17 #ifndef _GAZEBO_SENSORS_FORCETORQUESENSOR_HH_
18 #define _GAZEBO_SENSORS_FORCETORQUESENSOR_HH_
24 #include <ignition/math/Vector3.hh>
37 class ForceTorqueSensorPrivate;
53 protected:
void Load(
const std::string &_worldName, sdf::ElementPtr _sdf);
56 public:
virtual void Load(
const std::string &_worldName);
59 public:
virtual void Init();
62 public:
virtual std::string Topic()
const;
66 public: ignition::math::Vector3d Torque()
const;
70 public: ignition::math::Vector3d Force()
const;
77 public:
virtual bool IsActive()
const;
83 std::function<
void (msgs::WrenchStamped)> _subscriber);
86 protected:
virtual bool UpdateImpl(
const bool _force);
89 protected:
virtual void Fini();
93 private: std::unique_ptr<ForceTorqueSensorPrivate> dataPtr;
Forward declarations for transport.
boost::shared_ptr< Joint > JointPtr
Definition: PhysicsTypes.hh:117
Sensor for measure force and torque on a joint.
Definition: ForceTorqueSensor.hh:44
boost::shared_ptr< Connection > ConnectionPtr
Definition: CommonTypes.hh:134
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
Base class for sensors.
Definition: Sensor.hh:51