ForceTorque.hh
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 #ifndef SDF_FORCE_TORQUE_HH_
18 #define SDF_FORCE_TORQUE_HH_
19 
20 #include <string>
21 #include <gz/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: const Noise &ForceXNoise() const;
85 
88  public: void SetForceXNoise(const Noise &_noise);
89 
92  public: const Noise &ForceYNoise() const;
93 
96  public: void SetForceYNoise(const Noise &_noise);
97 
100  public: const Noise &ForceZNoise() const;
101 
104  public: void SetForceZNoise(const Noise &_noise);
105 
108  public: const Noise &TorqueXNoise() const;
109 
112  public: void SetTorqueXNoise(const Noise &_noise);
113 
116  public: const Noise &TorqueYNoise() const;
117 
120  public: void SetTorqueYNoise(const Noise &_noise);
121 
124  public: const Noise &TorqueZNoise() const;
125 
128  public: void SetTorqueZNoise(const Noise &_noise);
129 
132  public: ForceTorqueFrame Frame() const;
133 
136  public: void SetFrame(ForceTorqueFrame _frame);
137 
141 
145 
149  public: bool operator==(const ForceTorque &_ft) const;
150 
155  public: bool operator!=(const ForceTorque &_ft) const;
156 
162  public: sdf::ElementPtr ToElement() const;
163 
170  public: sdf::ElementPtr ToElement(sdf::Errors &_errors) const;
171 
173  GZ_UTILS_IMPL_PTR(dataPtr)
174  };
175  }
176 }
177 
178 #endif
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.
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