Ignition Sensors

API Reference

6.0.1
List of all members | Public Member Functions
ForceTorqueSensor Class Reference

Force Torque Sensor Class. More...

#include <ForceTorqueSensor.hh>

Public Member Functions

 ForceTorqueSensor ()
 constructor More...
 
virtual ~ForceTorqueSensor ()
 destructor More...
 
math::Vector3d Force () const
 Get the current joint force. More...
 
virtual bool Init () override
 Initialize values in the sensor. More...
 
virtual bool Load (const sdf::Sensor &_sdf) override
 Load the sensor based on data from an sdf::Sensor object. More...
 
virtual bool Load (sdf::ElementPtr _sdf) override
 Load the sensor with SDF parameters. More...
 
math::Quaterniond RotationChildInSensor () const
 Set the rotation of the joint parent relative to the sensor frame. More...
 
math::Quaterniond RotationParentInSensor () const
 Set the rotation of the joint parent relative to the sensor frame. More...
 
void SetForce (const math::Vector3d &_force)
 Set the force vector in sensor frame and where the force is applied on the child (parent-to-child) More...
 
void SetRotationChildInSensor (const math::Quaterniond &_rotChildInSensor)
 Set the rotation of the joint child relative to the sensor frame. More...
 
void SetRotationParentInSensor (const math::Quaterniond &_rotParentInSensor)
 Set the rotation of the joint parent relative to the sensor frame. More...
 
void SetTorque (const math::Vector3d &_torque)
 Set the torque vector in sensor frame and where the torque is applied on the child (parent-to-child) More...
 
math::Vector3d Torque () const
 Get the current joint torque. More...
 
virtual bool Update (const std::chrono::steady_clock::duration &_now) override
 Update the sensor and generate data. More...
 
- Public Member Functions inherited from Sensor
virtual ~Sensor ()
 destructor More...
 
void AddSequence (ignition::msgs::Header *_msg, const std::string &_seqKey="default")
 Add a sequence number to an ignition::msgs::Header. This function can be called by a sensor that wants to add a sequence number to a sensor message in order to have improved accountability for generated sensor data. More...
 
bool EnableMetrics () const
 Get flag state for enabling performance metrics publication. More...
 
SensorId Id () const
 Get the sensor's ID. More...
 
std::string Name () const
 Get name. More...
 
std::chrono::steady_clock::duration NextDataUpdateTime () const
 Return the next time the sensor will generate data. More...
 
std::string Parent () const
 Get parent link of the sensor. More...
 
ignition::math::Pose3d Pose () const
 Get the current pose. More...
 
void PublishMetrics (const std::chrono::duration< double > &_now)
 Publishes information about the performance of the sensor. This method is called by Update(). More...
 
sdf::ElementPtr SDF () const
 Get the SDF used to load this sensor. More...
 
void SetEnableMetrics (bool _enableMetrics)
 Set flag to enable publishing performance metrics. More...
 
virtual void SetParent (const std::string &_parent)
 Set the parent of the sensor. More...
 
void SetPose (const ignition::math::Pose3d &_pose)
 Update the pose of the sensor. More...
 
bool SetTopic (const std::string &_topic)
 Set topic where sensor data is published. More...
 
void SetUpdateRate (const double _hz)
 Set the update rate of the sensor. An update rate of zero means that the sensor is updated every cycle. It's zero by default. Negative rates become zero. More...
 
std::string Topic () const
 Get topic where sensor data is published. More...
 
bool Update (const std::chrono::steady_clock::duration &_now, const bool _force)
 Update the sensor. More...
 
double UpdateRate () const
 Get the update rate of the sensor. More...
 

Additional Inherited Members

- Protected Member Functions inherited from Sensor
 Sensor ()
 constructor More...
 

Detailed Description

Force Torque Sensor Class.

A force-torque Sensor that reports force and torque applied on a joint.

Constructor & Destructor Documentation

◆ ForceTorqueSensor()

ForceTorqueSensor ( )

constructor

◆ ~ForceTorqueSensor()

virtual ~ForceTorqueSensor ( )
virtual

destructor

Member Function Documentation

◆ Force()

math::Vector3d Force ( ) const

Get the current joint force.

Returns
The latest measured force.

◆ Init()

virtual bool Init ( )
overridevirtual

Initialize values in the sensor.

Returns
True on success

Reimplemented from Sensor.

◆ Load() [1/2]

virtual bool Load ( const sdf::Sensor &  _sdf)
overridevirtual

Load the sensor based on data from an sdf::Sensor object.

Parameters
[in]_sdfSDF Sensor parameters.
Returns
true if loading was successful

Reimplemented from Sensor.

◆ Load() [2/2]

virtual bool Load ( sdf::ElementPtr  _sdf)
overridevirtual

Load the sensor with SDF parameters.

Parameters
[in]_sdfSDF Sensor parameters.
Returns
true if loading was successful

Reimplemented from Sensor.

◆ RotationChildInSensor()

math::Quaterniond RotationChildInSensor ( ) const

Set the rotation of the joint parent relative to the sensor frame.

Returns
The current rotation the child in the sensor frame.

◆ RotationParentInSensor()

math::Quaterniond RotationParentInSensor ( ) const

Set the rotation of the joint parent relative to the sensor frame.

Returns
The current rotation the parent in the sensor frame.

◆ SetForce()

void SetForce ( const math::Vector3d &  _force)

Set the force vector in sensor frame and where the force is applied on the child (parent-to-child)

Parameters
[in]_forceforce vector in newton.

◆ SetRotationChildInSensor()

void SetRotationChildInSensor ( const math::Quaterniond &  _rotChildInSensor)

Set the rotation of the joint child relative to the sensor frame.

Parameters
[in]_rotChildInSensorRotation of child in sensor frame.

◆ SetRotationParentInSensor()

void SetRotationParentInSensor ( const math::Quaterniond &  _rotParentInSensor)

Set the rotation of the joint parent relative to the sensor frame.

Parameters
[in]_rotParentInSensorRotationof parent in sensor frame.

◆ SetTorque()

void SetTorque ( const math::Vector3d &  _torque)

Set the torque vector in sensor frame and where the torque is applied on the child (parent-to-child)

Parameters
[in]_torquetorque vector in newton.

◆ Torque()

math::Vector3d Torque ( ) const

Get the current joint torque.

Returns
The latest measured torque.

◆ Update()

virtual bool Update ( const std::chrono::steady_clock::duration &  _now)
overridevirtual

Update the sensor and generate data.

Parameters
[in]_nowThe current time
Returns
true if the update was successfull

Implements Sensor.

The documentation for this class was generated from the following file: