73 lines
2.3 KiB
C++
73 lines
2.3 KiB
C++
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/*
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* Copyright (C) 2015 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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#ifndef _GAZEBO_SENSORS_FORCETORQUESENSOR_PRIVATE_HH_
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#define _GAZEBO_SENSORS_FORCETORQUESENSOR_PRIVATE_HH_
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#include <mutex>
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#include <ignition/math/Matrix3.hh>
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#include "gazebo/physics/PhysicsTypes.hh"
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#include "gazebo/transport/TransportTypes.hh"
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namespace gazebo
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{
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namespace sensors
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{
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/// \internal
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/// \brief Force torque sensor private data.
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class ForceTorqueSensorPrivate
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{
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/// \brief Update event.
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public: event::EventT<void(msgs::WrenchStamped)> update;
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/// \brief Parent joint, from which we get force torque info.
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public: physics::JointPtr parentJoint;
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/// \brief Publishes the wrenchMsg.
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public: transport::PublisherPtr wrenchPub;
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/// \brief Message the store the current force torque info.
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public: msgs::WrenchStamped wrenchMsg;
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/// \brief Mutex to protect the wrench message
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public: std::mutex mutex;
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/// \brief Which orientation we support for returning sensor measure
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public: enum MeasureFrame
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{
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PARENT_LINK,
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CHILD_LINK,
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SENSOR
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};
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/// \brief Frame in which we return the measured force torque info.
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public: MeasureFrame measureFrame;
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/// \brief Direction of the measure
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/// True if the measured force torque is the one applied
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/// by the parent on the child, false otherwise
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public: bool parentToChild;
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/// \brief Rotation matrix than transforms a vector expressed in child
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/// orientation in a vector expressed in joint orientation.
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/// Necessary is the measure is specified in joint frame.
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public: ignition::math::Matrix3d rotationSensorChild;
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};
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}
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}
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#endif
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