Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
gazebo::sensors::ForceTorqueSensor Class Reference

Sensor for measure force and torque on a joint. More...

#include <sensors/sensors.hh>

Inheritance diagram for gazebo::sensors::ForceTorqueSensor:
Inheritance graph
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Public Member Functions

 ForceTorqueSensor ()
 Constructor. More...
 
virtual ~ForceTorqueSensor ()
 Destructor. More...
 
template<typename T >
event::ConnectionPtr ConnectUpdate (T _subscriber)
 Connect a to the update signal. More...
 
void DisconnectUpdate (event::ConnectionPtr &_conn)
 Disconnect from the update signal. More...
 
ignition::math::Vector3d Force () const
 Get the current joint force. More...
 
math::Vector3 GetForce () const GAZEBO_DEPRECATED(6.0)
 Get the current joint force. More...
 
physics::JointPtr GetJoint () const
 Get Parent Joint. More...
 
virtual std::string GetTopic () const
 Returns the topic name as set in SDF. More...
 
math::Vector3 GetTorque () const GAZEBO_DEPRECATED(6.0)
 Get the current joint torque. More...
 
virtual void Init ()
 Initialize the sensor. More...
 
virtual bool IsActive ()
 Returns true if sensor generation is active. More...
 
virtual void Load (const std::string &_worldName)
 Load the sensor with default parameters. More...
 
ignition::math::Vector3d Torque () const
 Get the current joint torque. More...
 
- Public Member Functions inherited from gazebo::sensors::Sensor
 Sensor (SensorCategory _cat)
 Constructor. More...
 
virtual ~Sensor ()
 Destructor. More...
 
template<typename T >
event::ConnectionPtr ConnectUpdated (T _subscriber)
 Connect a signal that is triggered when the sensor is updated. 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
 Get the category of the sensor. More...
 
uint32_t GetId () const
 Get the sensor's ID. More...
 
common::Time GetLastMeasurementTime ()
 Return last measurement time. More...
 
common::Time GetLastUpdateTime ()
 Return last update time. More...
 
std::string GetName () const
 Get name. More...
 
NoisePtr GetNoise (unsigned int _index=0) const GAZEBO_DEPRECATED(6.0)
 Get the sensor's noise model. More...
 
NoisePtr GetNoise (const SensorNoiseType _type) const
 Get the sensor's noise model for a specified noise type. More...
 
uint32_t GetParentId () const
 Get the sensor's parent's ID. More...
 
std::string GetParentName () const
 Returns the name of the sensor parent. More...
 
virtual math::Pose GetPose () const GAZEBO_DEPRECATED(6.0)
 Get the current pose. More...
 
std::string GetScopedName () const
 Get fully scoped name of the sensor. More...
 
std::string GetType () const
 Get sensor type. More...
 
double GetUpdateRate ()
 Get the update rate of the sensor. More...
 
bool GetVisualize () const
 Return true if user requests the sensor to be visualized via tag: <visualize>true</visualize> in SDF. More...
 
std::string GetWorldName () const
 Returns the name of the world the sensor is in. More...
 
virtual ignition::math::Pose3d Pose () const
 Get the current pose. More...
 
void ResetLastUpdateTime ()
 Reset the lastUpdateTime to zero. More...
 
virtual void SetActive (bool _value)
 Set whether the sensor is active or not. More...
 
void SetParent (const std::string &_name, uint32_t _id)
 Set the sensor's parent. More...
 
void SetUpdateRate (double _hz)
 Set the update rate of the sensor. More...
 
void Update (bool _force)
 Update the sensor. More...
 

Protected Member Functions

virtual void Fini ()
 Finalize the sensor. More...
 
void Load (const std::string &_worldName, sdf::ElementPtr _sdf)
 Load the sensor with SDF parameters. More...
 
virtual bool UpdateImpl (bool _force)
 This gets overwritten by derived sensor types. More...
 
- Protected Member Functions inherited from gazebo::sensors::Sensor
bool NeedsUpdate ()
 Return true if the sensor needs to be updated. More...
 

Protected Attributes

event::EventT< void(msgs::WrenchStamped)> update
 Update event. More...
 
- Protected Attributes inherited from gazebo::sensors::Sensor
bool active
 True if sensor generation is active. More...
 
std::vector< event::ConnectionPtrconnections
 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< int, NoisePtrnoises
 Noise added to sensor data The key maps to a SensorNoiseType, and is kept as an int value for backward compatibilty with Gazebo 5&6. More...
 
uint32_t parentId
 The sensor's parent ID. More...
 
std::string parentName
 Name of the parent. More...
 
std::vector< SensorPluginPtrplugins
 All the plugins for the sensor. More...
 
ignition::math::Pose3d pose
 Pose of the sensor. More...
 
transport::SubscriberPtr poseSub
 Subscribe to pose updates. 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

Sensor for measure force and torque on a joint.

Constructor & Destructor Documentation

gazebo::sensors::ForceTorqueSensor::ForceTorqueSensor ( )

Constructor.

virtual gazebo::sensors::ForceTorqueSensor::~ForceTorqueSensor ( )
virtual

Destructor.

Member Function Documentation

template<typename T >
event::ConnectionPtr gazebo::sensors::ForceTorqueSensor::ConnectUpdate ( _subscriber)
inline

Connect a to the update signal.

Parameters
[in]_subscriberCallback function.
Returns
The connection, which must be kept in scope.
void gazebo::sensors::ForceTorqueSensor::DisconnectUpdate ( event::ConnectionPtr _conn)
inline

Disconnect from the update signal.

Parameters
[in]_connConnection to remove.
virtual void gazebo::sensors::ForceTorqueSensor::Fini ( )
protectedvirtual

Finalize the sensor.

Reimplemented from gazebo::sensors::Sensor.

ignition::math::Vector3d gazebo::sensors::ForceTorqueSensor::Force ( ) const

Get the current joint force.

Returns
The latested measured force.
math::Vector3 gazebo::sensors::ForceTorqueSensor::GetForce ( ) const

Get the current joint force.

Returns
The latested measured force.
Deprecated:
See Force() function that returns an ignition::math::Vector3d object.
physics::JointPtr gazebo::sensors::ForceTorqueSensor::GetJoint ( ) const

Get Parent Joint.

Returns
Pointer to the joint containing this sensor
virtual std::string gazebo::sensors::ForceTorqueSensor::GetTopic ( ) const
virtual

Returns the topic name as set in SDF.

Returns
Topic name.

Reimplemented from gazebo::sensors::Sensor.

math::Vector3 gazebo::sensors::ForceTorqueSensor::GetTorque ( ) const

Get the current joint torque.

Returns
The latest measured torque.
Deprecated:
See Torque() function that returns an ignition::math::Vector3d object.
virtual void gazebo::sensors::ForceTorqueSensor::Init ( )
virtual

Initialize the sensor.

Reimplemented from gazebo::sensors::Sensor.

virtual bool gazebo::sensors::ForceTorqueSensor::IsActive ( )
virtual

Returns true if sensor generation is active.

Returns
True if active, false if not.

Reimplemented from gazebo::sensors::Sensor.

void gazebo::sensors::ForceTorqueSensor::Load ( const std::string &  _worldName,
sdf::ElementPtr  _sdf 
)
protectedvirtual

Load the sensor with SDF parameters.

Parameters
[in]_sdfSDF Sensor parameters.
[in]_worldNameName of world to load from.

Reimplemented from gazebo::sensors::Sensor.

virtual void gazebo::sensors::ForceTorqueSensor::Load ( const std::string &  _worldName)
virtual

Load the sensor with default parameters.

Parameters
[in]_worldNameName of world to load from.

Reimplemented from gazebo::sensors::Sensor.

ignition::math::Vector3d gazebo::sensors::ForceTorqueSensor::Torque ( ) const

Get the current joint torque.

Returns
The latest measured torque.
virtual bool gazebo::sensors::ForceTorqueSensor::UpdateImpl ( 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]_forceTrue if update is forced, false if not
Returns
True if the sensor was updated.

Reimplemented from gazebo::sensors::Sensor.

Member Data Documentation

event::EventT<void(msgs::WrenchStamped)> gazebo::sensors::ForceTorqueSensor::update
protected

Update event.


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