81 lines
2.5 KiB
C++
81 lines
2.5 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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/*
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* Desc: Pressure Sensor Plugin
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* Author: Steve Peters
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*/
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#ifndef _GAZEBO_PRESSURE_PLUGIN_HH_
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#define _GAZEBO_PRESSURE_PLUGIN_HH_
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#include <string>
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#include <boost/unordered_map.hpp>
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#include <gazebo/common/Plugin.hh>
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#include <gazebo/sensors/sensors.hh>
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#include <gazebo/transport/transport.hh>
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#include "gazebo/util/system.hh"
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namespace gazebo
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{
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/// \brief A plugin for a tactile pressure sensor.
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/// The plugin extends the contact sensor and is currently limited to
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/// collision elements with BoxShape geometry. It is assumed that pressure
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/// measurement occurs on the largest face of the box. All normal forces on
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/// each box shape are summed and divided by the area of the largest face
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/// to compute pressure.
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class GAZEBO_VISIBLE PressurePlugin : public SensorPlugin
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{
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/// \brief Constructor.
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public: PressurePlugin();
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/// \brief Destructor.
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public: virtual ~PressurePlugin();
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// Documentation inherited.
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public: virtual void Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf);
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// Documentation inherited.
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public: virtual void Init();
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/// \brief Callback that recieves the contact sensor's update signal.
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private: virtual void OnUpdate();
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/// \brief Pointer to the contact sensor
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private: sensors::ContactSensorPtr parentSensor;
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/// \brief Connection that maintains a link between the contact sensor's
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/// updated signal and the OnUpdate callback.
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private: event::ConnectionPtr updateConnection;
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/// \brief Transport node used for publishing tactile messages.
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private: transport::NodePtr node;
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/// \brief Publisher of tactile messages.
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private: transport::PublisherPtr tactilePub;
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/// \brief World name.
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private: std::string worldName;
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/// \brief Parent sensor name.
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private: std::string parentSensorName;
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/// \brief Parent sensor collision names.
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private: boost::unordered_map<std::string, double> collisionNamesToArea;
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};
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}
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#endif
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