ForceTorqueSensorPrivate.hh

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/*
 * Copyright (C) 2015-2016 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#ifndef _GAZEBO_SENSORS_FORCETORQUESENSOR_PRIVATE_HH_
#define _GAZEBO_SENSORS_FORCETORQUESENSOR_PRIVATE_HH_

#include <mutex>
#include <ignition/math/Matrix3.hh>

#include "gazebo/physics/PhysicsTypes.hh"
#include "gazebo/transport/TransportTypes.hh"

namespace gazebo
{
  namespace sensors
  {
    class ForceTorqueSensorPrivate
    {
      public: event::EventT<void(msgs::WrenchStamped)> update;

      public: physics::JointPtr parentJoint;

      public: transport::PublisherPtr wrenchPub;

      public: msgs::WrenchStamped wrenchMsg;

      public: std::mutex mutex;

      public: enum MeasureFrame
      {
        PARENT_LINK,
        CHILD_LINK,
        SENSOR
      };

      public: MeasureFrame measureFrame;

      public: bool parentToChild;

      public: ignition::math::Matrix3d rotationSensorChild;
    };
  }
}
#endif