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.
	~ForceTorque () override
	Destructor.
System::PriorityType	ConfigurePriority () final
	Documentation inherited.
void	PreUpdate (const UpdateInfo &_info, EntityComponentManager &_ecm) final
	Documentation inherited.
void	Update (const UpdateInfo &_info, EntityComponentManager &_ecm) final
	Documentation inherited.
Public Member Functions inherited from System
	System ()=default
	Constructor.
virtual	~System ()=default
	Destructor.

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.
Static Public Attributes inherited from System
static constexpr PriorityType	kDefaultPriority = {0}
	Default priority value for execution order of the PreUpdate and Update phases.
static constexpr std::string_view	kPriorityElementName
	Name of the XML element from which the priority value will be parsed.

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 quantities are expressed, not the point of application.

Constructor & Destructor Documentation

ForceTorque()

ForceTorque

(

)

Constructor.

~ForceTorque()

~ForceTorque ( )

override

Destructor.

Member Function Documentation

ConfigurePriority()

System::PriorityType ConfigurePriority ( )

finalvirtual

Documentation inherited.

Implements ISystemConfigurePriority.

PreUpdate()

void PreUpdate ( const UpdateInfo &  _info, EntityComponentManager &  _ecm  )

finalvirtual

Documentation inherited.

Implements ISystemPreUpdate.

Update()

void Update ( const UpdateInfo &  _info, EntityComponentManager &  _ecm  )

finalvirtual

Documentation inherited.

Implements ISystemUpdate.

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

• src/systems/force_torque/ForceTorque.hh