17 #ifndef SDF_FORCE_TORQUE_HH_
18 #define SDF_FORCE_TORQUE_HH_
21 #include <gz/utils/ImplPtr.hh>
30 inline namespace SDF_VERSION_NAMESPACE {
173 GZ_UTILS_IMPL_PTR(dataPtr)
ForceTorque contains information about a force torque sensor.
Definition: ForceTorque.hh:65
const Noise & TorqueYNoise() const
Get the torque noise values in the measurement frame Y-axis.
void SetForceZNoise(const Noise &_noise)
Set the force noise values in the measurement frame Z-axis.
ForceTorque()
Default constructor.
Errors Load(ElementPtr _sdf)
Load the force torque sensor based on an element pointer.
sdf::ElementPtr Element() const
Get a pointer to the SDF element that was used during load.
void SetTorqueYNoise(const Noise &_noise)
Set the torque noise values in the measurement frame Y-axis.
ForceTorqueFrame Frame() const
Get the frame in which the wrench values are reported.
void SetForceXNoise(const Noise &_noise)
Set the force noise values in the measurement frame X-axis.
const Noise & TorqueXNoise() const
Get the torque noise values in the measurement frame X-axis.
void SetFrame(ForceTorqueFrame _frame)
Set the frame in which the wrench values are reported.
void SetForceYNoise(const Noise &_noise)
Set the force noise values in the measurement frame Y-axis.
sdf::ElementPtr ToElement() const
Create and return an SDF element filled with data from this force torque sensor.
void SetTorqueXNoise(const Noise &_noise)
Set the torque noise values in the measurement frame X-axis.
const Noise & ForceYNoise() const
Get the force noise values in the measurement frame Y-axis.
bool operator==(const ForceTorque &_ft) const
Return true if both force torque objects contain the same values.
void SetTorqueZNoise(const Noise &_noise)
Set the torque noise values in the measurement frame Z-axis.
sdf::ElementPtr ToElement(sdf::Errors &_errors) const
Create and return an SDF element filled with data from this force torque sensor.
const Noise & TorqueZNoise() const
Get the torque noise values in the measurement frame Z-axis.
const Noise & ForceZNoise() const
Get the force noise values in the measurement frame Z-axis.
bool operator!=(const ForceTorque &_ft) const
Return true this force torque object does not contain the same values as the passed-in parameter.
void SetMeasureDirection(ForceTorqueMeasureDirection _direction)
Set the measure direction of the wrench values.
ForceTorqueMeasureDirection MeasureDirection() const
Get the measure direction of the wrench values.
const Noise & ForceXNoise() const
Get the force noise values in the measurement frame X-axis.
The Noise class contains information about a noise model, such as a Gaussian distribution.
Definition: Noise.hh:48
ForceTorqueFrame
The set of supported frames of the wrench values.
Definition: ForceTorque.hh:34
@ PARENT
Wrench expressed in the orientation of the parent link frame.
@ SENSOR
Wrench expressed in the orientation of the joint sensor frame.
@ CHILD
Wrench expressed in the orientation of the child link frame.
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:95
ForceTorqueMeasureDirection
The set of measure directions of the wrench values.
Definition: ForceTorque.hh:51
@ PARENT_TO_CHILD
Wrench measured as applied by the parent link on the child link.
@ CHILD_TO_PARENT
Wrench measured as applied by the child link on the parent link.
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:55
namespace for Simulation Description Format parser
Definition: Actor.hh:35
#define SDFORMAT_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system_util.hh:25