Force Torque Sensor Class. More...

#include <ForceTorqueSensor.hh>

Public Member Functions
	ForceTorqueSensor ()
	constructor

virtual	~ForceTorqueSensor ()
	destructor

math::Vector3d	Force () const
	Get the current joint force.

virtual bool	HasConnections () const override
	Check if there are any subscribers.

virtual bool	Init () override
	Initialize values in the sensor.

virtual bool	Load (const sdf::Sensor &_sdf) override
	Load the sensor based on data from an sdf::Sensor object.

virtual bool	Load (sdf::ElementPtr _sdf) override
	Load the sensor with SDF parameters.

const msgs::Wrench &	MeasuredWrench () const
	Get the most recent wrench measurement. This matches the data published over the gz-transport topic.

math::Quaterniond	RotationChildInSensor () const
	Set the rotation of the joint parent relative to the sensor frame.

math::Quaterniond	RotationParentInSensor () const
	Set the rotation of the joint parent relative to the sensor frame.

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)

void	SetRotationChildInSensor (const math::Quaterniond &_rotChildInSensor)
	Set the rotation of the joint child relative to the sensor frame.

void	SetRotationParentInSensor (const math::Quaterniond &_rotParentInSensor)
	Set the rotation of the joint parent relative to the sensor frame.

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)

math::Vector3d	Torque () const
	Get the current joint torque.

virtual bool	Update (const std::chrono::steady_clock::duration &_now) override
	Update the sensor and generate data.

virtual bool	Update (const std::chrono::steady_clock::duration &_now)=0
	Force the sensor to generate data.

bool	Update (const std::chrono::steady_clock::duration &_now, const bool _force)
	Update the sensor.

Public Member Functions inherited from Sensor
virtual	~Sensor ()
	destructor

void	AddSequence (gz::msgs::Header *_msg, const std::string &_seqKey="default")
	Add a sequence number to a 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.

bool	EnableMetrics () const
	Get flag state for enabling performance metrics publication.

std::string	FrameId () const
	FrameId.

bool	HasPendingTrigger () const
	Whether the sensor has a pending trigger.

SensorId	Id () const
	Get the sensor's ID.

bool	IsActive () const
	Get whether the sensor is enabled or not.

bool	IsTriggered () const
	Whether the sensor trigger mode is enabled.

std::string	Name () const
	Get name.

std::chrono::steady_clock::duration	NextDataUpdateTime () const
	Return the next time the sensor will generate data.

std::string	Parent () const
	Get parent link of the sensor.

gz::math::Pose3d	Pose () const
	Get the current pose.

void	PublishMetrics (const std::chrono::duration< double > &_now)
	Publishes information about the performance of the sensor. This method is called by Update().

sdf::ElementPtr	SDF () const
	Get the SDF used to load this sensor.

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.

void	SetEnableMetrics (bool _enableMetrics)
	Set flag to enable publishing performance metrics.

void	SetFrameId (const std::string &_frameId)
	Set Frame ID of the sensor.

void	SetNextDataUpdateTime (const std::chrono::steady_clock::duration &_time)
	Manually set the next time the sensor will generate data Useful for accomodating jumps backwards in time as well as specifying updates for non-uniformly updating sensors.

virtual void	SetParent (const std::string &_parent)
	Set the parent of the sensor.

void	SetPose (const gz::math::Pose3d &_pose)
	Update the pose of the sensor.

bool	SetTopic (const std::string &_topic)
	Set topic where sensor data is published.

bool	SetTriggered (bool _triggered, const std::string &_triggerTopic="")
	Enable or disable triggered mode. In this mode,.

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.

std::string	Topic () const
	Get topic where sensor data is published.

bool	Update (const std::chrono::steady_clock::duration &_now, const bool _force)
	Update the sensor.

double	UpdateRate () const
	Get the update rate of the sensor.

Additional Inherited Members
Protected Member Functions inherited from Sensor
	Sensor ()
	constructor

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.

◆ HasConnections()

virtual bool HasConnections ( ) const

overridevirtual

Check if there are any subscribers.

Returns: True if there are subscribers, false otherwise

Reimplemented from Sensor.

◆ 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] _sdf SDF 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] _sdf SDF Sensor parameters.

Returns: true if loading was successful

Reimplemented from Sensor.

◆ MeasuredWrench()

const msgs::Wrench & MeasuredWrench ( ) const

Get the most recent wrench measurement. This matches the data published over the gz-transport topic.

Returns: The most recent wrench measurement.

◆ 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] _rotParentInSensor Rotation 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() [1/3]

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

overridevirtual

Update the sensor and generate data.

Parameters

[in] _now The current time

Returns: true if the update was successfull

Implements Sensor.

◆ Update() [2/3]

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

virtual

Force the sensor to generate data.

This method must be overridden by sensors. Subclasses should not not make a decision about whether or not they need to update. The Sensor class will make sure Update() is called at the correct time.

If a subclass wants to have a variable update rate it should call SetUpdateRate().

A subclass should return false if there was an error while updating

Parameters

[in] _now The current time

Returns: true if the update was successfull

See also: SetUpdateRate()

Implements Sensor.

◆ Update() [3/3]

bool Update	(	const std::chrono::steady_clock::duration &	_now,
		const bool	_force
	)

Update the sensor.

This is called by the manager, and is responsible for determining if this sensor needs to generate data at this time. If so, the subclasses' Update() method will be called.

Parameters

[in]	_now	The current time
[in]	_force	Force the update to happen even if it's not time

Returns: True if the update was performed (_force was true or _now >= next_update_time or sensor had a pending trigger) and the sensor's bool Sensor::Update(std::chrono::steady_clock::time_point) function returned true. False otherwise.

Remarks: If forced the NextUpdateTime() will be unchanged.

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

ForceTorqueSensor.hh

Gazebo Sensors

API Reference

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ForceTorqueSensor()

◆ ~ForceTorqueSensor()

Member Function Documentation

◆ Force()

◆ HasConnections()

◆ Init()

◆ Load() [1/2]

◆ Load() [2/2]

◆ MeasuredWrench()

◆ RotationChildInSensor()

◆ RotationParentInSensor()

◆ SetForce()

◆ SetRotationChildInSensor()

◆ SetRotationParentInSensor()

◆ SetTorque()

◆ Torque()

◆ Update() [1/3]

◆ Update() [2/3]

◆ Update() [3/3]