17#ifndef _GAZEBO_SENSORS_FORCETORQUESENSOR_HH_
18#define _GAZEBO_SENSORS_FORCETORQUESENSOR_HH_
24#include <ignition/math/Vector3.hh>
37 class ForceTorqueSensorPrivate;
53 protected:
void Load(
const std::string &_worldName, sdf::ElementPtr _sdf);
56 public:
virtual void Load(
const std::string &_worldName);
59 public:
virtual void Init();
62 public:
virtual std::string
Topic()
const;
66 public: ignition::math::Vector3d
Torque()
const;
70 public: ignition::math::Vector3d
Force()
const;
83 std::function<
void (msgs::WrenchStamped)> _subscriber);
89 protected:
virtual void Fini();
93 private: std::unique_ptr<ForceTorqueSensorPrivate> dataPtr;
sensors
Definition SensorManager.hh:35
Forward declarations for transport.
Sensor for measure force and torque on a joint.
Definition ForceTorqueSensor.hh:45
physics::JointPtr Joint() const
Get Parent Joint.
void Load(const std::string &_worldName, sdf::ElementPtr _sdf)
Load the sensor with SDF parameters.
ignition::math::Vector3d Force() const
Get the current joint force.
virtual void Fini()
Finalize the sensor.
virtual void Init()
Initialize the sensor.
virtual ~ForceTorqueSensor()
Destructor.
virtual void Load(const std::string &_worldName)
Load the sensor with default parameters.
virtual bool IsActive() const
Returns true if sensor generation is active.
virtual std::string Topic() const
Returns the topic name as set in SDF.
virtual bool UpdateImpl(const bool _force)
This gets overwritten by derived sensor types.
event::ConnectionPtr ConnectUpdate(std::function< void(msgs::WrenchStamped)> _subscriber)
Connect a to the update signal.
ForceTorqueSensor()
Constructor.
ignition::math::Vector3d Torque() const
Get the current joint torque.
Base class for sensors.
Definition Sensor.hh:53
boost::shared_ptr< Connection > ConnectionPtr
Definition CommonTypes.hh:134
boost::shared_ptr< Joint > JointPtr
Definition PhysicsTypes.hh:117
Forward declarations for the common classes.
Definition Animation.hh:27