Plugin that implements an optical tactile sensor. More...
#include <OpticalTactilePlugin.hh>
Public Member Functions | |
OpticalTactilePlugin () | |
Constructor. More... | |
~OpticalTactilePlugin () override=default | |
Destructor. More... | |
void | Configure (const Entity &_entity, const std::shared_ptr< const sdf::Element > &_sdf, EntityComponentManager &_ecm, EventManager &_eventMgr) override |
Configure the system. More... | |
void | PostUpdate (const UpdateInfo &_info, const EntityComponentManager &_ecm) override |
void | PreUpdate (const UpdateInfo &_info, EntityComponentManager &_ecm) override |
Documentation inherited. More... | |
Public Member Functions inherited from System | |
System () | |
Constructor. More... | |
virtual | ~System () |
Destructor. More... | |
Detailed Description
Plugin that implements an optical tactile sensor.
It requires that contact sensor and depth camera be placed in at least one link on the model on which this plugin is attached.
Parameters:
<enabled> (todo) Set this to true so the plugin works from the start and doesn't need to be enabled. This element is optional, and the default value is true.
<visualization_resolution> Number n of pixels to skip when visualizing the forces. One vector representing a normal force is computed for every nth pixel. This element must be positive and it is optional. The default value is 30
<visualize_forces> Set this to true so the plugin visualizes the normal forces in the 3D world. This element is optional, and the default value is false.
<force_length> Length in meters of the forces visualized if <visualize_forces> is set to true. This parameter is optional, and the default value is 0.01.
<extended_sensing> Extended sensing distance in meters. The sensor will output data coming from its collision geometry plus this distance. This element is optional, and the default value is 0.001.
<visualize_sensor> Whether to visualize the sensor or not. This element is optional, and the default value is false.
Constructor & Destructor Documentation
◆ OpticalTactilePlugin()
Constructor.
◆ ~OpticalTactilePlugin()
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overridedefault |
Destructor.
Member Function Documentation
◆ Configure()
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overridevirtual |
Configure the system.
- Parameters
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[in] _entity The entity this plugin is attached to. [in] _sdf The SDF Element associated with this system plugin. [in] _ecm The EntityComponentManager of the given simulation instance. [in] _eventMgr The EventManager of the given simulation instance.
Implements ISystemConfigure.
◆ PostUpdate()
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overridevirtual |
Implements ISystemPostUpdate.
◆ PreUpdate()
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overridevirtual |
Documentation inherited.
Implements ISystemPreUpdate.
The documentation for this class was generated from the following file: