ForceTorque.hh
Go to the documentation of this file.
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
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16  */
17 #ifndef SDF_FORCE_TORQUE_HH_
18 #define SDF_FORCE_TORQUE_HH_
19 
20 #include <string>
21 #include <ignition/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: ForceTorqueFrame Frame() const;
85 
88  public: void SetFrame(ForceTorqueFrame _frame);
89 
92  public: ForceTorqueMeasureDirection MeasureDirection() const;
93 
96  public: void SetMeasureDirection(ForceTorqueMeasureDirection _direction);
97 
101  public: bool operator==(const ForceTorque &_ft) const;
102 
107  public: bool operator!=(const ForceTorque &_ft) const;
108 
110  IGN_UTILS_IMPL_PTR(dataPtr)
111  };
112  }
113 }
114 
115 #endif
Wrench measured as applied by the parent link on the child link.
ForceTorqueMeasureDirection
The set of measure directions of the wrench values.
Definition: ForceTorque.hh:50
ForceTorque contains information about a force torque sensor.
Definition: ForceTorque.hh:64
A Frame element descibes the properties associated with an explicit frame defined in a Model or World...
Definition: Frame.hh:42
Wrench expressed in the orientation of the parent link frame.
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:98
ForceTorqueFrame
The set of supported frames of the wrench values.
Definition: ForceTorque.hh:33
#define SDFORMAT_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system_util.hh:41
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:53
class SDFORMAT_VISIBLE Element
Definition: Element.hh:49
Wrench measured as applied by the child link on the parent link.
Wrench expressed in the orientation of the child link frame.
namespace for Simulation Description Format parser
Definition: Actor.hh:33
Wrench expressed in the orientation of the joint sensor frame.