Client for force/torque sensor readings. More...

#include <sas_force_sensor_client.hpp>

Inheritance diagram for sas::ForceSensorClient:

Public Member Functions
	ForceSensorClient (const ForceSensorClient &)=delete
	ForceSensorClient (const std::shared_ptr< Node > &node, const std::string &topic_prefix="GET_FROM_NODE")
	Construct a new ForceSensorClient.
bool	is_enabled () const
	Check whether the client has received at least one force/torque reading.
DQ	get_force () const
	Get the last received force reading.
DQ	get_torque () const
	Get the last received torque reading.
std::string	get_topic_prefix () const
	Get the configured topic prefix.

Detailed Description

Client for force/torque sensor readings.

ForceSensorClient subscribes to the geometry_msgs/msg/WrenchStamped topic published by a sas::ForceSensorServer and exposes the latest force and torque readings as dqrobotics DQ (pure quaternion) objects.

Constructor & Destructor Documentation

◆ ForceSensorClient()

sas::ForceSensorClient::ForceSensorClient	(	const std::shared_ptr< Node > &	node,
		const std::string &	topic_prefix = "GET_FROM_NODE" )

Construct a new ForceSensorClient.

Parameters

node	Shared pointer to the rclcpp::Node used for communication.
topic_prefix	Prefix used to compose the ROS topic name (defaults to "GET_FROM_NODE", in which case the node name is used).

Member Function Documentation

◆ get_force()

DQ sas::ForceSensorClient::get_force ( ) const

Get the last received force reading.

Returns: DQ (pure quaternion) representing the sensed force vector.

Exceptions

std::runtime_error if the client is not enabled yet.

◆ get_topic_prefix()

std::string sas::ForceSensorClient::get_topic_prefix ( ) const

Get the configured topic prefix.

Returns: std::string Topic prefix used by this client.

◆ get_torque()

DQ sas::ForceSensorClient::get_torque ( ) const

Get the last received torque reading.

Returns: DQ (pure quaternion) representing the sensed torque vector.

Exceptions

std::runtime_error if the client is not enabled yet.

◆ is_enabled()

bool sas::ForceSensorClient::is_enabled ( ) const

Check whether the client has received at least one force/torque reading.

Returns: true if enabled, false otherwise.

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

src/sas_force_sensor/include/sas_force_sensor/sas_force_sensor_client.hpp
src/sas_force_sensor/src/sas_force_sensor_client.cpp

Public Member Functions