vrep.py 文件源码

def simxReadForceSensor(clientID, forceSensorHandle, operationMode):
    '''
    Please have a look at the function description/documentation in the V-REP user manual
    '''
    state = ct.c_ubyte()
    forceVector  = (ct.c_float*3)()
    torqueVector = (ct.c_float*3)()
    ret = c_ReadForceSensor(clientID, forceSensorHandle, ct.byref(state), forceVector, torqueVector, operationMode)
    arr1 = []
    for i in range(3):
        arr1.append(forceVector[i])
    arr2 = []
    for i in range(3):
        arr2.append(torqueVector[i])
    #if sys.version_info[0] == 3:
    #    state=state.value
    #else:
    #    state=ord(state.value)
    return ret, state.value, arr1, arr2