yarp::dev::GazeboYarpForceTorqueDriver Class Reference

YARP Force Torque Driver for Gazebo. More...

#include <ForceTorqueDriver.h>

Inheritance diagram for yarp::dev::GazeboYarpForceTorqueDriver:

Collaboration diagram for yarp::dev::GazeboYarpForceTorqueDriver:

Public Member Functions
	GazeboYarpForceTorqueDriver ()
virtual	~GazeboYarpForceTorqueDriver ()
void	onUpdate (const gazebo::common::UpdateInfo &)
	Export a force/torque sensor.
virtual bool	open (yarp::os::Searchable &config) override
	Yarp interfaces start here.
virtual bool	close () override
virtual int	read (yarp::sig::Vector &out) override
virtual int	getState (int channel) override
virtual int	getChannels () override
virtual int	calibrateChannel (int channel, double v) override
virtual int	calibrateSensor () override
virtual int	calibrateSensor (const yarp::sig::Vector &value) override
virtual int	calibrateChannel (int channel) override
virtual size_t	getNrOfSixAxisForceTorqueSensors () const override
virtual yarp::dev::MAS_status	getSixAxisForceTorqueSensorStatus (size_t sens_index) const override
virtual bool	getSixAxisForceTorqueSensorName (size_t sens_index, std::string &name) const override
virtual bool	getSixAxisForceTorqueSensorFrameName (size_t sens_index, std::string &frameName) const override
virtual bool	getSixAxisForceTorqueSensorMeasure (size_t sens_index, yarp::sig::Vector &out, double &timestamp) const override
virtual size_t	getNrOfTemperatureSensors () const override
virtual yarp::dev::MAS_status	getTemperatureSensorStatus (size_t sens_index) const override
virtual bool	getTemperatureSensorName (size_t sens_index, std::string &name) const override
virtual bool	getTemperatureSensorFrameName (size_t sens_index, std::string &frameName) const override
virtual bool	getTemperatureSensorMeasure (size_t sens_index, double &out, double &timestamp) const override
virtual bool	getTemperatureSensorMeasure (size_t sens_index, yarp::sig::Vector &out, double &timestamp) const override
virtual yarp::os::Stamp	getLastInputStamp () override

Detailed Description

YARP Force Torque Driver for Gazebo.

This driver does not accept any parameter, see gazebo::GazeboYarpForceTorque for details on how to use it.

Constructor & Destructor Documentation

GazeboYarpForceTorqueDriver()

GazeboYarpForceTorqueDriver::GazeboYarpForceTorqueDriver

(

)

~GazeboYarpForceTorqueDriver()

GazeboYarpForceTorqueDriver::~GazeboYarpForceTorqueDriver ( )

virtual

Member Function Documentation

onUpdate()

void GazeboYarpForceTorqueDriver::onUpdate

(

const gazebo::common::UpdateInfo &

)

Export a force/torque sensor.

Todo

check forcetorque data

Todo

ensure that the timestamp is the right one

Todo

TODO use GetLastMeasureTime, not GetLastUpdateTime

open()

bool GazeboYarpForceTorqueDriver::open ( yarp::os::Searchable & config )

overridevirtual

Yarp interfaces start here.

close()

bool GazeboYarpForceTorqueDriver::close ( )

overridevirtual

read()

int GazeboYarpForceTorqueDriver::read ( yarp::sig::Vector & out )

overridevirtual

<

Todo

TODO in my opinion the reader should care of passing a vector of the proper dimension to the driver, but apparently this is not the case

getState()

int GazeboYarpForceTorqueDriver::getState ( int channel )

overridevirtual

getChannels()

int GazeboYarpForceTorqueDriver::getChannels ( )

overridevirtual

calibrateChannel() [1/2]

int GazeboYarpForceTorqueDriver::calibrateChannel ( int channel, double v )

overridevirtual

calibrateSensor() [1/2]

int GazeboYarpForceTorqueDriver::calibrateSensor ( )

overridevirtual

calibrateSensor() [2/2]

int GazeboYarpForceTorqueDriver::calibrateSensor ( const yarp::sig::Vector & value )

overridevirtual

calibrateChannel() [2/2]

int GazeboYarpForceTorqueDriver::calibrateChannel ( int channel )

overridevirtual

getNrOfSixAxisForceTorqueSensors()

size_t GazeboYarpForceTorqueDriver::getNrOfSixAxisForceTorqueSensors ( ) const

overridevirtual

getSixAxisForceTorqueSensorStatus()

yarp::dev::MAS_status GazeboYarpForceTorqueDriver::getSixAxisForceTorqueSensorStatus ( size_t sens_index ) const

overridevirtual

getSixAxisForceTorqueSensorName()

bool GazeboYarpForceTorqueDriver::getSixAxisForceTorqueSensorName ( size_t sens_index, std::string & name ) const

overridevirtual

getSixAxisForceTorqueSensorFrameName()

bool GazeboYarpForceTorqueDriver::getSixAxisForceTorqueSensorFrameName ( size_t sens_index, std::string & frameName ) const

overridevirtual

getSixAxisForceTorqueSensorMeasure()

bool GazeboYarpForceTorqueDriver::getSixAxisForceTorqueSensorMeasure ( size_t sens_index, yarp::sig::Vector & out, double & timestamp ) const

overridevirtual

getNrOfTemperatureSensors()

size_t GazeboYarpForceTorqueDriver::getNrOfTemperatureSensors ( ) const

overridevirtual

getTemperatureSensorStatus()

yarp::dev::MAS_status GazeboYarpForceTorqueDriver::getTemperatureSensorStatus ( size_t sens_index ) const

overridevirtual

getTemperatureSensorName()

bool GazeboYarpForceTorqueDriver::getTemperatureSensorName ( size_t sens_index, std::string & name ) const

overridevirtual

getTemperatureSensorFrameName()

bool GazeboYarpForceTorqueDriver::getTemperatureSensorFrameName ( size_t sens_index, std::string & frameName ) const

overridevirtual

getTemperatureSensorMeasure() [1/2]

bool GazeboYarpForceTorqueDriver::getTemperatureSensorMeasure ( size_t sens_index, double & out, double & timestamp ) const

overridevirtual

getTemperatureSensorMeasure() [2/2]

bool GazeboYarpForceTorqueDriver::getTemperatureSensorMeasure ( size_t sens_index, yarp::sig::Vector & out, double & timestamp ) const

overridevirtual

getLastInputStamp()

yarp::os::Stamp GazeboYarpForceTorqueDriver::getLastInputStamp ( )

overridevirtual

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

• ForceTorqueDriver.h
• ForceTorqueDriver.cpp