Gazebo Gazebo

API Reference

6.16.0
src/systems/force_torque/ForceTorque.hh
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1 /*
2  * Copyright (C) 2021 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
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13  * See the License for the specific language governing permissions and
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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 <gz/sim/config.hh>
22 #include <gz/sim/System.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
This library is part of the Gazebo project.
The EntityComponentManager constructs, deletes, and returns components and entities....
Definition: gz/sim/EntityComponentManager.hh:66
void PostUpdate(const UpdateInfo &_info, const EntityComponentManager &_ecm) final
Documentation inherited.
This system manages all Force-Torque sensors in simulation. Each FT sensor reports readings over Igni...
Definition: src/systems/force_torque/ForceTorque.hh:42
Information passed to systems on the update callback.
Definition: include/gz/sim/Types.hh:38
void PreUpdate(const UpdateInfo &_info, EntityComponentManager &_ecm) final
Documentation inherited.
Interface for a system that uses the PreUpdate phase.
Definition: gz/sim/System.hh:121
Interface for a system that uses the PostUpdate phase.
Definition: gz/sim/System.hh:135
Base class for a System.
Definition: gz/sim/System.hh:75
Component< sdf::Sensor, class ForceTorqueTag, serializers::SensorSerializer > ForceTorque
A component type that contains an FT sensor, sdf::ForceTorque, information.
Definition: include/gz/sim/components/ForceTorque.hh:40