From d347afbefdb843cfd92a239e79bc59117cc801a7 Mon Sep 17 00:00:00 2001
From: Peter Kaiser <peter.kaiser@kit.edu>
Date: Mon, 18 Aug 2014 19:47:28 +0200
Subject: [PATCH] Documentation: ForceTorqueUnit
---
source/RobotAPI/units/ForceTorqueUnit.h | 6 ++++++
1 file changed, 6 insertions(+)
diff --git a/source/RobotAPI/units/ForceTorqueUnit.h b/source/RobotAPI/units/ForceTorqueUnit.h
index df6b0566f..87e25449e 100644
--- a/source/RobotAPI/units/ForceTorqueUnit.h
+++ b/source/RobotAPI/units/ForceTorqueUnit.h
@@ -46,6 +46,12 @@ namespace armarx
}
};
+ /**
+ * The ForceTorqueUnit class is the base unit for force/torque sensors.
+ * It implements the ForceTorqueUnit-interface and is responsible for distributing F/T sensor-values in ArmarX.
+ * RobotAPI contains the ForceTorqueUnitSimulation class that does a very basic simulation of F/T-sensors.
+ * Other (hardware related) implementations of this unit can be found in the respective ArmarX projects.
+ */
class ForceTorqueUnit :
virtual public ForceTorqueUnitInterface,
virtual public SensorActorUnit
--
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