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

#include <Utils.h>

+ Inheritance diagram for orca::gazebo::GazeboContactSensor:
+ Collaboration diagram for orca::gazebo::GazeboContactSensor:

Public Member Functions

 GazeboContactSensor (::gazebo::physics::LinkPtr link, const std::string &collision)
 
void connectUpdate (std::function< void(void)> subscriber)
 
const std::string & getCollisionName () const
 
void setSensor (::gazebo::sensors::ContactSensorPtr sensor)
 sets the ContactSensorPtr to get contact messages from More...
 
::gazebo::sensors::ContactSensorPtr getSensor () const
 
::gazebo::physics::LinkPtr getLink () const
 
void setWrenchFrom (void)
 
- Public Member Functions inherited from orca::gazebo::GazeboWrenchSensor
 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...
 

Additional Inherited Members

- Protected Member Functions inherited from orca::gazebo::GazeboWrenchSensor
 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 ()
 

Constructor & Destructor Documentation

◆ GazeboContactSensor()

orca::gazebo::GazeboContactSensor::GazeboContactSensor ( ::gazebo::physics::LinkPtr  link,
const std::string &  collision 
)
inline

Member Function Documentation

◆ connectUpdate()

void orca::gazebo::GazeboContactSensor::connectUpdate ( std::function< void(void)>  subscriber)
inline

◆ getCollisionName()

const std::string& orca::gazebo::GazeboContactSensor::getCollisionName ( ) const
inline

◆ getLink()

::gazebo::physics::LinkPtr orca::gazebo::GazeboContactSensor::getLink ( ) const
inline

◆ getSensor()

::gazebo::sensors::ContactSensorPtr orca::gazebo::GazeboContactSensor::getSensor ( ) const
inline

◆ setSensor()

void orca::gazebo::GazeboContactSensor::setSensor ( ::gazebo::sensors::ContactSensorPtr  sensor)
inline

sets the ContactSensorPtr to get contact messages from

◆ setWrenchFrom()

void orca::gazebo::GazeboContactSensor::setWrenchFrom ( void  )
inline

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