ForceSensor.h

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/*
 * Copyright 2015-2019 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_rbdyn/Device.h>
#include <mc_rbdyn/ForceSensorCalibData.h>
 
namespace mc_rbdyn
{
 
struct Robot;
 
struct MC_RBDYN_DLLAPI ForceSensor : public Device
{
public:
  ForceSensor();
 
  ForceSensor(const std::string & name, const std::string & parentBodyName, const sva::PTransformd & X_p_f);
 
  ForceSensor(const ForceSensor & fs);
 
  ForceSensor & operator=(const ForceSensor & fs);
 
  ForceSensor(ForceSensor &&) = default;
  ForceSensor & operator=(ForceSensor &&) = default;
 
  ~ForceSensor() noexcept override;
 
  inline const std::string & parentBody() const { return Device::parent(); }
 
  inline const sva::PTransformd & X_p_f() const { return Device::X_p_s(); }
 
  inline sva::PTransformd X_0_f(const mc_rbdyn::Robot & robot) const { return Device::X_0_s(robot); }
 
  inline const sva::ForceVecd & wrench() const { return wrench_; }
 
  inline const Eigen::Vector3d & force() const { return wrench().force(); }
 
  inline const Eigen::Vector3d & couple() const { return wrench().couple(); }
 
  inline void wrench(const sva::ForceVecd & wrench) { wrench_ = wrench; }
 
  sva::ForceVecd wrenchWithoutGravity(const mc_rbdyn::Robot & robot) const;
 
  sva::ForceVecd worldWrench(const mc_rbdyn::Robot & robot) const;
 
  sva::ForceVecd worldWrenchWithoutGravity(const mc_rbdyn::Robot & robot) const;
 
  void loadCalibrator(const detail::ForceSensorCalibData & data) noexcept;
 
  void loadCalibrator(const std::string & calib_file, const Eigen::Vector3d & gravity = {0., 0., 9.81});
 
  void copyCalibrator(const mc_rbdyn::ForceSensor & other);
 
  void resetCalibrator();
 
  const sva::PTransformd & X_fsmodel_fsactual() const;
 
  const sva::PTransformd X_fsactual_parent() const;
 
  double mass() const;
 
  const sva::ForceVecd & offset() const;
 
  inline const detail::ForceSensorCalibData & calib() const noexcept { return calibration_; }
 
  /* End of Calibration group */
 
  DevicePtr clone() const override;
 
private:
  sva::ForceVecd wrench_;
 
  detail::ForceSensorCalibData calibration_;
};
 
inline bool operator==(const mc_rbdyn::ForceSensor & lhs, const mc_rbdyn::ForceSensor & rhs)
{
  return lhs.name() == rhs.name() && lhs.parentBody() == rhs.parentBody() && lhs.X_p_f() == rhs.X_p_f();
}
 
} // namespace mc_rbdyn