Contact sensor. More...

#include <sensors/sensors.hh>

Inherits Sensor.

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

virtual	~ContactSensor ()
	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...

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...

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...

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...

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...

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

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

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

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

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...

bool	NeedsUpdate ()
	Return true if the sensor needs to be updated. More...

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

Protected Attributes
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

ContactSensor ( )

Constructor.

virtual ~ContactSensor ( )

virtual

Destructor.

Member Function Documentation

SensorCategory Category ( ) const

inherited

Get the category of the sensor.

Returns: The category of the sensor.

See Also: SensorCategory

event::ConnectionPtr ConnectUpdated ( std::function< void()> _subscriber )

inherited

Connect a signal that is triggered when the sensor is updated.

Parameters

[in] _subscriber Callback that receives the signal.

Returns: A pointer to the connection. This must be kept in scope.

See Also: Sensor::DisconnectUpdated

msgs::Contacts 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> Contacts ( const std::string & _collisionName ) const

Gets contacts of a collision.

Parameters

[in] _collisionName Name of collision

Returns: Container of contacts

void DisconnectUpdated ( event::ConnectionPtr & _c )

inherited

Disconnect from a the updated signal.

Parameters

[in] _c The connection to disconnect

See Also: Sensor::ConnectUpdated

void FillMsg ( msgs::Sensor & _msg )

inherited

fills a msgs::Sensor message.

Parameters

[out] _msg Message to fill.

virtual void Fini ( )

protectedvirtual

Finalize the sensor.

Reimplemented from Sensor.

SensorCategory GetCategory ( ) const

inherited

Get the category of the sensor.

Returns: The category of the sensor.

See Also: SensorCategory

Deprecated:: See Category() function.

unsigned int 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 GetCollisionCount ( ) const

Get the number of collisions that the sensor is observing.

Returns: Number of collisions.

std::string 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 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> 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)

uint32_t GetId ( ) const

inherited

Get the sensor's ID.

Returns: The sensor's ID.

Deprecated:: See Id() function

common::Time GetLastMeasurementTime ( )

inherited

Return last measurement time.

Returns: Time of last measurement.

Deprecated:: See LastMeasurementTime() function.

common::Time GetLastUpdateTime ( )

inherited

Return last update time.

Returns: Time of last update.

Deprecated:: See LastUpdateTime() function

std::string GetName ( ) const

inherited

Get name.

Returns: Name of sensor.

Deprecated:: See Name() function.

NoisePtr GetNoise ( const SensorNoiseType _type ) const

inherited

Get the sensor's noise model for a specified noise type.

Parameters

[in] _type Index of the noise type. Refer to SensorNoiseType enumeration for possible indices

Returns: The sensor's noise model for the given noise type

Deprecated:: See Noise(const SensorNoiseType _type) function

uint32_t GetParentId ( ) const

inherited

Get the sensor's parent's ID.

Returns: The sensor's parent's ID.

Deprecated:: See ParentId() function

std::string GetParentName ( ) const

inherited

Returns the name of the sensor parent.

The parent name is set by Sensor::SetParent.

Returns: Name of Parent.

Deprecated:: See ParentName() function.

std::string GetScopedName ( ) const

inherited

Get fully scoped name of the sensor.

Returns: world_name::model_name::link_name::sensor_name.

Deprecated:: See ScopedName() function

virtual std::string GetTopic ( ) const

virtualinherited

Returns the topic name as set in SDF.

Returns: Topic name.

Deprecated:: See Topic() function.

Reimplemented in AltimeterSensor, LogicalCameraSensor, and MagnetometerSensor.

std::string GetType ( ) const

inherited

Get sensor type.

Returns: Type of sensor.

Deprecated:: See Type() function.

double GetUpdateRate ( )

inherited

Get the update rate of the sensor.

Returns: _hz update rate of sensor. Returns 0 if unthrottled.

Deprecated:: See UpdateRate() function

bool GetVisualize ( ) const

inherited

Return true if user requests the sensor to be visualized via tag: <visualize>true</visualize> in SDF.

Returns: True if visualized, false if not.

Deprecated:: See Visualize() function

std::string GetWorldName ( ) const

inherited

Returns the name of the world the sensor is in.

Returns: Name of the world.

Deprecated:: See WorldName() function.

uint32_t Id ( ) const

inherited

Get the sensor's ID.

Returns: The sensor's ID.

virtual void Init ( )

virtual

Initialize the sensor.

Reimplemented from Sensor.

virtual bool IsActive ( ) const

virtual

Returns true if sensor generation is active.

Returns: True if active, false if not.

Reimplemented from Sensor.

common::Time LastMeasurementTime ( ) const

inherited

Return last measurement time.

Returns: Time of last measurement.

Deprecated:: See LastMeasurementTime() function.

common::Time LastUpdateTime ( ) const

inherited

Return last update time.

Returns: Time of last update.

virtual void 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 Sensor.

virtual void Load ( const std::string & _worldName )

virtual

Load the sensor with default parameters.

Parameters

[in] _worldName Name of world to load from.

Reimplemented from Sensor.

std::string Name ( ) const

inherited

Get name.

Returns: Name of sensor.

bool NeedsUpdate ( )

protectedinherited

Return true if the sensor needs to be updated.

Returns: True when sensor should be updated.

NoisePtr Noise ( const SensorNoiseType _type ) const

inherited

Get the sensor's noise model for a specified noise type.

Parameters

[in] _type Index of the noise type. Refer to SensorNoiseType enumeration for possible indices

Returns: The sensor's noise model for the given noise type

uint32_t ParentId ( ) const

inherited

Get the sensor's parent's ID.

Returns: The sensor's parent's ID.

std::string ParentName ( ) const

inherited

Returns the name of the sensor parent.

The parent name is set by Sensor::SetParent.

Returns: Name of Parent.

virtual ignition::math::Pose3d Pose ( ) const

virtualinherited

Get the current pose.

Returns: Current pose of the sensor.

See Also: SetPose()

void ResetLastUpdateTime ( )

inherited

Reset the lastUpdateTime to zero.

std::string ScopedName ( ) const

inherited

Get fully scoped name of the sensor.

Returns: world_name::model_name::link_name::sensor_name.

virtual void SetActive ( const bool _value )

virtualinherited

Set whether the sensor is active or not.

Parameters

[in] _value True if active, false if not.

void SetParent	(	const std::string &	_name,
		const uint32_t	_id
	)

inherited

Set the sensor's parent.

Parameters

[in]	_name	The sensor's parent's name.
[in]	_id	The sensor's parent's ID.

virtual void SetPose ( const ignition::math::Pose3d & _pose )

virtualinherited

Set the current pose.

Parameters

[in] _pose New pose of the sensor.

See Also: Pose()

void SetUpdateRate ( const double _hz )

inherited

Set the update rate of the sensor.

Parameters

[in] _hz update rate of sensor.

virtual std::string Topic ( ) const

virtualinherited

Returns the topic name as set in SDF.

Returns: Topic name.

Reimplemented in GpuRaySensor, RaySensor, CameraSensor, ForceTorqueSensor, MultiCameraSensor, SonarSensor, and WirelessTransceiver.

std::string Type ( ) const

inherited

Get sensor type.

Returns: Type of sensor.

void Update ( const bool _force )

inherited

Update the sensor.

Parameters

[in] _force True to force update, false otherwise.

virtual bool 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 Sensor.

double UpdateRate ( ) const

inherited

Get the update rate of the sensor.

Returns: _hz update rate of sensor. Returns 0 if unthrottled.

bool Visualize ( ) const

inherited

Return true if user requests the sensor to be visualized via tag: <visualize>true</visualize> in SDF.

Returns: True if visualized, false if not.

std::string WorldName ( ) const

inherited

Returns the name of the world the sensor is in.

Returns: Name of the world.

Member Data Documentation

bool active

protectedinherited

True if sensor generation is active.

std::vector<event::ConnectionPtr> connections

protectedinherited

All event connections.

common::Time lastMeasurementTime

protectedinherited

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

common::Time lastUpdateTime

protectedinherited

Time of the last update.

transport::NodePtr node

protectedinherited

Node for communication.

std::map<SensorNoiseType, NoisePtr> noises

protectedinherited

Noise added to sensor data.

uint32_t parentId

protectedinherited

The sensor's parent ID.

std::string parentName

protectedinherited

Name of the parent.

std::vector<SensorPluginPtr> plugins

protectedinherited

All the plugins for the sensor.

ignition::math::Pose3d pose

protectedinherited

Pose of the sensor.

gazebo::rendering::ScenePtr scene

protectedinherited

Pointer to the Scene.

sdf::ElementPtr sdf

protectedinherited

Pointer the the SDF element for the sensor.

common::Time updatePeriod

protectedinherited

Desired time between updates, set indirectly by Sensor::SetUpdateRate.

gazebo::physics::WorldPtr world

protectedinherited

Pointer to the world.

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

ContactSensor.hh

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation