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/*
* Copyright 2020 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#ifndef SDF_FORCE_TORQUE_HH_
#define SDF_FORCE_TORQUE_HH_
#include <string>
#include <ignition/utils/ImplPtr.hh>
#include <sdf/Error.hh>
#include <sdf/Element.hh>
#include <sdf/Noise.hh>
#include <sdf/sdf_config.h>
namespace sdf
{
// Inline bracket to help doxygen filtering.
inline namespace SDF_VERSION_NAMESPACE {
/// \enum ForceTorqueFrame
/// \brief The set of supported frames of the wrench values.
enum class ForceTorqueFrame : uint8_t
{
/// \brief Invalid frame
INVALID = 0,
/// \brief Wrench expressed in the orientation of the parent link frame
PARENT = 1,
/// \brief Wrench expressed in the orientation of the child link frame
CHILD = 2,
/// \brief Wrench expressed in the orientation of the joint sensor frame
SENSOR = 3
};
/// \enum ForceTorqueMeasureDirection
/// \brief The set of measure directions of the wrench values.
enum class ForceTorqueMeasureDirection : uint8_t
{
/// \brief Invalid frame
INVALID = 0,
/// \brief Wrench measured as applied by the parent link on the child link
PARENT_TO_CHILD = 1,
/// \brief Wrench measured as applied by the child link on the parent link
CHILD_TO_PARENT = 2
};
/// \brief ForceTorque contains information about a force torque sensor.
/// This sensor can be attached to a joint.
class SDFORMAT_VISIBLE ForceTorque
{
/// \brief Default constructor
public: ForceTorque();
/// \brief Load the force torque sensor based on an element pointer. This is
/// *not* the usual entry point. Typical usage of the SDF DOM is through the
/// Root object.
/// \param[in] _sdf The SDF Element pointer
/// \return Errors, which is a vector of Error objects. Each Error includes
/// an error code and message. An empty vector indicates no error.
public: Errors Load(ElementPtr _sdf);
/// \brief Get a pointer to the SDF element that was used during load.
/// \return SDF element pointer. The value will be nullptr if Load has
/// not been called.
public: sdf::ElementPtr Element() const;
/// \brief Get the force noise values in the measurement frame X-axis.
/// \return Noise values for the X-axis force.
public: const Noise &ForceXNoise() const;
/// \brief Set the force noise values in the measurement frame X-axis.
/// \param[in] _noise Noise values for the X-axis force.
public: void SetForceXNoise(const Noise &_noise);
/// \brief Get the force noise values in the measurement frame Y-axis.
/// \return Noise values for the Y-axis force.
public: const Noise &ForceYNoise() const;
/// \brief Set the force noise values in the measurement frame Y-axis.
/// \param[in] _noise Noise values for the Y-axis force.
public: void SetForceYNoise(const Noise &_noise);
/// \brief Get the force noise values in the measurement frame Z-axis.
/// \return Noise values for the Z-axis force.
public: const Noise &ForceZNoise() const;
/// \brief Set the force noise values in the measurement frame Z-axis.
/// \param[in] _noise Noise values for the Z-axis force.
public: void SetForceZNoise(const Noise &_noise);
/// \brief Get the torque noise values in the measurement frame X-axis.
/// \return Noise values for the X-axis torque.
public: const Noise &TorqueXNoise() const;
/// \brief Set the torque noise values in the measurement frame X-axis.
/// \param[in] _noise Noise values for the X-axis torque.
public: void SetTorqueXNoise(const Noise &_noise);
/// \brief Get the torque noise values in the measurement frame Y-axis.
/// \return Noise values for the Y-axis torque.
public: const Noise &TorqueYNoise() const;
/// \brief Set the torque noise values in the measurement frame Y-axis.
/// \param[in] _noise Noise values for the Y-axis torque.
public: void SetTorqueYNoise(const Noise &_noise);
/// \brief Get the torque noise values in the measurement frame Z-axis.
/// \return Noise values for the Z-axis torque.
public: const Noise &TorqueZNoise() const;
/// \brief Set the torque noise values in the measurement frame Z-axis.
/// \param[in] _noise Noise values for the Z-axis torque.
public: void SetTorqueZNoise(const Noise &_noise);
/// \brief Get the frame in which the wrench values are reported.
/// \return The frame of the wrench values.
public: ForceTorqueFrame Frame() const;
/// \brief Set the frame in which the wrench values are reported.
/// \param[in] _frame The frame of the wrench values.
public: void SetFrame(ForceTorqueFrame _frame);
/// \brief Get the measure direction of the wrench values.
/// \return The measure direction of the wrench values.
public: ForceTorqueMeasureDirection MeasureDirection() const;
/// \brief Set the measure direction of the wrench values.
/// \param[in] _direction The measure direction of the wrench values.
public: void SetMeasureDirection(ForceTorqueMeasureDirection _direction);
/// \brief Return true if both force torque objects contain the same values.
/// \param[_in] _ft Force torque value to compare.
/// \returen True if 'this' == _ft.
public: bool operator==(const ForceTorque &_ft) const;
/// \brief Return true this force torque object does not contain the same
/// values as the passed-in parameter.
/// \param[_in] _ft Force torque value to compare.
/// \returen True if 'this' != _ft.
public: bool operator!=(const ForceTorque &_ft) const;
/// \brief Create and return an SDF element filled with data from this
/// force torque sensor.
/// \return SDF element pointer with updated sensor values.
public: sdf::ElementPtr ToElement() const;
/// \brief Private data pointer.
IGN_UTILS_IMPL_PTR(dataPtr)
};
}
}
#endif
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