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Public Member Functions | Protected Member Functions | List of all members
gazebo::sensors::ContactSensor Class Reference

#include <sensors/sensors.hh>

Inheritance diagram for gazebo::sensors::ContactSensor:
Inheritance graph
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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 GetLastMeasurementTime ()
 Return last measurement time.
 
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 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.
 
std::string parentName
 Name of the parent.
 
std::vector< SensorPluginPtrplugins
 All the plugins for the sensor.
 
math::Pose pose
 Pose of the sensor.
 
transport::SubscriberPtr poseSub
 Subscribe to pose updates.
 
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.
 

Constructor & Destructor Documentation

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

Constructor.

Parameters
bodyThe 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]_collisionNameName of collision contact
[in]_indexIndex of collision to get
Returns
Contact object
unsigned int gazebo::sensors::ContactSensor::GetCollisionContactCount ( const std::string &  _collisionName) const

Return the number of contacts for an observed collision.

Parameters
[in]_collisionNameThe 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]_indexIndex 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]_collisionNameName of collision
Returns
Container of contacts
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]_sdfSDF Sensor parameters
[in]_worldNameName 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]_worldNameName 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]_forceTrue if update is forced, false if not

Reimplemented from gazebo::sensors::Sensor.


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