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Home / Iop_v3ServiceSet / ForceTorqueSensor


Version: 1.1
ID: urn:jaus:jss:iop:ForceTorqueSensor
Inherits From:
extended byurn:jaus:jss:core:Events v1.1
extended byurn:jaus:jss:core:Transport v1.0

The Force Torque Sensor Service provides a means to get force or torque information from one or more devices. The data can be reported in either the sensor coordinate system or the vehicle coordinate system (if supported).

Internal Event Set

Message Set
Message ID Name
D991h QueryForceTorque
D990h QueryForceTorqueCapabilities
D993h ReportForceTorque
D992h ReportForceTorqueCapabilities

State Machine Diagram

ForceTorqueSensor State Machine Diagram
State Transitions
Label Transition Trigger Conditional Actions
A ForceTorqueSensorDefaultLoop QueryForceTorqueCapabilities sendReportForceTorqueCapabilities
QueryForceTorque sendReportForceTorque

Action Name Type Description
sendReportForceTorque Send Action Send a ReportForceTorque message
Output Message: ReportForceTorque
sendReportForceTorqueCapabilities Send Action Send a ReportForceTorqueCapabilities message
Output Message: ReportForceTorqueCapabilities

Copyright © SAE International. Reprinted with Permission.
Portions Copyright © OpenJAUS LLC.
The information above is generated from the JAUS Services modelled in the OpenJAUS SDK using OpenJAUS Service Studio. It is provided as a resource to assist JAUS developers and is not a substitute for the JAUS Standards Documents which may be obtained from the SAE International.

Generated on 07/17/2019 from iop_v3.ojss