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Add force torque sensor
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Signed-off-by: Nick Lamprianidis <[email protected]>
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nlamprian committed Oct 19, 2020
1 parent 144f82c commit f9275d4
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Showing 16 changed files with 455 additions and 10 deletions.
1 change: 1 addition & 0 deletions include/sdf/CMakeLists.txt
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Expand Up @@ -15,6 +15,7 @@ set (headers
Error.hh
Exception.hh
Filesystem.hh
ForceTorque.hh
Frame.hh
Geometry.hh
Gui.hh
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139 changes: 139 additions & 0 deletions include/sdf/ForceTorque.hh
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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 <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 {
// Forward declare private data class.
class ForceTorquePrivate;

/// \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 Copy constructor
/// \param[in] _ft The force torque sensor to copy.
public: ForceTorque(const ForceTorque &_ft);

/// \brief Move constructor
/// \param[in] _ft The force torque sensor to move.
public: ForceTorque(ForceTorque &&_ft) noexcept;

/// \brief Destructor
public: ~ForceTorque();

/// \brief Assignment operator.
/// \param[in] _ft The force torque sensor to set values from.
/// \return *this
public: ForceTorque &operator=(const ForceTorque &_ft);

/// \brief Move assignment operator.
/// \param[in] _ft The force torque sensor to set values from.
/// \return *this
public: ForceTorque &operator=(ForceTorque &&_ft) noexcept;

/// \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 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) const;

/// \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) const;

/// \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 Private data pointer.
private: ForceTorquePrivate *dataPtr;
};
}
}

#endif
12 changes: 12 additions & 0 deletions include/sdf/Sensor.hh
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Expand Up @@ -35,6 +35,7 @@ namespace sdf
class AirPressure;
class Altimeter;
class Camera;
class ForceTorque;
class Imu;
class Lidar;
class Magnetometer;
Expand Down Expand Up @@ -287,6 +288,17 @@ namespace sdf
/// \sa SensorType Type() const
public: const Camera *CameraSensor() const;

/// \brief Set the force torque sensor.
/// \param[in] _ft The force torque sensor.
public: void SetForceTorqueSensor(const ForceTorque &_ft);

/// \brief Get a pointer to a force torque sensor, or nullptr if the sensor
/// does not contain a force torque sensor.
/// \return Pointer to the force torque sensor, or nullptr if the sensor
/// is not a force torque sensor.
/// \sa SensorType Type() const
public: const ForceTorque *ForceTorqueSensor() const;

/// \brief Set the IMU sensor.
/// \param[in] _imu The IMU sensor.
public: void SetImuSensor(const Imu &_imu);
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2 changes: 1 addition & 1 deletion sdf/1.4/sensor.sdf
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Expand Up @@ -33,13 +33,13 @@
<include filename="plugin.sdf" required="*"/>
<include filename="camera.sdf" required="0"/>
<include filename="contact.sdf" required="0"/>
<include filename="forcetorque.sdf" required="0"/>
<include filename="gps.sdf" required="0"/>
<include filename="imu.sdf" required="0"/>
<include filename="ray.sdf" required="0"/>
<include filename="rfid.sdf" required="0"/>
<include filename="rfidtag.sdf" required="0"/>
<include filename="sonar.sdf" required="0"/>
<include filename="transceiver.sdf" required="0"/>
<include filename="forcetorque.sdf" required="0"/>

</element> <!-- End Sensor -->
2 changes: 1 addition & 1 deletion sdf/1.5/forcetorque.sdf
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Expand Up @@ -13,7 +13,7 @@
<element name="measure_direction" type="string" default="child_to_parent" required="0">
<description>
Direction of the wrench measured by the sensor. The supported options are:
"parent_to_child" if the measured wrench is the one applied by parent link on the child link,
"parent_to_child" if the measured wrench is the one applied by the parent link on the child link,
"child_to_parent" if the measured wrench is the one applied by the child link on the parent link.
</description>
</element>
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2 changes: 1 addition & 1 deletion sdf/1.5/sensor.sdf
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Expand Up @@ -49,6 +49,7 @@
<include filename="altimeter.sdf" required="0"/>
<include filename="camera.sdf" required="0"/>
<include filename="contact.sdf" required="0"/>
<include filename="forcetorque.sdf" required="0"/>
<include filename="gps.sdf" required="0"/>
<include filename="imu.sdf" required="0"/>
<include filename="logical_camera.sdf" required="0"/>
Expand All @@ -58,6 +59,5 @@
<include filename="rfidtag.sdf" required="0"/>
<include filename="sonar.sdf" required="0"/>
<include filename="transceiver.sdf" required="0"/>
<include filename="forcetorque.sdf" required="0"/>

</element> <!-- End Sensor -->
2 changes: 1 addition & 1 deletion sdf/1.6/forcetorque.sdf
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Expand Up @@ -13,7 +13,7 @@
<element name="measure_direction" type="string" default="child_to_parent" required="0">
<description>
Direction of the wrench measured by the sensor. The supported options are:
"parent_to_child" if the measured wrench is the one applied by parent link on the child link,
"parent_to_child" if the measured wrench is the one applied by the parent link on the child link,
"child_to_parent" if the measured wrench is the one applied by the child link on the parent link.
</description>
</element>
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2 changes: 1 addition & 1 deletion sdf/1.6/sensor.sdf
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Expand Up @@ -57,6 +57,7 @@
<include filename="altimeter.sdf" required="0"/>
<include filename="camera.sdf" required="0"/>
<include filename="contact.sdf" required="0"/>
<include filename="forcetorque.sdf" required="0"/>
<include filename="gps.sdf" required="0"/>
<include filename="imu.sdf" required="0"/>
<include filename="lidar.sdf" required="0"/>
Expand All @@ -67,6 +68,5 @@
<include filename="rfidtag.sdf" required="0"/>
<include filename="sonar.sdf" required="0"/>
<include filename="transceiver.sdf" required="0"/>
<include filename="forcetorque.sdf" required="0"/>

</element> <!-- End Sensor -->
2 changes: 1 addition & 1 deletion sdf/1.7/forcetorque.sdf
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Expand Up @@ -13,7 +13,7 @@
<element name="measure_direction" type="string" default="child_to_parent" required="0">
<description>
Direction of the wrench measured by the sensor. The supported options are:
"parent_to_child" if the measured wrench is the one applied by parent link on the child link,
"parent_to_child" if the measured wrench is the one applied by the parent link on the child link,
"child_to_parent" if the measured wrench is the one applied by the child link on the parent link.
</description>
</element>
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2 changes: 1 addition & 1 deletion sdf/1.7/sensor.sdf
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Expand Up @@ -56,6 +56,7 @@
<include filename="altimeter.sdf" required="0"/>
<include filename="camera.sdf" required="0"/>
<include filename="contact.sdf" required="0"/>
<include filename="forcetorque.sdf" required="0"/>
<include filename="gps.sdf" required="0"/>
<include filename="imu.sdf" required="0"/>
<include filename="lidar.sdf" required="0"/>
Expand All @@ -66,6 +67,5 @@
<include filename="rfidtag.sdf" required="0"/>
<include filename="sonar.sdf" required="0"/>
<include filename="transceiver.sdf" required="0"/>
<include filename="forcetorque.sdf" required="0"/>

</element> <!-- End Sensor -->
2 changes: 1 addition & 1 deletion sdf/1.8/forcetorque.sdf
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Expand Up @@ -13,7 +13,7 @@
<element name="measure_direction" type="string" default="child_to_parent" required="0">
<description>
Direction of the wrench measured by the sensor. The supported options are:
"parent_to_child" if the measured wrench is the one applied by parent link on the child link,
"parent_to_child" if the measured wrench is the one applied by the parent link on the child link,
"child_to_parent" if the measured wrench is the one applied by the child link on the parent link.
</description>
</element>
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2 changes: 1 addition & 1 deletion sdf/1.8/sensor.sdf
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Expand Up @@ -56,6 +56,7 @@
<include filename="altimeter.sdf" required="0"/>
<include filename="camera.sdf" required="0"/>
<include filename="contact.sdf" required="0"/>
<include filename="forcetorque.sdf" required="0"/>
<include filename="gps.sdf" required="0"/>
<include filename="imu.sdf" required="0"/>
<include filename="lidar.sdf" required="0"/>
Expand All @@ -66,6 +67,5 @@
<include filename="rfidtag.sdf" required="0"/>
<include filename="sonar.sdf" required="0"/>
<include filename="transceiver.sdf" required="0"/>
<include filename="forcetorque.sdf" required="0"/>

</element> <!-- End Sensor -->
2 changes: 2 additions & 0 deletions src/CMakeLists.txt
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Expand Up @@ -26,6 +26,7 @@ set (sources
Frame.cc
FrameSemantics.cc
Filesystem.cc
ForceTorque.cc
Geometry.cc
Gui.cc
ign.cc
Expand Down Expand Up @@ -93,6 +94,7 @@ if (BUILD_SDF_TEST)
Exception_TEST.cc
Frame_TEST.cc
Filesystem_TEST.cc
ForceTorque_TEST.cc
Geometry_TEST.cc
Gui_TEST.cc
Imu_TEST.cc
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