#include <ForceTorqueSensorPrivate.hh>
Public Types | |
| enum | MeasureFrame { PARENT_LINK, CHILD_LINK, SENSOR } |
| Which orientation we support for returning sensor measure. More... | |
Public Attributes | |
| MeasureFrame | measureFrame |
| Frame in which we return the measured force torque info. More... | |
| std::mutex | mutex |
| Mutex to protect the wrench message. More... | |
| physics::JointPtr | parentJoint |
| Parent joint, from which we get force torque info. More... | |
| bool | parentToChild |
| Direction of the measure True if the measured force torque is the one applied by the parent on the child, false otherwise. More... | |
| ignition::math::Matrix3d | rotationSensorChild |
| Rotation matrix than transforms a vector expressed in child orientation in a vector expressed in joint orientation. More... | |
| event::EventT< void(msgs::WrenchStamped)> | update |
| Update event. More... | |
| msgs::WrenchStamped | wrenchMsg |
| Message the store the current force torque info. More... | |
| transport::PublisherPtr | wrenchPub |
| Publishes the wrenchMsg. More... | |
| MeasureFrame gazebo::sensors::ForceTorqueSensorPrivate::measureFrame |
Frame in which we return the measured force torque info.
| std::mutex gazebo::sensors::ForceTorqueSensorPrivate::mutex |
Mutex to protect the wrench message.
| physics::JointPtr gazebo::sensors::ForceTorqueSensorPrivate::parentJoint |
Parent joint, from which we get force torque info.
| bool gazebo::sensors::ForceTorqueSensorPrivate::parentToChild |
Direction of the measure True if the measured force torque is the one applied by the parent on the child, false otherwise.
| ignition::math::Matrix3d gazebo::sensors::ForceTorqueSensorPrivate::rotationSensorChild |
Rotation matrix than transforms a vector expressed in child orientation in a vector expressed in joint orientation.
Necessary is the measure is specified in joint frame.
| event::EventT<void(msgs::WrenchStamped)> gazebo::sensors::ForceTorqueSensorPrivate::update |
Update event.
| msgs::WrenchStamped gazebo::sensors::ForceTorqueSensorPrivate::wrenchMsg |
Message the store the current force torque info.
| transport::PublisherPtr gazebo::sensors::ForceTorqueSensorPrivate::wrenchPub |
Publishes the wrenchMsg.