LocalGuidance
A library that generates velocity references to follow a path.
robot_utils::ContactDetectorBase Class Reference

#include <ContactDetectorBase.hpp>

Inheritance diagram for robot_utils::ContactDetectorBase:
Inheritance graph

Public Types

enum  ContactState : unsigned int { ContactState::OPEN = 0, ContactState::CLOSED, ContactState::SLIPPING }
 

Public Member Functions

 ContactDetectorBase (const std::string &name)
 
virtual ~ContactDetectorBase ()
 
virtual bool initialize (double dt)
 
virtual bool advance (double dt)
 
const std::string & getName () const
 
void setWrench (const kindr::WrenchD &wrench)
 
void setForce (const kindr::Force3D &force)
 
void setTorque (const kindr::Torque3D &torque)
 
virtual ContactState getContactState () const
 

Protected Attributes

std::string name_
 
boost::atomic< ContactStatestate_
 
kindr::WrenchD wrench_
 
boost::shared_mutex mutexWrench_
 

Member Enumeration Documentation

◆ ContactState

Enumerator
OPEN 
CLOSED 
SLIPPING 

Constructor & Destructor Documentation

◆ ContactDetectorBase()

robot_utils::ContactDetectorBase::ContactDetectorBase ( const std::string &  name)

◆ ~ContactDetectorBase()

virtual robot_utils::ContactDetectorBase::~ContactDetectorBase ( )
virtual

Member Function Documentation

◆ advance()

virtual bool robot_utils::ContactDetectorBase::advance ( double  dt)
inlinevirtual

◆ getContactState()

virtual ContactState robot_utils::ContactDetectorBase::getContactState ( ) const
inlinevirtual

◆ getName()

const std::string& robot_utils::ContactDetectorBase::getName ( ) const
inline

◆ initialize()

virtual bool robot_utils::ContactDetectorBase::initialize ( double  dt)
inlinevirtual

◆ setForce()

void robot_utils::ContactDetectorBase::setForce ( const kindr::Force3D &  force)
inline

◆ setTorque()

void robot_utils::ContactDetectorBase::setTorque ( const kindr::Torque3D &  torque)
inline

◆ setWrench()

void robot_utils::ContactDetectorBase::setWrench ( const kindr::WrenchD &  wrench)
inline

Member Data Documentation

◆ mutexWrench_

boost::shared_mutex robot_utils::ContactDetectorBase::mutexWrench_
protected

◆ name_

std::string robot_utils::ContactDetectorBase::name_
protected

◆ state_

boost::atomic<ContactState> robot_utils::ContactDetectorBase::state_
protected

◆ wrench_

kindr::WrenchD robot_utils::ContactDetectorBase::wrench_
protected

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