OpticalTactilePluginVisualization Class Reference

#include <Visualization.hh>

Public Member Functions
	OpticalTactilePluginVisualization (std::string &_modelName, gz::math::Vector3d &_sensorSize, double &_forceLength, float &_cameraUpdateRate, gz::math::Pose3f &_depthCameraOffset)
	Constructor.
void	AddContactToMarkerMsg (gz::msgs::Contact const &_contact, gz::msgs::Marker &_contactsMarkerMsg)
	Add a contact to the marker message representing the contacts from the contact sensor based on physics.
void	AddNormalForceToMarkerMsgs (gz::msgs::Marker &_positionMarkerMsg, gz::msgs::Marker &_forceMarkerMsg, gz::math::Vector3f &_position, gz::math::Vector3f &_normalForce, gz::math::Pose3f &_sensorWorldPose)
	Create a marker messages representing the normal force computed from depth camera.
void	RemoveNormalForcesAndContactsMarkers ()
	Remove all normal forces and contact markers.
void	RequestContactsMarkerMsg (components::ContactSensorData const *_contacts)
	Request the "/marker" service for the contacts marker.
void	RequestNormalForcesMarkerMsgs (gz::msgs::Marker &_positionMarkerMsg, gz::msgs::Marker &_forceMarkerMsg)
	Request the "/marker" service for the marker messages representing the normal forces.
void	RequestSensorMarkerMsg (gz::math::Pose3f const &_sensorPose)
	Request the "/marker" service for the sensor marker. This can be helpful when debugging, given that there shouldn't be a visual tag in the plugin's model.

Constructor & Destructor Documentation

OpticalTactilePluginVisualization()

OpticalTactilePluginVisualization	(	std::string &	_modelName,
		gz::math::Vector3d &	_sensorSize,
		double &	_forceLength,
		float &	_cameraUpdateRate,
		gz::math::Pose3f &	_depthCameraOffset
	)

Constructor.

Parameters

[in]	_modelName	Name of the model to which the sensor is attached
[in]	_sensorSize	Size of the contact sensor
[in]	_forceLength	Value of the forceLength attribute
[in]	_cameraUpdateRate	Value of the cameraUpdateRate attribute
[in]	_depthCameraOffset	Value of the depthCameraOffset attribute

Member Function Documentation

AddContactToMarkerMsg()

void AddContactToMarkerMsg	(	gz::msgs::Contact const &	_contact,
		gz::msgs::Marker &	_contactsMarkerMsg
	)

Add a contact to the marker message representing the contacts from the contact sensor based on physics.

Parameters

[in]	_contact	Contact to be added
[out]	_contactsMarkerMsg	Message for visualizing the contacts

AddNormalForceToMarkerMsgs()

void AddNormalForceToMarkerMsgs	(	gz::msgs::Marker &	_positionMarkerMsg,
		gz::msgs::Marker &	_forceMarkerMsg,
		gz::math::Vector3f &	_position,
		gz::math::Vector3f &	_normalForce,
		gz::math::Pose3f &	_sensorWorldPose
	)

Create a marker messages representing the normal force computed from depth camera.

Parameters

[out]	_positionMarkerMsg	Message for visualizing the contact positions
[out]	_forceMarkerMsg	Message for visualizing the contact normal forces
[in]	_position	Position of the normal force referenced to the depth camera's origin
[in]	_normalForce	Value of the normal force referenced to the depth camera's origin
[in]	_sensorWorldPose	Pose of the plugin's model referenced to the world's origin

RemoveNormalForcesAndContactsMarkers()

void RemoveNormalForcesAndContactsMarkers

(

)

Remove all normal forces and contact markers.

RequestContactsMarkerMsg()

void RequestContactsMarkerMsg

(

components::ContactSensorData const *

_contacts

)

Request the "/marker" service for the contacts marker.

Parameters

[in]

_contacts

Contacts to visualize

RequestNormalForcesMarkerMsgs()

void RequestNormalForcesMarkerMsgs	(	gz::msgs::Marker &	_positionMarkerMsg,
		gz::msgs::Marker &	_forceMarkerMsg
	)

Request the "/marker" service for the marker messages representing the normal forces.

Parameters

[in]	_positionMarkerMsg	Message for visualizing the contact positions
[in]	_forceMarkerMsg	Message for visualizing the contact normal forces

RequestSensorMarkerMsg()

void RequestSensorMarkerMsg

(

gz::math::Pose3f const &

_sensorPose

)

Request the "/marker" service for the sensor marker. This can be helpful when debugging, given that there shouldn't be a visual tag in the plugin's model.

Parameters

[in]

_sensorPose

Pose of the optical tactile sensor

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

• Visualization.hh