ForceTorque.hh
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17 #ifndef SDF_FORCE_TORQUE_HH_
18 #define SDF_FORCE_TORQUE_HH_
19 
20 #include <string>
21 #include <sdf/Error.hh>
22 #include <sdf/Element.hh>
23 #include <sdf/Noise.hh>
24 #include <sdf/sdf_config.h>
25 
26 namespace sdf
27 {
28  // Inline bracket to help doxygen filtering.
29  inline namespace SDF_VERSION_NAMESPACE {
30  // Forward declare private data class.
31  class ForceTorquePrivate;
32 
35  enum class ForceTorqueFrame : uint8_t
36  {
38  INVALID = 0,
39 
41  PARENT = 1,
42 
44  CHILD = 2,
45 
47  SENSOR = 3
48  };
49 
52  enum class ForceTorqueMeasureDirection : uint8_t
53  {
55  INVALID = 0,
56 
58  PARENT_TO_CHILD = 1,
59 
61  CHILD_TO_PARENT = 2
62  };
63 
67  {
69  public: ForceTorque();
70 
73  public: ForceTorque(const ForceTorque &_ft);
74 
77  public: ForceTorque(ForceTorque &&_ft) noexcept;
78 
80  public: ~ForceTorque();
81 
85  public: ForceTorque &operator=(const ForceTorque &_ft);
86 
90  public: ForceTorque &operator=(ForceTorque &&_ft) noexcept;
91 
98  public: Errors Load(ElementPtr _sdf);
99 
103  public: sdf::ElementPtr Element() const;
104 
107  public: const Noise &ForceXNoise() const;
108 
111  public: void SetForceXNoise(const Noise &_noise);
112 
115  public: const Noise &ForceYNoise() const;
116 
119  public: void SetForceYNoise(const Noise &_noise);
120 
123  public: const Noise &ForceZNoise() const;
124 
127  public: void SetForceZNoise(const Noise &_noise);
128 
131  public: const Noise &TorqueXNoise() const;
132 
135  public: void SetTorqueXNoise(const Noise &_noise);
136 
139  public: const Noise &TorqueYNoise() const;
140 
143  public: void SetTorqueYNoise(const Noise &_noise);
144 
147  public: const Noise &TorqueZNoise() const;
148 
151  public: void SetTorqueZNoise(const Noise &_noise);
152 
155  public: ForceTorqueFrame Frame() const;
156 
159  public: void SetFrame(ForceTorqueFrame _frame) const;
160 
164 
167  public: void SetMeasureDirection(
168  ForceTorqueMeasureDirection _direction) const;
169 
173  public: bool operator==(const ForceTorque &_ft) const;
174 
179  public: bool operator!=(const ForceTorque &_ft) const;
180 
182  private: ForceTorquePrivate *dataPtr;
183  };
184  }
185 }
186 
187 #endif
ForceTorque contains information about a force torque sensor.
Definition: ForceTorque.hh:67
const Noise & TorqueXNoise() const
Get the torque noise values in the measurement frame X-axis.
Errors Load(ElementPtr _sdf)
Load the force torque sensor based on an element pointer.
const Noise & TorqueYNoise() const
Get the torque noise values in the measurement frame Y-axis.
~ForceTorque()
Destructor.
bool operator!=(const ForceTorque &_ft) const
Return true this force torque object does not contain the same values as the passed-in parameter.
ForceTorqueMeasureDirection MeasureDirection() const
Get the measure direction of the wrench values.
ForceTorque(ForceTorque &&_ft) noexcept
Move constructor.
const Noise & ForceZNoise() const
Get the force noise values in the measurement frame Z-axis.
bool operator==(const ForceTorque &_ft) const
Return true if both force torque objects contain the same values.
const Noise & ForceXNoise() const
Get the force noise values in the measurement frame X-axis.
void SetTorqueXNoise(const Noise &_noise)
Set the torque noise values in the measurement frame X-axis.
void SetTorqueYNoise(const Noise &_noise)
Set the torque noise values in the measurement frame Y-axis.
ForceTorque & operator=(ForceTorque &&_ft) noexcept
Move assignment operator.
void SetForceXNoise(const Noise &_noise)
Set the force noise values in the measurement frame X-axis.
ForceTorque()
Default constructor.
sdf::ElementPtr Element() const
Get a pointer to the SDF element that was used during load.
ForceTorqueFrame Frame() const
Get the frame in which the wrench values are reported.
void SetTorqueZNoise(const Noise &_noise)
Set the torque noise values in the measurement frame Z-axis.
const Noise & ForceYNoise() const
Get the force noise values in the measurement frame Y-axis.
ForceTorque(const ForceTorque &_ft)
Copy constructor.
void SetForceZNoise(const Noise &_noise)
Set the force noise values in the measurement frame Z-axis.
const Noise & TorqueZNoise() const
Get the torque noise values in the measurement frame Z-axis.
void SetForceYNoise(const Noise &_noise)
Set the force noise values in the measurement frame Y-axis.
void SetMeasureDirection(ForceTorqueMeasureDirection _direction) const
Set the measure direction of the wrench values.
void SetFrame(ForceTorqueFrame _frame) const
Set the frame in which the wrench values are reported.
ForceTorque & operator=(const ForceTorque &_ft)
Assignment operator.
The Noise class contains information about a noise model, such as a Gaussian distribution.
Definition: Noise.hh:50
ForceTorqueMeasureDirection
The set of measure directions of the wrench values.
Definition: ForceTorque.hh:53
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:89
ForceTorqueFrame
The set of supported frames of the wrench values.
Definition: ForceTorque.hh:36
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:53
namespace for Simulation Description Format parser
Definition: Actor.hh:33
#define SDFORMAT_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system_util.hh:48