#include <sensors/sensors.hh>

Inheritance diagram for gazebo::sensors::ContactSensor:

Public Member Functions
	ContactSensor ()
	Constructor.

virtual	~ContactSensor ()
	Destructor.

physics::Contact	GetCollisionContact (const std::string &_collisionName, unsigned int _index) const
	Get a contact for a collision by index.

unsigned int	GetCollisionContactCount (const std::string &_collisionName) const
	Return the number of contacts for an observed collision.

unsigned int	GetCollisionCount () const
	Get the number of collisions that the sensor is observing.

std::string	GetCollisionName (unsigned int _index) const
	Get a collision name at index _index.

std::map< std::string, physics::Contact >	GetContacts (const std::string &_collisionName)
	Gets contacts of a collision.

boost::mutex *	GetUpdateMutex () const
	returns a pointer to the mutex for locking while reading internally kept map of map of collision names and contacts

virtual void	Init ()
	Initialize the sensor.

virtual void	Load (const std::string &_worldName, sdf::ElementPtr _sdf)
	Load the sensor with SDF parameters.

virtual void	Load (const std::string &_worldName)
	Load the sensor with default parameters.

Public Member Functions inherited from gazebo::sensors::Sensor
	Sensor ()
	Constructor.

virtual	~Sensor ()
	Destructor.

void	FillMsg (msgs::Sensor &_msg)
	fills a msgs::Sensor message.

common::Time	GetLastUpdateTime ()
	return last update time

std::string	GetName () const
	Get name.

std::string	GetParentName () const
	Returns the name of the sensor parent.

virtual math::Pose	GetPose () const
	Get the current pose.

std::string	GetScopedName () const
	Get fully scoped name of the sensor.

virtual std::string	GetTopic () const
	Returns the topic name as set in SDF.

std::string	GetType () const
	Get sensor type.

bool	GetVisualize () const
	return true if user requests the sensor to be visualized via tag: <visualize>true</visualize> in SDF

std::string	GetWorldName () const
	Returns the name of the world the sensor is in.

bool	IsActive ()
	Returns true if sensor generation is active.

virtual void	SetActive (bool _value)
	Set whether the sensor is active or not.

virtual void	SetParent (const std::string &_name)
	Set the parent of the sensor.

void	SetUpdateRate (double _hz)
	Set the update rate of the sensor.

void	Update (bool _force)
	Update the sensor.

Protected Member Functions
virtual void	Fini ()
	Finalize the sensor.

virtual void	UpdateImpl (bool _force)
	Update the sensor information.

Additional Inherited Members
Protected Attributes inherited from gazebo::sensors::Sensor
bool	active
	True if active.

std::vector< event::ConnectionPtr >	connections

common::Time	lastUpdateTime

transport::NodePtr	node

std::string	parentName

std::vector< SensorPluginPtr >	plugins

math::Pose	pose

transport::SubscriberPtr	poseSub

sdf::ElementPtr	sdf

common::Time	updatePeriod

gazebo::physics::WorldPtr	world

Constructor & Destructor Documentation

gazebo::sensors::ContactSensor::ContactSensor ( )

Constructor.

Parameters

body	The underlying collision test uses an ODE collision, so ray sensors must be attached to a body.

virtual gazebo::sensors::ContactSensor::~ContactSensor ( )

virtual

Destructor.

Member Function Documentation

virtual void gazebo::sensors::ContactSensor::Fini ( )

protectedvirtual

Finalize the sensor.

Reimplemented from gazebo::sensors::Sensor.

physics::Contact gazebo::sensors::ContactSensor::GetCollisionContact	(	const std::string &	_collisionName,
		unsigned int	_index
	)		const

Get a contact for a collision by index.

Parameters

[in]	_collisionName	Name of collision contact
[in]	_index	Index of collision to get

Returns: Contact object : nate check

unsigned int gazebo::sensors::ContactSensor::GetCollisionContactCount ( const std::string & _collisionName ) const

Return the number of contacts for an observed collision.

Parameters

[in] _collisionName The name of the observed collision

Returns: The collision contact count

unsigned int gazebo::sensors::ContactSensor::GetCollisionCount ( ) const

Get the number of collisions that the sensor is observing.

Returns: Number of collisions

std::string gazebo::sensors::ContactSensor::GetCollisionName ( unsigned int _index ) const

Get a collision name at index _index.

Parameters

[in] _index Index of collision in collection of collisions

Returns: name of collision

std::map<std::string, physics::Contact> gazebo::sensors::ContactSensor::GetContacts ( const std::string & _collisionName )

Gets contacts of a collision.

Parameters

[in] _collisionName Name of collision

Returns: Container of contacts : nate check

boost::mutex* gazebo::sensors::ContactSensor::GetUpdateMutex ( ) const

inline

returns a pointer to the mutex for locking while reading internally kept map of map of collision names and contacts

Returns: The mutex for the sensor

virtual void gazebo::sensors::ContactSensor::Init ( )

virtual

Initialize the sensor.

Reimplemented from gazebo::sensors::Sensor.

virtual void gazebo::sensors::ContactSensor::Load	(	const std::string &	_worldName,
		sdf::ElementPtr	_sdf
	)

virtual

Load the sensor with SDF parameters.

Parameters

[in]	_sdf	SDF Sensor parameters
[in]	_worldName	Name of world to load from

Reimplemented from gazebo::sensors::Sensor.

virtual void gazebo::sensors::ContactSensor::Load ( const std::string & _worldName )

virtual

Load the sensor with default parameters.

Parameters

[in] _worldName Name of world to load from

Reimplemented from gazebo::sensors::Sensor.

virtual void gazebo::sensors::ContactSensor::UpdateImpl ( bool _force )

protectedvirtual

Update the sensor information.

Parameters

[in] _force True if update is forced, false if not

Reimplemented from gazebo::sensors::Sensor.

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

ContactSensor.hh

Public Member Functions

Protected Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation