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... | |
bool | HasConnections () const |
Check if there are any subscribers. 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 (gz::msgs::Header *_msg, const std::string &_seqKey="default") |
Add a sequence number to an gz::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... | |
std::string | FrameId () const |
FrameId. More... | |
SensorId | Id () const |
Get the sensor's ID. More... | |
bool | IsActive () const |
Get whether the sensor is enabled or not. 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... | |
gz::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 | SetActive (bool _active) |
Enable or disable the sensor. Disabled sensors will not generate or publish data unless Update is called with the '_force' argument set to true. More... | |
void | SetEnableMetrics (bool _enableMetrics) |
Set flag to enable publishing performance metrics. More... | |
void | SetFrameId (const std::string &_frameId) |
Set Frame ID of the sensor. More... | |
virtual void | SetParent (const std::string &_parent) |
Set the parent of the sensor. More... | |
void | SetPose (const gz::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. \detail 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
Constructor & Destructor Documentation
◆ ForceTorqueSensor()
constructor
◆ ~ForceTorqueSensor()
|
virtual |
destructor
Member Function Documentation
◆ Force()
math::Vector3d Force | ( | ) | const |
Get the current joint force.
- Returns
- The latest measured force.
◆ HasConnections()
bool HasConnections | ( | ) | const |
Check if there are any subscribers.
- Returns
- True if there are subscribers, false otherwise
- Todo:
- (iche033) Make this function virtual on Garden
◆ Init()
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overridevirtual |
◆ Load() [1/2]
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overridevirtual |
◆ Load() [2/2]
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overridevirtual |
◆ 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] _force force vector in newton.
◆ SetRotationChildInSensor()
void SetRotationChildInSensor | ( | const math::Quaterniond & | _rotChildInSensor | ) |
Set the rotation of the joint child relative to the sensor frame.
- Parameters
-
[in] _rotChildInSensor Rotation 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] _rotParentInSensorRotation of 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] _torque torque vector in newton.
◆ Torque()
math::Vector3d Torque | ( | ) | const |
Get the current joint torque.
- Returns
- The latest measured torque.
◆ Update()
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overridevirtual |
Update the sensor and generate data.
- Parameters
-
[in] _now The current time
- Returns
- true if the update was successfull
Implements Sensor.
The documentation for this class was generated from the following file: