
% Class to represent torque/force sensors. Inherits from sim_entity.
%
% Methods:
%
% torque % Retreives 3 element torques vector acting on the
% sensor in Newton meters.
% broken % Retrieves the state of the sensor. true = sensor
% broken, false = sensor intact.
% force % Retrieves 3 element linear force vector acting on the
% sensor in Newtons.
%
classdef sim_force_sensor < sim_entity
properties
end
methods
function obj = sim_force_sensor(sim,ident)
obj = obj@sim_entity(sim,ident);
end
function trq = torque(obj)
% sim_force_sensor.torque
%
% Returns the torque acting on the force sensor.
%
% Returns:
%
% trq % A torque in Newton meters.
%
[~,trq,~] = obj.readForceSensor(obj.id);
end
function brk = broken(obj)
% sim_force_sensor.state
%
% Returns true if the force sensor has been broken. False if it is
% still intact.
%
% Returns:
%
% brk % A logical value.
%
[brk,~,~] = obj.readForceSensor(obj.id);
end
function frc = force(obj)
% sim_force_sensor.force
%
% Returns the linear force acting on the force sensor.
%
% Returns:
%
% frc % A force in Newtons
%
[~,~,frc] = obj.readForceSensor(obj.id);
end
end
end