Contact sensor. More...

#include <sensors/sensors.hh>

Inheritance diagram for gazebo::sensors::ContactSensor:

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

virtual	~ContactSensor ()
	Destructor. More...

msgs::Contacts	Contacts () const
	Get all the contacts for the ContactSensor. More...

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

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

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

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

msgs::Contacts	GetContacts () const GAZEBO_DEPRECATED(7.0)
	Get all the contacts for the ContactSensor. More...

std::map< std::string, physics::Contact >	GetContacts (const std::string &_collisionName) GAZEBO_DEPRECATED(7.0)
	Gets contacts of a collision. More...

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

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

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

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

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

virtual	~Sensor ()
	Destructor. More...

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

event::ConnectionPtr	ConnectUpdated (std::function< void()> _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 GAZEBO_DEPRECATED(7.0)
	Get the category of the sensor. More...

uint32_t	GetId () const GAZEBO_DEPRECATED(7.0)
	Get the sensor's ID. More...

common::Time	GetLastMeasurementTime () GAZEBO_DEPRECATED(7.0)
	Return last measurement time. More...

common::Time	GetLastUpdateTime () GAZEBO_DEPRECATED(7.0)
	Return last update time. More...

std::string	GetName () const GAZEBO_DEPRECATED(7.0)
	Get name. More...

NoisePtr	GetNoise (const SensorNoiseType _type) const GAZEBO_DEPRECATED(7.0)
	Get the sensor's noise model for a specified noise type. More...

uint32_t	GetParentId () const GAZEBO_DEPRECATED(7.0)
	Get the sensor's parent's ID. More...

std::string	GetParentName () const GAZEBO_DEPRECATED(7.0)
	Returns the name of the sensor parent. More...

std::string	GetScopedName () const GAZEBO_DEPRECATED(7.0)
	Get fully scoped name of the sensor. More...

virtual std::string	GetTopic () const GAZEBO_DEPRECATED(7.0)
	Returns the topic name as set in SDF. More...

std::string	GetType () const GAZEBO_DEPRECATED(7.0)
	Get sensor type. More...

double	GetUpdateRate () GAZEBO_DEPRECATED(7.0)
	Get the update rate of the sensor. More...

bool	GetVisualize () const GAZEBO_DEPRECATED(7.0)
	Return true if user requests the sensor to be visualized via tag: <visualize>true</visualize> in SDF. More...

std::string	GetWorldName () const GAZEBO_DEPRECATED(7.0)
	Returns the name of the world the sensor is in. More...

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

common::Time	LastMeasurementTime () const
	Return last measurement time. More...

common::Time	LastUpdateTime () const
	Return last update time. More...

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

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

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

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

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

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

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

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

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

virtual void	SetPose (const ignition::math::Pose3d &_pose)
	Set the current pose. More...

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

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

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

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

double	UpdateRate () const
	Get the update rate of the sensor. More...

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

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

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

virtual bool	UpdateImpl (const 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...

Additional Inherited Members
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< SensorNoiseType, NoisePtr >	noises
	Noise added to sensor data. 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...

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

Contact sensor.

This sensor detects and reports contacts between objects

Constructor & Destructor Documentation

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

Constructor.

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

virtual

Destructor.

Member Function Documentation

msgs::Contacts gazebo::sensors::ContactSensor::Contacts ( ) const

Get all the contacts for the ContactSensor.

Returns: Message that contains contact information between collision pairs.

During ODEPhysics::UpdateCollisions, all collision pairs in the world are pushed into a buffer within ContactManager. Subsequently, World::Update invokes ContactManager::PublishContacts to publish all contacts generated within a timestep onto Gazebo topic ~/physics/contacts.

Each ContactSensor subscribes to the Gazebo ~/physics/contacts topic, retrieves all contact pairs in a time step and filters them wthin ContactSensor::OnContacts against <collision> body name specified by the ContactSensor SDF. All collision pairs between ContactSensor <collision> body and other bodies in the world are stored in an array inside contacts.proto.

Within each element of the contact.proto array inside contacts.proto, list of collisions between collision bodies (collision1 and collision 2) are stored in an array of elements, (position, normal, depth, wrench). A timestamp has also been added (time). Details are described below:

string collision1 name of the first collision object.
string collision2 name of the second collision object.
Vector3d position position of the contact joint in inertial frame.
Vector3d normal normal of the contact joint in inertial frame.
double depth intersection (penetration) depth of two collision bodies.
JointWrench wrench Forces and torques acting on both collision bodies. See joint_wrench.proto for details. The forces and torques are applied at the CG of perspective links for each collision body, specified in the inertial frame.
Time time time at which this contact happened.

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

Gets contacts of a collision.

Parameters

[in] _collisionName Name of collision

Returns: Container of contacts

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

protectedvirtual

Finalize the sensor.

Reimplemented from gazebo::sensors::Sensor.

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.

msgs::Contacts gazebo::sensors::ContactSensor::GetContacts ( ) const

Get all the contacts for the ContactSensor.

Returns: Message that contains contact information between collision pairs.

During ODEPhysics::UpdateCollisions, all collision pairs in the world are pushed into a buffer within ContactManager. Subsequently, World::Update invokes ContactManager::PublishContacts to publish all contacts generated within a timestep onto Gazebo topic ~/physics/contacts.

Each ContactSensor subscribes to the Gazebo ~/physics/contacts topic, retrieves all contact pairs in a time step and filters them wthin ContactSensor::OnContacts against <collision> body name specified by the ContactSensor SDF. All collision pairs between ContactSensor <collision> body and other bodies in the world are stored in an array inside contacts.proto.

Within each element of the contact.proto array inside contacts.proto, list of collisions between collision bodies (collision1 and collision 2) are stored in an array of elements, (position, normal, depth, wrench). A timestamp has also been added (time). Details are described below:

string collision1 name of the first collision object.
string collision2 name of the second collision object.
Vector3d position position of the contact joint in inertial frame.
Vector3d normal normal of the contact joint in inertial frame.
double depth intersection (penetration) depth of two collision bodies.
JointWrench wrench Forces and torques acting on both collision bodies. See joint_wrench.proto for details. The forces and torques are applied at the CG of perspective links for each collision body, specified in the inertial frame.
Time time time at which this contact happened.
Deprecated:
See Contacts()

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

Deprecated:: See Contacts(const std::string &_collisionName)

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

virtual

Initialize the sensor.

Reimplemented from gazebo::sensors::Sensor.

virtual bool gazebo::sensors::ContactSensor::IsActive ( ) const

virtual

Returns true if sensor generation is active.

Returns: True if active, false if not.

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 bool gazebo::sensors::ContactSensor::UpdateImpl ( const 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.

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

ContactSensor.hh

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation