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ForceTorqueSensor.hh
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1 /*
2  * Copyright (C) 2012-2014 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 _FORCETORQUESENSOR_HH_
19 #define _FORCETORQUESENSOR_HH_
20 
21 #include <string>
22 
24 #include "gazebo/sensors/Sensor.hh"
25 
26 namespace gazebo
27 {
30  namespace sensors
31  {
34 
37  class ForceTorqueSensor: public Sensor
38  {
40  public: ForceTorqueSensor();
41 
43  public: virtual ~ForceTorqueSensor();
44 
45  // Documentation inherited.
46  public: virtual void Load(const std::string &_worldName);
47 
48  // Documentation inherited.
49  public: virtual void Init();
50 
51  // Documentation inherited.
52  public: virtual std::string GetTopic() const;
53 
56  public: math::Vector3 GetTorque() const;
57 
60  public: math::Vector3 GetForce() const;
61 
62  // Documentation inherited.
63  public: virtual bool IsActive();
64 
68  public: template<typename T>
70  {return update.Connect(_subscriber);}
71 
75  {update.Disconnect(_conn);}
76 
77  // Documentation inherited.
78  protected: virtual void UpdateImpl(bool _force);
79 
80  // Documentation inherited.
81  protected: virtual void Fini();
82 
84  private: physics::JointPtr parentJoint;
85 
87  private: transport::PublisherPtr wrenchPub;
88 
90  private: msgs::WrenchStamped wrenchMsg;
91 
93  private: boost::mutex mutex;
94 
97 
100  public: physics::JointPtr GetJoint() const;
101  };
103  }
104 }
105 #endif