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18 #ifndef IGNITION_SENSORS_FORCETORQUESENSOR_HH_
19 #define IGNITION_SENSORS_FORCETORQUESENSOR_HH_
25 #include <ignition/common/SuppressWarning.hh>
26 #include <ignition/common/Time.hh>
28 #include <ignition/math/Pose3.hh>
40 inline namespace IGNITION_SENSORS_VERSION_NAMESPACE {
43 class ForceTorqueSensorPrivate;
60 public:
virtual bool Load(
const sdf::Sensor &_sdf)
override;
65 public:
virtual bool Load(sdf::ElementPtr _sdf)
override;
69 public:
virtual bool Init()
override;
74 public:
virtual bool Update(
75 const std::chrono::steady_clock::duration &_now)
override;
79 public: math::Vector3d Force()
const;
84 public:
void SetForce(
const math::Vector3d &_force);
88 public: math::Vector3d Torque()
const;
93 public:
void SetTorque(
const math::Vector3d &_torque);
98 public: math::Quaterniond RotationParentInSensor()
const;
103 public:
void SetRotationParentInSensor(
104 const math::Quaterniond &_rotParentInSensor);
109 public: math::Quaterniond RotationChildInSensor()
const;
114 public:
void SetRotationChildInSensor(
115 const math::Quaterniond &_rotChildInSensor);
120 public:
bool HasConnections()
const;
122 IGN_COMMON_WARN_IGNORE__DLL_INTERFACE_MISSING
126 IGN_COMMON_WARN_RESUME__DLL_INTERFACE_MISSING
Definition: gz/sensors/AirPressureSensor.hh:31
Force Torque Sensor Class.
Definition: gz/sensors/ForceTorqueSensor.hh:48
a base sensor class
Definition: gz/sensors/Sensor.hh:59