63 lines
1.8 KiB
C++
63 lines
1.8 KiB
C++
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/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifdef _WIN32
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// Ensure that Winsock2.h is included before Windows.h, which can get
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// pulled in by anybody (e.g., Boost).
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#include <Winsock2.h>
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#endif
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#include <functional>
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#include "ForceTorquePlugin.hh"
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using namespace gazebo;
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// Register this plugin with the simulator
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GZ_REGISTER_SENSOR_PLUGIN(ForceTorquePlugin)
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/////////////////////////////////////////////////
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ForceTorquePlugin::ForceTorquePlugin()
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{
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}
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/////////////////////////////////////////////////
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ForceTorquePlugin::~ForceTorquePlugin()
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{
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this->parentSensor->DisconnectUpdate(this->connection);
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this->parentSensor.reset();
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}
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/////////////////////////////////////////////////
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void ForceTorquePlugin::Load(sensors::SensorPtr _parent,
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sdf::ElementPtr /*_sdf*/)
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{
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this->parentSensor =
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std::dynamic_pointer_cast<sensors::ForceTorqueSensor>(_parent);
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if (!this->parentSensor)
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gzthrow("ForceTorquePlugin requires a force_torque sensor as its parent.");
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this->connection = this->parentSensor->ConnectUpdate(
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std::bind(&ForceTorquePlugin::OnUpdate, this, std::placeholders::_1));
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}
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/////////////////////////////////////////////////
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void ForceTorquePlugin::OnUpdate(msgs::WrenchStamped /*_msg*/)
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{
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// overload with useful callback here
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}
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