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. More... | |
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. More... | |
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. More... | |
void | RemoveNormalForcesAndContactsMarkers () |
Remove all normal forces and contact markers. More... | |
void | RequestContactsMarkerMsg (components::ContactSensorData const *_contacts) |
Request the "/marker" service for the contacts marker. More... | |
void | RequestNormalForcesMarkerMsgs (gz::msgs::Marker &_positionMarkerMsg, gz::msgs::Marker &_forceMarkerMsg) |
Request the "/marker" service for the marker messages representing the normal forces. More... | |
void | RequestSensorMarkerMsg (gz::math::Pose3f const &_sensorPose) |
Request the "/marker" service for the sensor marker. This can be helpful when debbuging, given that there shouldn't be a visual tag in the plugin's model. More... | |
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 debbuging, given that there shouldn't be a visual tag in the plugin's model.
- Parameters
-
[in] _sensorPose Pose of the optical tactile sensor
The documentation for this class was generated from the following file: