Ignition Gazebo

API Reference

6.0.0~pre1
src/systems/force_torque/ForceTorque.hh
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1 /*
2  * Copyright (C) 2021 Open Source Robotics Foundation
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4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
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17 #ifndef IGNITION_GAZEBO_SYSTEMS_FORCE_TORQUE_HH_
18 #define IGNITION_GAZEBO_SYSTEMS_FORCE_TORQUE_HH_
19 
20 #include <memory>
21 #include <ignition/gazebo/config.hh>
23 
24 namespace ignition
25 {
26 namespace gazebo
27 {
28 // Inline bracket to help doxygen filtering.
29 inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
30 namespace systems
31 {
32  // Forward declarations.
33  class ForceTorquePrivate;
34 
42  class ForceTorque:
43  public System,
44  public ISystemPreUpdate,
45  public ISystemPostUpdate
46  {
48  public: ForceTorque();
49 
51  public: ~ForceTorque() override;
52 
54  public: void PreUpdate(const UpdateInfo &_info,
55  EntityComponentManager &_ecm) final;
56 
58  public: void PostUpdate(const UpdateInfo &_info,
59  const EntityComponentManager &_ecm) final;
60 
62  private: std::unique_ptr<ForceTorquePrivate> dataPtr;
63  };
64  }
65 }
66 }
67 }
68 #endif
Interface for a system that uses the PostUpdate phase.
Definition: System.hh:119
Information passed to systems on the update callback.
Definition: Types.hh:38
The EntityComponentManager constructs, deletes, and returns components and entities. A component can be of any class which inherits from components::BaseComponent.
Definition: EntityComponentManager.hh:66
Component< sdf::Sensor, class ForceTorqueTag, serializers::SensorSerializer > ForceTorque
A component type that contains an FT sensor, sdf::ForceTorque, information.
Definition: include/ignition/gazebo/components/ForceTorque.hh:40
This library is part of the Ignition Robotics project.
This system manages all Force-Torque sensors in simulation. Each FT sensor reports readings over Igni...
Definition: src/systems/force_torque/ForceTorque.hh:42
Interface for a system that uses the PreUpdate phase.
Definition: System.hh:105
Base class for a System.
Definition: System.hh:73