17 #ifndef SDF_FORCE_TORQUE_HH_
18 #define SDF_FORCE_TORQUE_HH_
24 #include <sdf/sdf_config.h>
29 inline namespace SDF_VERSION_NAMESPACE {
31 class ForceTorquePrivate;
182 private: ForceTorquePrivate *dataPtr;
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