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ForceTorquePlugin.hh
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/*
* Copyright (C) 2012 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 _GAZEBO_PLUGINS_FORCE_TORQUE_PLUGIN_HH_
#define _GAZEBO_PLUGINS_FORCE_TORQUE_PLUGIN_HH_
#include "gazebo/sensors/sensors.hh"
#include "gazebo/common/Plugin.hh"
#include "gazebo/common/Events.hh"
#include "gazebo/util/system.hh"
namespace gazebo
{
class GAZEBO_VISIBLE ForceTorquePlugin : public SensorPlugin
{
public: ForceTorquePlugin();
public: virtual ~ForceTorquePlugin();
public: virtual void Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf);
protected: virtual void OnUpdate(msgs::WrenchStamped _msg);
protected: sensors::ForceTorqueSensorPtr parentSensor;
private: event::ConnectionPtr connection;
};
}
#endif
gazebo::sensors::SensorPtr
std::shared_ptr< Sensor > SensorPtr
Definition: SensorTypes.hh:64
Events.hh
gazebo
Forward declarations for the common classes.
Definition: Animation.hh:26
system.hh
gazebo::ForceTorquePlugin
An base class plugin for custom force torque sensor processing.
Definition: ForceTorquePlugin.hh:29
gazebo::SensorPlugin
A plugin with access to physics::Sensor. See reference.
Definition: Plugin.hh:332
gazebo::event::ConnectionPtr
boost::shared_ptr< Connection > ConnectionPtr
Definition: CommonTypes.hh:134
Plugin.hh
gazebo::ForceTorquePlugin::parentSensor
sensors::ForceTorqueSensorPtr parentSensor
The parent sensor.
Definition: ForceTorquePlugin.hh:47
gazebo::sensors::ForceTorqueSensorPtr
std::shared_ptr< ForceTorqueSensor > ForceTorqueSensorPtr
Definition: SensorTypes.hh:116
GAZEBO_VISIBLE
#define GAZEBO_VISIBLE
Definition: system.hh:59