ForceTorquePlugin.hh
Go to the documentation of this file.
1/*
2 * Copyright (C) 2012 Open Source Robotics Foundation
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *
16*/
17
18#ifndef _GAZEBO_PLUGINS_FORCE_TORQUE_PLUGIN_HH_
19#define _GAZEBO_PLUGINS_FORCE_TORQUE_PLUGIN_HH_
20
21#include "gazebo/sensors/sensors.hh"
24#include "gazebo/util/system.hh"
25
26namespace gazebo
27{
29 class GZ_PLUGIN_VISIBLE ForceTorquePlugin : public SensorPlugin
30 {
33
35 public: virtual ~ForceTorquePlugin();
36
40 public: virtual void Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf);
41
44 protected: virtual void OnUpdate(msgs::WrenchStamped _msg);
45
48
50 private: event::ConnectionPtr connection;
51 };
52}
53#endif
An base class plugin for custom force torque sensor processing.
Definition ForceTorquePlugin.hh:30
ForceTorquePlugin()
Constructor.
virtual void OnUpdate(msgs::WrenchStamped _msg)
Update callback.
virtual void Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf)
Load the plugin.
virtual ~ForceTorquePlugin()
Destructor.
sensors::ForceTorqueSensorPtr parentSensor
The parent sensor.
Definition ForceTorquePlugin.hh:47
A plugin with access to physics::Sensor.
Definition Plugin.hh:333
boost::shared_ptr< Connection > ConnectionPtr
Definition CommonTypes.hh:134
std::shared_ptr< ForceTorqueSensor > ForceTorqueSensorPtr
Definition SensorTypes.hh:116
std::shared_ptr< Sensor > SensorPtr
Definition SensorTypes.hh:64
Forward declarations for the common classes.
Definition Animation.hh:27