force_torque_sensor_interface.h
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27 
29 
30 #pragma once
31 
32 
34 #include <string>
35 
36 namespace hardware_interface
37 {
38 
41 {
42 public:
43  ForceTorqueSensorHandle() = default;
44 
52  ForceTorqueSensorHandle(const std::string& name,
53  const std::string& frame_id,
54  const double* force,
55  const double* torque)
56  : name_(name),
57  frame_id_(frame_id),
58  force_(force),
59  torque_(torque)
60  {}
61 
62  // keep non-const version for binary compatibility
63  ForceTorqueSensorHandle(const std::string& name,
64  const std::string& frame_id,
65  double* force,
66  double* torque)
67  : name_(name),
68  frame_id_(frame_id),
69  force_(force),
70  torque_(torque)
71  {}
72 
73  std::string getName() const {return name_;}
74  std::string getFrameId() const {return frame_id_;}
75  const double* getForce() const {return force_;}
76  const double* getTorque() const {return torque_;}
77 
78 private:
79  std::string name_;
80  std::string frame_id_;
81  const double* force_ = {nullptr};
82  const double* torque_ = {nullptr};
83 };
84 
86 class ForceTorqueSensorInterface : public HardwareResourceManager<ForceTorqueSensorHandle> {};
87 
88 }
ForceTorqueSensorHandle(const std::string &name, const std::string &frame_id, double *force, double *torque)
Base class for handling hardware resources.
ForceTorqueSensorHandle(const std::string &name, const std::string &frame_id, const double *force, const double *torque)
Hardware interface to support reading the state of a force-torque sensor.
A handle used to read the state of a force-torque sensor.


hardware_interface
Author(s): Wim Meeussen, Adolfo Rodriguez Tsouroukdissian
autogenerated on Tue Jun 22 2021 06:37:33