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DeviceForceSensor::GetForceAndTorque
DeviceForceSensor | DeviceForceSensor Members | ModaCPP Namespace | DeviceForceSensor Methods
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Get the torque and the force applied on the joint's axis.

C++
M32 GetForceAndTorque(ForceTorqueSensorValues * pValues, M32 * pDeviceResponse = NULL, void * pReserved = NULL);
Parameters
Parameters 
Description 
ForceTorqueSensorValues * pValues 
[in/out] Pointer on a ForceTorqueSensorValues to be filled by the function. 
M32 * pDeviceResponse = NULL 
(see Message) 
void * pReserved = NULL 
(see Message) 
Returns

If the system called the device, the return value is MODA_EOK.

Description

GetForceAndTorque returns the torque (Nm) and the force (N) applied on the joint's axis if the device is in ON state, 0 otherwise.

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Documentation v4.7 (18/01/2015), Copyright (c) 2015 anyKode. All rights reserved.
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