ForceTorque Class Reference
This system manages all Force-Torque sensors in simulation. Each FT sensor reports readings over Gazebo Transport. More...
#include <gz/sim/systems/ForceTorque.hh>
Public Member Functions | |
| ForceTorque () | |
| Constructor. More... | |
| ~ForceTorque () override | |
| Destructor. More... | |
| void | PostUpdate (const UpdateInfo &_info, const EntityComponentManager &_ecm) final |
| Documentation inherited. More... | |
| void | PreUpdate (const UpdateInfo &_info, EntityComponentManager &_ecm) final |
| Documentation inherited. More... | |
 Public Member Functions inherited from System | |
| System ()=default | |
| Constructor. More... | |
| virtual | ~System ()=default |
| Destructor. More... | |
Additional Inherited Members | |
| Public Types inherited from System | |
| using | PriorityType = int32_t |
| Signed integer type used for specifying priority of the execution order of PreUpdate and Update phases. More... | |
| Static Public Attributes inherited from System | |
| constexpr static PriorityType | kDefaultPriority = {0} |
| Default priority value for execution order of the PreUpdate and Update phases. More... | |
| constexpr static std::string_view | kPriorityElementName |
| Name of the XML element from which the priority value will be parsed. More... | |
Detailed Description
This system manages all Force-Torque sensors in simulation. Each FT sensor reports readings over Gazebo Transport.
- Note
- Regardless of the setting of //sensor/force_torque/frame the point of application of the force is at the sensor's origin. //sensor/force_torque/frame only changes the coordinate frame in which the quantites are expressed, not the point of application.
Constructor & Destructor Documentation
◆ ForceTorque()
| ForceTorque | ( | ) |
Constructor.
◆ ~ForceTorque()
|
override |
Destructor.
Member Function Documentation
◆ PostUpdate()
|
finalvirtual |
Documentation inherited.
Implements ISystemPostUpdate.
◆ PreUpdate()
|
finalvirtual |
Documentation inherited.
Implements ISystemPreUpdate.
The documentation for this class was generated from the following file: