Sensor for measure force and torque on a joint. More...

#include <sensors/sensors.hh>

Inherits Sensor.

Public Member Functions
	ForceTorqueSensor ()
	Constructor.
virtual	~ForceTorqueSensor ()
	Destructor.
SensorCategory	Category () const
	Get the category of the sensor.
event::ConnectionPtr	ConnectUpdate (std::function< void(msgs::WrenchStamped)> _subscriber)
	Connect a to the update signal.
event::ConnectionPtr	ConnectUpdated (std::function< void()> _subscriber)
	Connect a signal that is triggered when the sensor is updated.
void	FillMsg (msgs::Sensor &_msg)
	fills a msgs::Sensor message.
ignition::math::Vector3d	Force () const
	Get the current joint force.
uint32_t	Id () const
	Get the sensor's ID.
virtual void	Init ()
	Initialize the sensor.
virtual bool	IsActive () const
	Returns true if sensor generation is active.
physics::JointPtr	Joint () const
	Get Parent Joint.
common::Time	LastMeasurementTime () const
	Return last measurement time.
common::Time	LastUpdateTime () const
	Return last update time.
virtual void	Load (const std::string &_worldName)
	Load the sensor with default parameters.
std::string	Name () const
	Get name.
NoisePtr	Noise (const SensorNoiseType _type) const
	Get the sensor's noise model for a specified noise type.
uint32_t	ParentId () const
	Get the sensor's parent's ID.
std::string	ParentName () const
	Returns the name of the sensor parent.
virtual ignition::math::Pose3d	Pose () const
	Get the current pose.
void	ResetLastUpdateTime ()
	Reset the lastUpdateTime to zero.
std::string	ScopedName () const
	Get fully scoped name of the sensor.
virtual void	SetActive (const bool _value)
	Set whether the sensor is active or not.
void	SetParent (const std::string &_name, const uint32_t _id)
	Set the sensor's parent.
virtual void	SetPose (const ignition::math::Pose3d &_pose)
	Set the current pose.
void	SetUpdateRate (const double _hz)
	Set the update rate of the sensor.
virtual std::string	Topic () const
	Returns the topic name as set in SDF.
ignition::math::Vector3d	Torque () const
	Get the current joint torque.
std::string	Type () const
	Get sensor type.
void	Update (const bool _force)
	Update the sensor.
double	UpdateRate () const
	Get the update rate of the sensor.
bool	Visualize () const
	Return true if user requests the sensor to be visualized via tag: <visualize>true</visualize> in SDF.
std::string	WorldName () const
	Returns the name of the world the sensor is in.

Protected Member Functions
virtual void	Fini ()
	Finalize the sensor.
void	Load (const std::string &_worldName, sdf::ElementPtr _sdf)
	Load the sensor with SDF parameters.
bool	NeedsUpdate ()
	Return true if the sensor needs to be updated.
virtual bool	UpdateImpl (const bool _force)
	This gets overwritten by derived sensor types.

Protected Attributes
bool	active
	True if sensor generation is active.
std::vector< event::ConnectionPtr >	connections
	All event connections.
common::Time	lastMeasurementTime
	Stores last time that a sensor measurement was generated; this value must be updated within each sensor's UpdateImpl.
common::Time	lastUpdateTime
	Time of the last update.
transport::NodePtr	node
	Node for communication.
ignition::transport::Node	nodeIgn
	Ignition transport node.
std::map< SensorNoiseType, NoisePtr >	noises
	Noise added to sensor data.
uint32_t	parentId
	The sensor's parent ID.
std::string	parentName
	Name of the parent.
std::vector< SensorPluginPtr >	plugins
	All the plugins for the sensor.
ignition::math::Pose3d	pose
	Pose of the sensor.
gazebo::rendering::ScenePtr	scene
	Pointer to the Scene.
sdf::ElementPtr	sdf
	Pointer the the SDF element for the sensor.
common::Time	updatePeriod
	Desired time between updates, set indirectly by Sensor::SetUpdateRate.
gazebo::physics::WorldPtr	world
	Pointer to the world.

Detailed Description

Sensor for measure force and torque on a joint.

Constructor & Destructor Documentation

◆ ForceTorqueSensor()

ForceTorqueSensor ( )

Constructor.

◆ ~ForceTorqueSensor()

virtual ~ForceTorqueSensor ( )

virtual

Destructor.

Member Function Documentation

◆ Category()

SensorCategory Category ( ) const

inherited

Get the category of the sensor.

Returns: The category of the sensor.

See also: SensorCategory

◆ ConnectUpdate()

event::ConnectionPtr ConnectUpdate ( std::function< void(msgs::WrenchStamped)> _subscriber )

Connect a to the update signal.

Parameters

[in] _subscriber Callback function.

Returns: The connection, which must be kept in scope.

◆ ConnectUpdated()

event::ConnectionPtr ConnectUpdated ( std::function< void()> _subscriber )

inherited

Connect a signal that is triggered when the sensor is updated.

Parameters

[in] _subscriber Callback that receives the signal.

Returns: A pointer to the connection. This must be kept in scope.

See also: Sensor::DisconnectUpdated

◆ FillMsg()

void FillMsg ( msgs::Sensor & _msg )

inherited

fills a msgs::Sensor message.

Parameters

[out] _msg Message to fill.

◆ Fini()

virtual void Fini ( )

protectedvirtual

Finalize the sensor.

Reimplemented from Sensor.

◆ Force()

ignition::math::Vector3d Force ( ) const

Get the current joint force.

Returns: The latested measured force.

◆ Id()

uint32_t Id ( ) const

inherited

Get the sensor's ID.

Returns: The sensor's ID.

◆ Init()

virtual void Init ( )

virtual

Initialize the sensor.

Reimplemented from Sensor.

◆ IsActive()

virtual bool IsActive ( ) const

virtual

Returns true if sensor generation is active.

Returns: True if active, false if not.

Reimplemented from Sensor.

◆ Joint()

physics::JointPtr Joint ( ) const

Get Parent Joint.

Returns: Pointer to the joint containing this sensor

◆ LastMeasurementTime()

common::Time LastMeasurementTime ( ) const

inherited

Return last measurement time.

Returns: Time of last measurement.

◆ LastUpdateTime()

common::Time LastUpdateTime ( ) const

inherited

Return last update time.

Returns: Time of last update.

◆ Load() [1/2]

virtual void Load ( const std::string & _worldName )

virtual

Load the sensor with default parameters.

Parameters

[in] _worldName Name of world to load from.

Reimplemented from Sensor.

◆ Load() [2/2]

void Load	(	const std::string &	_worldName,
		sdf::ElementPtr	_sdf )

protectedvirtual

Load the sensor with SDF parameters.

Parameters

[in]	_sdf	SDF Sensor parameters.
[in]	_worldName	Name of world to load from.

Reimplemented from Sensor.

◆ Name()

std::string Name ( ) const

inherited

Get name.

Returns: Name of sensor.

◆ NeedsUpdate()

bool NeedsUpdate ( )

protectedinherited

Return true if the sensor needs to be updated.

Returns: True when sensor should be updated.

◆ Noise()

NoisePtr Noise ( const SensorNoiseType _type ) const

inherited

Get the sensor's noise model for a specified noise type.

Parameters

[in] _type Index of the noise type. Refer to SensorNoiseType enumeration for possible indices

Returns: The sensor's noise model for the given noise type

◆ ParentId()

uint32_t ParentId ( ) const

inherited

Get the sensor's parent's ID.

Returns: The sensor's parent's ID.

◆ ParentName()

std::string ParentName ( ) const

inherited

Returns the name of the sensor parent.

The parent name is set by Sensor::SetParent.

Returns: Name of Parent.

◆ Pose()

virtual ignition::math::Pose3d Pose ( ) const

virtualinherited

Get the current pose.

Returns: Current pose of the sensor.

See also: SetPose()

◆ ResetLastUpdateTime()

void ResetLastUpdateTime ( )

inherited

Reset the lastUpdateTime to zero.

◆ ScopedName()

std::string ScopedName ( ) const

inherited

Get fully scoped name of the sensor.

Returns: world_name::model_name::link_name::sensor_name.

◆ SetActive()

virtual void SetActive ( const bool _value )

virtualinherited

Set whether the sensor is active or not.

Parameters

[in] _value True if active, false if not.

◆ SetParent()

void SetParent	(	const std::string &	_name,
		const uint32_t	_id )

inherited

Set the sensor's parent.

Parameters

[in]	_name	The sensor's parent's name.
[in]	_id	The sensor's parent's ID.

◆ SetPose()

virtual void SetPose ( const ignition::math::Pose3d & _pose )

virtualinherited

Set the current pose.

Parameters

[in] _pose New pose of the sensor.

See also: Pose()

◆ SetUpdateRate()

void SetUpdateRate ( const double _hz )

inherited

Set the update rate of the sensor.

Parameters

[in] _hz update rate of sensor.

◆ Topic()

virtual std::string Topic ( ) const

virtual

Returns the topic name as set in SDF.

Returns: Topic name.

Reimplemented from Sensor.

◆ Torque()

ignition::math::Vector3d Torque ( ) const

Get the current joint torque.

Returns: The latest measured torque.

◆ Type()

std::string Type ( ) const

inherited

Get sensor type.

Returns: Type of sensor.

◆ Update()

void Update ( const bool _force )

inherited

Update the sensor.

Parameters

[in] _force True to force update, false otherwise.

◆ UpdateImpl()

virtual bool UpdateImpl ( const bool )

protectedvirtual

This gets overwritten by derived sensor types.

This function is called during Sensor::Update. And in turn, Sensor::Update is called by SensorManager::Update

Parameters

[in] _force True if update is forced, false if not

Returns: True if the sensor was updated.

Reimplemented from Sensor.

◆ UpdateRate()

double UpdateRate ( ) const

inherited

Get the update rate of the sensor.

Returns: _hz update rate of sensor. Returns 0 if unthrottled.

◆ Visualize()

bool Visualize ( ) const

inherited

Return true if user requests the sensor to be visualized via tag: <visualize>true</visualize> in SDF.

Returns: True if visualized, false if not.

◆ WorldName()

std::string WorldName ( ) const

inherited

Returns the name of the world the sensor is in.

Returns: Name of the world.

Member Data Documentation

◆ active

bool active

protectedinherited

True if sensor generation is active.

◆ connections

std::vector<event::ConnectionPtr> connections

protectedinherited

All event connections.

◆ lastMeasurementTime

common::Time lastMeasurementTime

protectedinherited

Stores last time that a sensor measurement was generated; this value must be updated within each sensor's UpdateImpl.

◆ lastUpdateTime

common::Time lastUpdateTime

protectedinherited

Time of the last update.

◆ node

transport::NodePtr node

protectedinherited

Node for communication.

◆ nodeIgn

ignition::transport::Node nodeIgn

protectedinherited

Ignition transport node.

◆ noises

std::map<SensorNoiseType, NoisePtr> noises

protectedinherited

Noise added to sensor data.

◆ parentId

uint32_t parentId

protectedinherited

The sensor's parent ID.

◆ parentName

std::string parentName

protectedinherited

Name of the parent.

◆ plugins

std::vector<SensorPluginPtr> plugins

protectedinherited

All the plugins for the sensor.

◆ pose

ignition::math::Pose3d pose

protectedinherited

Pose of the sensor.

◆ scene

gazebo::rendering::ScenePtr scene

protectedinherited

Pointer to the Scene.

◆ sdf

sdf::ElementPtr sdf

protectedinherited

Pointer the the SDF element for the sensor.

◆ updatePeriod

common::Time updatePeriod

protectedinherited

Desired time between updates, set indirectly by Sensor::SetUpdateRate.

◆ world

gazebo::physics::WorldPtr world

protectedinherited

Pointer to the world.

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

ForceTorqueSensor.hh

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ForceTorqueSensor()

◆ ~ForceTorqueSensor()

Member Function Documentation

◆ Category()

◆ ConnectUpdate()

◆ ConnectUpdated()

◆ FillMsg()

◆ Fini()

◆ Force()

◆ Id()

◆ Init()

◆ IsActive()

◆ Joint()

◆ LastMeasurementTime()

◆ LastUpdateTime()

◆ Load() [1/2]

◆ Load() [2/2]

◆ Name()

◆ NeedsUpdate()

◆ Noise()

◆ ParentId()

◆ ParentName()

◆ Pose()

◆ ResetLastUpdateTime()

◆ ScopedName()

◆ SetActive()

◆ SetParent()

◆ SetPose()

◆ SetUpdateRate()

◆ Topic()

◆ Torque()

◆ Type()

◆ Update()

◆ UpdateImpl()

◆ UpdateRate()

◆ Visualize()

◆ WorldName()

Member Data Documentation

◆ active

◆ connections

◆ lastMeasurementTime

◆ lastUpdateTime

◆ node

◆ nodeIgn

◆ noises

◆ parentId

◆ parentName

◆ plugins

◆ pose

◆ scene

◆ sdf

◆ updatePeriod

◆ world