ForceTorqueSensor.hh

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/*
 * Copyright (C) 2021 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
 
#ifndef GZ_SENSORS_FORCETORQUESENSOR_HH_
#define GZ_SENSORS_FORCETORQUESENSOR_HH_
 
#include <memory>
 
#include <sdf/sdf.hh>
 
#include <gz/utils/SuppressWarning.hh>
 
#include <gz/math/Pose3.hh>
 
#include <gz/msgs/wrench.pb.h>
 
#include <gz/sensors/config.hh>
#include <gz/sensors/force_torque/Export.hh>
 
#include "gz/sensors/Sensor.hh"
 
namespace gz
{
  namespace sensors
  {
    // Inline bracket to help doxygen filtering.
    inline namespace GZ_SENSORS_VERSION_NAMESPACE {
    //
    class ForceTorqueSensorPrivate;
 
    class GZ_SENSORS_FORCE_TORQUE_VISIBLE ForceTorqueSensor
        : public Sensor
    {
      public: ForceTorqueSensor();
 
      public: virtual ~ForceTorqueSensor();
 
      public: virtual bool Load(const sdf::Sensor &_sdf) override;
 
      public: virtual bool Load(sdf::ElementPtr _sdf) override;
 
      public: virtual bool Init() override;
 
      using Sensor::Update;
 
      public: virtual bool Update(
        const std::chrono::steady_clock::duration &_now) override;
 
      public: math::Vector3d Force() const;
 
      public: void SetForce(const math::Vector3d &_force);
 
      public: math::Vector3d Torque() const;
 
      public: void SetTorque(const math::Vector3d &_torque);
 
      public: const msgs::Wrench &MeasuredWrench() const;
 
      public: math::Quaterniond RotationParentInSensor() const;
 
      public: void SetRotationParentInSensor(
                  const math::Quaterniond &_rotParentInSensor);
 
      public: math::Quaterniond RotationChildInSensor() const;
 
      public: void SetRotationChildInSensor(
                  const math::Quaterniond &_rotChildInSensor);
 
      public: virtual bool HasConnections() const override;
 
      GZ_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
      private: std::unique_ptr<ForceTorqueSensorPrivate> dataPtr;
      GZ_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING
    };
    }
  }
}
 
#endif