Gazebo Sensors

API Reference

8.0.1
ForceTorqueSensor.hh
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1/*
2 * Copyright (C) 2021 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 GZ_SENSORS_FORCETORQUESENSOR_HH_
19#define GZ_SENSORS_FORCETORQUESENSOR_HH_
20
21#include <memory>
22
23#include <sdf/sdf.hh>
24
25#include <gz/utils/SuppressWarning.hh>
26
27#include <gz/math/Pose3.hh>
28
29#include <gz/sensors/config.hh>
30#include <gz/sensors/force_torque/Export.hh>
31
32#include "gz/sensors/Sensor.hh"
33
34namespace gz
35{
36 namespace sensors
37 {
38 // Inline bracket to help doxygen filtering.
39 inline namespace GZ_SENSORS_VERSION_NAMESPACE {
40 //
42 class ForceTorqueSensorPrivate;
43
47 class GZ_SENSORS_FORCE_TORQUE_VISIBLE ForceTorqueSensor
48 : public Sensor
49 {
52
54 public: virtual ~ForceTorqueSensor();
55
59 public: virtual bool Load(const sdf::Sensor &_sdf) override;
60
64 public: virtual bool Load(sdf::ElementPtr _sdf) override;
65
68 public: virtual bool Init() override;
69
70 using Sensor::Update;
71
75 public: virtual bool Update(
76 const std::chrono::steady_clock::duration &_now) override;
77
80 public: math::Vector3d Force() const;
81
85 public: void SetForce(const math::Vector3d &_force);
86
89 public: math::Vector3d Torque() const;
90
94 public: void SetTorque(const math::Vector3d &_torque);
95
99 public: math::Quaterniond RotationParentInSensor() const;
100
105 const math::Quaterniond &_rotParentInSensor);
106
110 public: math::Quaterniond RotationChildInSensor() const;
111
116 const math::Quaterniond &_rotChildInSensor);
117
120 public: virtual bool HasConnections() const override;
121
122 GZ_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
126 GZ_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING
127 };
128 }
129 }
130}
131
132#endif