ForceTorqueSensor.hh

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/*
 * Copyright (C) 2012-2015 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#ifndef _GAZEBO_FORCETORQUESENSOR_HH_
#define _GAZEBO_FORCETORQUESENSOR_HH_

#include <string>

#include "gazebo/transport/TransportTypes.hh"
#include "gazebo/sensors/Sensor.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace sensors
  {

    class GAZEBO_VISIBLE ForceTorqueSensor: public Sensor
    {
      public: ForceTorqueSensor();

      public: virtual ~ForceTorqueSensor();

      // Documentation inherited.
      protected: void Load(const std::string &_worldName, sdf::ElementPtr _sdf);

      // Documentation inherited.
      public: virtual void Load(const std::string &_worldName);

      // Documentation inherited.
      public: virtual void Init();

      // Documentation inherited.
      public: virtual std::string GetTopic() const;

      public: math::Vector3 GetTorque() const GAZEBO_DEPRECATED(6.0);

      public: ignition::math::Vector3d Torque() const;

      public: math::Vector3 GetForce() const GAZEBO_DEPRECATED(6.0);

      public: ignition::math::Vector3d Force() const;

      public: physics::JointPtr GetJoint() const;

      // Documentation inherited.
      public: virtual bool IsActive();

      public: template<typename T>
              event::ConnectionPtr ConnectUpdate(T _subscriber)
              {return update.Connect(_subscriber);}

      public: void DisconnectUpdate(event::ConnectionPtr &_conn)
              {update.Disconnect(_conn);}

      // Documentation inherited.
      protected: virtual bool UpdateImpl(bool _force);

      // Documentation inherited.
      protected: virtual void Fini();

      protected: event::EventT<void(msgs::WrenchStamped)> update;

      private: physics::JointPtr parentJoint;

      private: transport::PublisherPtr wrenchPub;

      private: msgs::WrenchStamped wrenchMsg;

      private: boost::mutex mutex;

      private: enum MeasureFrame
      {
        PARENT_LINK,
        CHILD_LINK,
        SENSOR
      };

      private: MeasureFrame measureFrame;

      private: bool parentToChild;

      private: ignition::math::Matrix3d rotationSensorChild;
    };
  }
}
#endif