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

#include <sensors/sensors.hh>

Inheritance diagram for gazebo::sensors::ForceTorqueSensor:

Public Member Functions
	ForceTorqueSensor ()
	Constructor. More...

virtual	~ForceTorqueSensor ()
	Destructor. More...

template<typename T >
event::ConnectionPtr	ConnectUpdate (T _subscriber)
	Connect a to the update signal. More...

void	DisconnectUpdate (event::ConnectionPtr &_conn)
	Disconnect from the update signal. More...

ignition::math::Vector3d	Force () const
	Get the current joint force. More...

math::Vector3	GetForce () const GAZEBO_DEPRECATED(6.0)
	Get the current joint force. More...

physics::JointPtr	GetJoint () const
	Get Parent Joint. More...

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

math::Vector3	GetTorque () const GAZEBO_DEPRECATED(6.0)
	Get the current joint torque. More...

virtual void	Init ()
	Initialize the sensor. More...

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

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

ignition::math::Vector3d	Torque () const
	Get the current joint torque. More...

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

virtual	~Sensor ()
	Destructor. More...

template<typename T >
event::ConnectionPtr	ConnectUpdated (T _subscriber)
	Connect a signal that is triggered when the sensor is updated. More...

void	DisconnectUpdated (event::ConnectionPtr &_c)
	Disconnect from a the updated signal. More...

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

SensorCategory	GetCategory () const
	Get the category of the sensor. More...

uint32_t	GetId () const
	Get the sensor's ID. More...

common::Time	GetLastMeasurementTime ()
	Return last measurement time. More...

common::Time	GetLastUpdateTime ()
	Return last update time. More...

std::string	GetName () const
	Get name. More...

NoisePtr	GetNoise (unsigned int _index=0) const GAZEBO_DEPRECATED(6.0)
	Get the sensor's noise model. More...

NoisePtr	GetNoise (const SensorNoiseType _type) const
	Get the sensor's noise model for a specified noise type. More...

uint32_t	GetParentId () const
	Get the sensor's parent's ID. More...

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

virtual math::Pose	GetPose () const GAZEBO_DEPRECATED(6.0)
	Get the current pose. More...

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

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

double	GetUpdateRate ()
	Get the update rate of the sensor. More...

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

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

virtual ignition::math::Pose3d	Pose () const
	Get the current pose. More...

void	ResetLastUpdateTime ()
	Reset the lastUpdateTime to zero. More...

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

void	SetParent (const std::string &_name, uint32_t _id)
	Set the sensor's parent. More...

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

void	Update (bool _force)
	Update the sensor. More...

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

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

virtual bool	UpdateImpl (bool _force)
	This gets overwritten by derived sensor types. More...

Protected Member Functions inherited from gazebo::sensors::Sensor
bool	NeedsUpdate ()
	Return true if the sensor needs to be updated. More...

Protected Attributes
event::EventT< void(msgs::WrenchStamped)>	update
	Update event. More...

Protected Attributes inherited from gazebo::sensors::Sensor
bool	active
	True if sensor generation is active. More...

std::vector< event::ConnectionPtr >	connections
	All event connections. More...

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

common::Time	lastUpdateTime
	Time of the last update. More...

transport::NodePtr	node
	Node for communication. More...

std::map< int, NoisePtr >	noises
	Noise added to sensor data The key maps to a SensorNoiseType, and is kept as an int value for backward compatibilty with Gazebo 5&6. More...

uint32_t	parentId
	The sensor's parent ID. More...

std::string	parentName
	Name of the parent. More...

std::vector< SensorPluginPtr >	plugins
	All the plugins for the sensor. More...

ignition::math::Pose3d	pose
	Pose of the sensor. More...

transport::SubscriberPtr	poseSub
	Subscribe to pose updates. More...

gazebo::rendering::ScenePtr	scene
	Pointer to the Scene. More...

sdf::ElementPtr	sdf
	Pointer the the SDF element for the sensor. More...

common::Time	updatePeriod
	Desired time between updates, set indirectly by Sensor::SetUpdateRate. More...

gazebo::physics::WorldPtr	world
	Pointer to the world. More...

Detailed Description

Sensor for measure force and torque on a joint.

Constructor & Destructor Documentation

gazebo::sensors::ForceTorqueSensor::ForceTorqueSensor ( )

Constructor.

virtual gazebo::sensors::ForceTorqueSensor::~ForceTorqueSensor ( )

virtual

Destructor.

Member Function Documentation

template<typename T >

event::ConnectionPtr gazebo::sensors::ForceTorqueSensor::ConnectUpdate ( T _subscriber )

inline

Connect a to the update signal.

Parameters

[in] _subscriber Callback function.

Returns: The connection, which must be kept in scope.

void gazebo::sensors::ForceTorqueSensor::DisconnectUpdate ( event::ConnectionPtr & _conn )

inline

Disconnect from the update signal.

Parameters

[in] _conn Connection to remove.

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

protectedvirtual

Finalize the sensor.

Reimplemented from gazebo::sensors::Sensor.

ignition::math::Vector3d gazebo::sensors::ForceTorqueSensor::Force ( ) const

Get the current joint force.

Returns: The latested measured force.

math::Vector3 gazebo::sensors::ForceTorqueSensor::GetForce ( ) const

Get the current joint force.

Returns: The latested measured force.

Deprecated:: See Force() function that returns an ignition::math::Vector3d object.

physics::JointPtr gazebo::sensors::ForceTorqueSensor::GetJoint ( ) const

Get Parent Joint.

Returns: Pointer to the joint containing this sensor

virtual std::string gazebo::sensors::ForceTorqueSensor::GetTopic ( ) const

virtual

Returns the topic name as set in SDF.

Returns: Topic name.

Reimplemented from gazebo::sensors::Sensor.

math::Vector3 gazebo::sensors::ForceTorqueSensor::GetTorque ( ) const

Get the current joint torque.

Returns: The latest measured torque.

Deprecated:: See Torque() function that returns an ignition::math::Vector3d object.

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

virtual

Initialize the sensor.

Reimplemented from gazebo::sensors::Sensor.

virtual bool gazebo::sensors::ForceTorqueSensor::IsActive ( )

virtual

Returns true if sensor generation is active.

Returns: True if active, false if not.

Reimplemented from gazebo::sensors::Sensor.

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

protectedvirtual

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::ForceTorqueSensor::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.

ignition::math::Vector3d gazebo::sensors::ForceTorqueSensor::Torque ( ) const

Get the current joint torque.

Returns: The latest measured torque.

virtual bool gazebo::sensors::ForceTorqueSensor::UpdateImpl ( 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] _force True if update is forced, false if not

Returns: True if the sensor was updated.

Reimplemented from gazebo::sensors::Sensor.

Member Data Documentation

event::EventT<void(msgs::WrenchStamped)> gazebo::sensors::ForceTorqueSensor::update

protected

Update event.

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

ForceTorqueSensor.hh

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation