ForceTorqueSensor Class Reference

Sensor for measure force and torque on a joint. More...

#include <sensors/sensors.hh>

Inherits Sensor.

Public Member Functions

 ForceTorqueSensor ()
 Constructor.
 
virtual ~ForceTorqueSensor ()
 Destructor.
 
SensorCategory Category () const
 Get the category of the sensor.
 
event::ConnectionPtr ConnectUpdate (std::function< void(msgs::WrenchStamped)> _subscriber)
 Connect a to the update signal.
 
event::ConnectionPtr ConnectUpdated (std::function< void()> _subscriber)
 Connect a signal that is triggered when the sensor is updated.
 
void FillMsg (msgs::Sensor &_msg)
 fills a msgs::Sensor message.
 
ignition::math::Vector3d Force () const
 Get the current joint force.
 
uint32_t Id () const
 Get the sensor's ID.
 
virtual void Init ()
 Initialize the sensor.
 
virtual bool IsActive () const
 Returns true if sensor generation is active.
 
physics::JointPtr Joint () const
 Get Parent Joint.
 
common::Time LastMeasurementTime () const
 Return last measurement time.
 
common::Time LastUpdateTime () const
 Return last update time.
 
virtual void Load (const std::string &_worldName)
 Load the sensor with default parameters.
 
std::string Name () const
 Get name.
 
NoisePtr Noise (const SensorNoiseType _type) const
 Get the sensor's noise model for a specified noise type.
 
uint32_t ParentId () const
 Get the sensor's parent's ID.
 
std::string ParentName () const
 Returns the name of the sensor parent.
 
virtual ignition::math::Pose3d Pose () const
 Get the current pose.
 
void ResetLastUpdateTime ()
 Reset the lastUpdateTime to zero.
 
std::string ScopedName () const
 Get fully scoped name of the sensor.
 
virtual void SetActive (const bool _value)
 Set whether the sensor is active or not.
 
void SetParent (const std::string &_name, const uint32_t _id)
 Set the sensor's parent.
 
virtual void SetPose (const ignition::math::Pose3d &_pose)
 Set the current pose.
 
void SetUpdateRate (const double _hz)
 Set the update rate of the sensor.
 
virtual std::string Topic () const
 Returns the topic name as set in SDF.
 
ignition::math::Vector3d Torque () const
 Get the current joint torque.
 
std::string Type () const
 Get sensor type.
 
void Update (const bool _force)
 Update the sensor.
 
double UpdateRate () const
 Get the update rate of the sensor.
 
bool Visualize () const
 Return true if user requests the sensor to be visualized via tag: <visualize>true</visualize> in SDF.
 
std::string WorldName () const
 Returns the name of the world the sensor is in.
 

Protected Member Functions

virtual void Fini ()
 Finalize the sensor.
 
void Load (const std::string &_worldName, sdf::ElementPtr _sdf)
 Load the sensor with SDF parameters.
 
bool NeedsUpdate ()
 Return true if the sensor needs to be updated.
 
virtual bool UpdateImpl (const bool _force)
 This gets overwritten by derived sensor types.
 

Protected Attributes

bool active
 True if sensor generation is active.
 
std::vector< event::ConnectionPtrconnections
 All event connections.
 
common::Time lastMeasurementTime
 Stores last time that a sensor measurement was generated; this value must be updated within each sensor's UpdateImpl.
 
common::Time lastUpdateTime
 Time of the last update.
 
transport::NodePtr node
 Node for communication.
 
ignition::transport::Node nodeIgn
 Ignition transport node.
 
std::map< SensorNoiseType, NoisePtrnoises
 Noise added to sensor data.
 
uint32_t parentId
 The sensor's parent ID.
 
std::string parentName
 Name of the parent.
 
std::vector< SensorPluginPtrplugins
 All the plugins for the sensor.
 
ignition::math::Pose3d pose
 Pose of the sensor.
 
gazebo::rendering::ScenePtr scene
 Pointer to the Scene.
 
sdf::ElementPtr sdf
 Pointer the the SDF element for the sensor.
 
common::Time updatePeriod
 Desired time between updates, set indirectly by Sensor::SetUpdateRate.
 
gazebo::physics::WorldPtr world
 Pointer to the world.
 

Detailed Description

Sensor for measure force and torque on a joint.

Constructor & Destructor Documentation

◆ ForceTorqueSensor()

Constructor.

◆ ~ForceTorqueSensor()

virtual ~ForceTorqueSensor ( )
virtual

Destructor.

Member Function Documentation

◆ Category()

SensorCategory Category ( ) const
inherited

Get the category of the sensor.

Returns
The category of the sensor.
See also
SensorCategory

◆ ConnectUpdate()

event::ConnectionPtr ConnectUpdate ( std::function< void(msgs::WrenchStamped)> _subscriber)

Connect a to the update signal.

Parameters
[in]_subscriberCallback function.
Returns
The connection, which must be kept in scope.

◆ ConnectUpdated()

event::ConnectionPtr ConnectUpdated ( std::function< void()> _subscriber)
inherited

Connect a signal that is triggered when the sensor is updated.

Parameters
[in]_subscriberCallback that receives the signal.
Returns
A pointer to the connection. This must be kept in scope.
See also
Sensor::DisconnectUpdated

◆ FillMsg()

void FillMsg ( msgs::Sensor & _msg)
inherited

fills a msgs::Sensor message.

Parameters
[out]_msgMessage to fill.

◆ Fini()

virtual void Fini ( )
protectedvirtual

Finalize the sensor.

Reimplemented from Sensor.

◆ Force()

ignition::math::Vector3d Force ( ) const

Get the current joint force.

Returns
The latested measured force.

◆ Id()

uint32_t Id ( ) const
inherited

Get the sensor's ID.

Returns
The sensor's ID.

◆ Init()

virtual void Init ( )
virtual

Initialize the sensor.

Reimplemented from Sensor.

◆ IsActive()

virtual bool IsActive ( ) const
virtual

Returns true if sensor generation is active.

Returns
True if active, false if not.

Reimplemented from Sensor.

◆ Joint()

physics::JointPtr Joint ( ) const

Get Parent Joint.

Returns
Pointer to the joint containing this sensor

◆ LastMeasurementTime()

common::Time LastMeasurementTime ( ) const
inherited

Return last measurement time.

Returns
Time of last measurement.

◆ LastUpdateTime()

common::Time LastUpdateTime ( ) const
inherited

Return last update time.

Returns
Time of last update.

◆ Load() [1/2]

virtual void Load ( const std::string & _worldName)
virtual

Load the sensor with default parameters.

Parameters
[in]_worldNameName of world to load from.

Reimplemented from Sensor.

◆ Load() [2/2]

void Load ( const std::string & _worldName,
sdf::ElementPtr _sdf )
protectedvirtual

Load the sensor with SDF parameters.

Parameters
[in]_sdfSDF Sensor parameters.
[in]_worldNameName of world to load from.

Reimplemented from Sensor.

◆ Name()

std::string Name ( ) const
inherited

Get name.

Returns
Name of sensor.

◆ NeedsUpdate()

bool NeedsUpdate ( )
protectedinherited

Return true if the sensor needs to be updated.

Returns
True when sensor should be updated.

◆ Noise()

NoisePtr Noise ( const SensorNoiseType _type) const
inherited

Get the sensor's noise model for a specified noise type.

Parameters
[in]_typeIndex of the noise type. Refer to SensorNoiseType enumeration for possible indices
Returns
The sensor's noise model for the given noise type

◆ ParentId()

uint32_t ParentId ( ) const
inherited

Get the sensor's parent's ID.

Returns
The sensor's parent's ID.

◆ ParentName()

std::string ParentName ( ) const
inherited

Returns the name of the sensor parent.

The parent name is set by Sensor::SetParent.

Returns
Name of Parent.

◆ Pose()

virtual ignition::math::Pose3d Pose ( ) const
virtualinherited

Get the current pose.

Returns
Current pose of the sensor.
See also
SetPose()

◆ ResetLastUpdateTime()

void ResetLastUpdateTime ( )
inherited

Reset the lastUpdateTime to zero.

◆ ScopedName()

std::string ScopedName ( ) const
inherited

Get fully scoped name of the sensor.

Returns
world_name::model_name::link_name::sensor_name.

◆ SetActive()

virtual void SetActive ( const bool _value)
virtualinherited

Set whether the sensor is active or not.

Parameters
[in]_valueTrue if active, false if not.

◆ SetParent()

void SetParent ( const std::string & _name,
const uint32_t _id )
inherited

Set the sensor's parent.

Parameters
[in]_nameThe sensor's parent's name.
[in]_idThe sensor's parent's ID.

◆ SetPose()

virtual void SetPose ( const ignition::math::Pose3d & _pose)
virtualinherited

Set the current pose.

Parameters
[in]_poseNew pose of the sensor.
See also
Pose()

◆ SetUpdateRate()

void SetUpdateRate ( const double _hz)
inherited

Set the update rate of the sensor.

Parameters
[in]_hzupdate rate of sensor.

◆ Topic()

virtual std::string Topic ( ) const
virtual

Returns the topic name as set in SDF.

Returns
Topic name.

Reimplemented from Sensor.

◆ Torque()

ignition::math::Vector3d Torque ( ) const

Get the current joint torque.

Returns
The latest measured torque.

◆ Type()

std::string Type ( ) const
inherited

Get sensor type.

Returns
Type of sensor.

◆ Update()

void Update ( const bool _force)
inherited

Update the sensor.

Parameters
[in]_forceTrue to force update, false otherwise.

◆ UpdateImpl()

virtual bool UpdateImpl ( const bool )
protectedvirtual

This gets overwritten by derived sensor types.

This function is called during Sensor::Update. And in turn, Sensor::Update is called by SensorManager::Update

Parameters
[in]_forceTrue if update is forced, false if not
Returns
True if the sensor was updated.

Reimplemented from Sensor.

◆ UpdateRate()

double UpdateRate ( ) const
inherited

Get the update rate of the sensor.

Returns
_hz update rate of sensor. Returns 0 if unthrottled.

◆ Visualize()

bool Visualize ( ) const
inherited

Return true if user requests the sensor to be visualized via tag: <visualize>true</visualize> in SDF.

Returns
True if visualized, false if not.

◆ WorldName()

std::string WorldName ( ) const
inherited

Returns the name of the world the sensor is in.

Returns
Name of the world.

Member Data Documentation

◆ active

bool active
protectedinherited

True if sensor generation is active.

◆ connections

std::vector<event::ConnectionPtr> connections
protectedinherited

All event connections.

◆ lastMeasurementTime

common::Time lastMeasurementTime
protectedinherited

Stores last time that a sensor measurement was generated; this value must be updated within each sensor's UpdateImpl.

◆ lastUpdateTime

common::Time lastUpdateTime
protectedinherited

Time of the last update.

◆ node

transport::NodePtr node
protectedinherited

Node for communication.

◆ nodeIgn

ignition::transport::Node nodeIgn
protectedinherited

Ignition transport node.

◆ noises

std::map<SensorNoiseType, NoisePtr> noises
protectedinherited

Noise added to sensor data.

◆ parentId

uint32_t parentId
protectedinherited

The sensor's parent ID.

◆ parentName

std::string parentName
protectedinherited

Name of the parent.

◆ plugins

std::vector<SensorPluginPtr> plugins
protectedinherited

All the plugins for the sensor.

◆ pose

ignition::math::Pose3d pose
protectedinherited

Pose of the sensor.

◆ scene

gazebo::rendering::ScenePtr scene
protectedinherited

Pointer to the Scene.

◆ sdf

sdf::ElementPtr sdf
protectedinherited

Pointer the the SDF element for the sensor.

◆ updatePeriod

common::Time updatePeriod
protectedinherited

Desired time between updates, set indirectly by Sensor::SetUpdateRate.

◆ world

gazebo::physics::WorldPtr world
protectedinherited

Pointer to the world.


The documentation for this class was generated from the following file: