18 #ifndef _FORCETORQUESENSOR_HH_
19 #define _FORCETORQUESENSOR_HH_
47 public:
virtual void Load(
const std::string &_worldName);
50 public:
virtual void Init();
53 public:
virtual std::string GetTopic()
const;
68 public:
virtual bool IsActive();
73 public:
template<
typename T>
75 {
return update.Connect(_subscriber);}
80 {update.Disconnect(_conn);}
83 protected:
virtual bool UpdateImpl(
bool _force);
86 protected:
virtual void Fini();
98 private: msgs::WrenchStamped wrenchMsg;
101 private: boost::mutex mutex;
boost::shared_ptr< Connection > ConnectionPtr
Definition: CommonTypes.hh:144
void DisconnectUpdate(event::ConnectionPtr &_conn)
Disconnect from the update signal.
Definition: ForceTorqueSensor.hh:79
Forward declarations for the common classes.
Definition: Animation.hh:24
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:43
Forward declarations for transport.
Sensor for measure force and torque on a joint.
Definition: ForceTorqueSensor.hh:38
event::EventT< void(msgs::WrenchStamped)> update
Update event.
Definition: ForceTorqueSensor.hh:89
boost::shared_ptr< Joint > JointPtr
Definition: PhysicsTypes.hh:97
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
boost::shared_ptr< Publisher > PublisherPtr
Definition: TransportTypes.hh:44
Base class for sensors.
Definition: Sensor.hh:72
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:48
event::ConnectionPtr ConnectUpdate(T _subscriber)
Connect a to the update signal.
Definition: ForceTorqueSensor.hh:74