ORCA: Optimization-based framework for Robotic Control Applications
Public Member Functions | Protected Member Functions | List of all members
orca::gazebo::GazeboWrenchSensor Class Reference

A Wrench sensor w.r.t. a base_link. Wrench is expressed from the world to the body, in the base_link frame. More...

#include <Utils.h>

+ Inheritance diagram for orca::gazebo::GazeboWrenchSensor:

Public Member Functions

 GazeboWrenchSensor ()
 
virtual ~GazeboWrenchSensor ()
 
const Eigen::Matrix< double, 6, 1 > & getWrench () const
 returns the wrench in the base_link frame More...
 
const std::string & getBaseLinkName ()
 returns the wrench in the base_link name, from the world to the body More...
 

Protected Member Functions

 GazeboWrenchSensor (const std::string &base_link)
 
void setConnection (::gazebo::event::ConnectionPtr conn_ptr)
 
void setWrench (const Eigen::Matrix< double, 6, 1 > &wrench)
 sets the wrench in the base_link frame More...
 
Eigen::Matrix< double, 6, 1 > & wrench ()
 

Detailed Description

A Wrench sensor w.r.t. a base_link. Wrench is expressed from the world to the body, in the base_link frame.

This class is a wrapper to a ForceTorqueSensor or ContactSensor to store frame information. Indeed there is no easy way to get the attributes of the Gazebo sensor.

Constructor & Destructor Documentation

◆ GazeboWrenchSensor() [1/2]

orca::gazebo::GazeboWrenchSensor::GazeboWrenchSensor ( )
inline

◆ ~GazeboWrenchSensor()

virtual orca::gazebo::GazeboWrenchSensor::~GazeboWrenchSensor ( )
inlinevirtual

◆ GazeboWrenchSensor() [2/2]

orca::gazebo::GazeboWrenchSensor::GazeboWrenchSensor ( const std::string &  base_link)
inlineprotected

Member Function Documentation

◆ getBaseLinkName()

const std::string& orca::gazebo::GazeboWrenchSensor::getBaseLinkName ( )
inline

returns the wrench in the base_link name, from the world to the body

◆ getWrench()

const Eigen::Matrix<double,6,1>& orca::gazebo::GazeboWrenchSensor::getWrench ( ) const
inline

returns the wrench in the base_link frame

◆ setConnection()

void orca::gazebo::GazeboWrenchSensor::setConnection ( ::gazebo::event::ConnectionPtr  conn_ptr)
inlineprotected

◆ setWrench()

void orca::gazebo::GazeboWrenchSensor::setWrench ( const Eigen::Matrix< double, 6, 1 > &  wrench)
inlineprotected

sets the wrench in the base_link frame

Warning
the input wrench should be in the base_link frame, from the world to the body

◆ wrench()

Eigen::Matrix<double,6,1>& orca::gazebo::GazeboWrenchSensor::wrench ( )
inlineprotected

The documentation for this class was generated from the following file: