ForceTorque.hh
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1 /*
2  * Copyright 2020 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
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13  * See the License for the specific language governing permissions and
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15  *
16  */
17 #ifndef SDF_FORCE_TORQUE_HH_
18 #define SDF_FORCE_TORQUE_HH_
19 
20 #include <string>
21 #include <gz/utils/ImplPtr.hh>
22 #include <sdf/Error.hh>
23 #include <sdf/Element.hh>
24 #include <sdf/Noise.hh>
25 #include <sdf/sdf_config.h>
26 
27 namespace sdf
28 {
29  // Inline bracket to help doxygen filtering.
30  inline namespace SDF_VERSION_NAMESPACE {
33  enum class ForceTorqueFrame : uint8_t
34  {
36  INVALID = 0,
37 
39  PARENT = 1,
40 
42  CHILD = 2,
43 
45  SENSOR = 3
46  };
47 
50  enum class ForceTorqueMeasureDirection : uint8_t
51  {
53  INVALID = 0,
54 
56  PARENT_TO_CHILD = 1,
57 
59  CHILD_TO_PARENT = 2
60  };
61 
65  {
67  public: ForceTorque();
68 
75  public: Errors Load(ElementPtr _sdf);
76 
80  public: sdf::ElementPtr Element() const;
81 
84  public: const Noise &ForceXNoise() const;
85 
88  public: void SetForceXNoise(const Noise &_noise);
89 
92  public: const Noise &ForceYNoise() const;
93 
96  public: void SetForceYNoise(const Noise &_noise);
97 
100  public: const Noise &ForceZNoise() const;
101 
104  public: void SetForceZNoise(const Noise &_noise);
105 
108  public: const Noise &TorqueXNoise() const;
109 
112  public: void SetTorqueXNoise(const Noise &_noise);
113 
116  public: const Noise &TorqueYNoise() const;
117 
120  public: void SetTorqueYNoise(const Noise &_noise);
121 
124  public: const Noise &TorqueZNoise() const;
125 
128  public: void SetTorqueZNoise(const Noise &_noise);
129 
132  public: ForceTorqueFrame Frame() const;
133 
136  public: void SetFrame(ForceTorqueFrame _frame);
137 
140  public: ForceTorqueMeasureDirection MeasureDirection() const;
141 
144  public: void SetMeasureDirection(ForceTorqueMeasureDirection _direction);
145 
149  public: bool operator==(const ForceTorque &_ft) const;
150 
155  public: bool operator!=(const ForceTorque &_ft) const;
156 
162  public: sdf::ElementPtr ToElement() const;
163 
165  GZ_UTILS_IMPL_PTR(dataPtr)
166  };
167  }
168 }
169 
170 #endif
sdf::SDF_VERSION_NAMESPACE::ForceTorqueFrame::SENSOR
@ SENSOR
Wrench expressed in the orientation of the joint sensor frame.
sdf::SDF_VERSION_NAMESPACE::ForceTorqueFrame::CHILD
@ CHILD
Wrench expressed in the orientation of the child link frame.
sdf::SDF_VERSION_NAMESPACE::ForceTorqueFrame
ForceTorqueFrame
Definition: ForceTorque.hh:33
Error.hh
Noise.hh
sdf
namespace for Simulation Description Format parser
Definition: Actor.hh:34
sdf::SDF_VERSION_NAMESPACE::Frame
A Frame element descibes the properties associated with an explicit frame defined in a Model or World...
Definition: Frame.hh:42
sdf::SDF_VERSION_NAMESPACE::ForceTorqueFrame::PARENT
@ PARENT
Wrench expressed in the orientation of the parent link frame.
sdf_config.h
SDFORMAT_VISIBLE
#define SDFORMAT_VISIBLE
Definition: system_util.hh:25
sdf::SDF_VERSION_NAMESPACE::ForceTorqueMeasureDirection::INVALID
@ INVALID
Invalid frame.
sdf::SDF_VERSION_NAMESPACE::Noise
The Noise class contains information about a noise model, such as a Gaussian distribution.
Definition: Noise.hh:47
sdf::SDF_VERSION_NAMESPACE::ForceTorqueMeasureDirection::PARENT_TO_CHILD
@ PARENT_TO_CHILD
Wrench measured as applied by the parent link on the child link.
sdf::SDF_VERSION_NAMESPACE::Element
class GZ_SDFORMAT_VISIBLE Element
Definition: Element.hh:50
sdf::SDF_VERSION_NAMESPACE::Errors
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:80
sdf::SDF_VERSION_NAMESPACE::ForceTorqueFrame::INVALID
@ INVALID
Invalid frame.
sdf::SDF_VERSION_NAMESPACE::ForceTorque
ForceTorque contains information about a force torque sensor.
Definition: ForceTorque.hh:64
sdf::SDF_VERSION_NAMESPACE::ForceTorqueMeasureDirection
ForceTorqueMeasureDirection
Definition: ForceTorque.hh:50
sdf::SDF_VERSION_NAMESPACE::ForceTorqueMeasureDirection::CHILD_TO_PARENT
@ CHILD_TO_PARENT
Wrench measured as applied by the child link on the parent link.
sdf::SDF_VERSION_NAMESPACE::ElementPtr
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:54
Element.hh