OpticalTactilePluginVisualization Class Reference
#include <Visualization.hh>
Public Member Functions | |
| OpticalTactilePluginVisualization (std::string &_modelName, ignition::math::Vector3d &_sensorSize, double &_forceLength, float &_cameraUpdateRate, ignition::math::Pose3f &_depthCameraOffset, int &_visualizationResolution) | |
| Constructor. More... | |
| void | AddNormalForceToMarkerMsgs (ignition::msgs::Marker &_positionMarkerMsg, ignition::msgs::Marker &_forceMarkerMsg, ignition::math::Vector3f &_position, ignition::math::Vector3f &_normalForce, ignition::math::Pose3f &_sensorWorldPose) |
| Add a normal force to the marker messages representing the normal forces computed. More... | |
| void | RequestNormalForcesMarkerMsgs (ignition::msgs::Marker &_positionMarkerMsg, ignition::msgs::Marker &_forceMarkerMsg) |
| Request the "/marker" service for the marker messages representing the normal forces. More... | |
| void | RequestSensorMarkerMsg (ignition::math::Pose3f const &_sensorPose) |
| Request the "/marker" service for the sensor marker. This can be helpful when debbuging, given that there shouldn't be a visual tag in the plugin's model. More... | |
Constructor & Destructor Documentation
◆ OpticalTactilePluginVisualization()
| OpticalTactilePluginVisualization | ( | std::string & | _modelName, |
| ignition::math::Vector3d & | _sensorSize, | ||
| double & | _forceLength, | ||
| float & | _cameraUpdateRate, | ||
| ignition::math::Pose3f & | _depthCameraOffset, | ||
| int & | _visualizationResolution | ||
| ) |
Constructor.
- Parameters
-
[in] _modelName Name of the model to which the sensor is attached [in] _sensorSize Size of the contact sensor [in] _forceLength Value of the forceLength attribute [in] _cameraUpdateRate Value of the cameraUpdateRate attribute [in] _depthCameraOffset Value of the depthCameraOffset attribute [in] _visualizationResolution Value of the visualizationResolution attribute
Member Function Documentation
◆ AddNormalForceToMarkerMsgs()
| void AddNormalForceToMarkerMsgs | ( | ignition::msgs::Marker & | _positionMarkerMsg, |
| ignition::msgs::Marker & | _forceMarkerMsg, | ||
| ignition::math::Vector3f & | _position, | ||
| ignition::math::Vector3f & | _normalForce, | ||
| ignition::math::Pose3f & | _sensorWorldPose | ||
| ) |
Add a normal force to the marker messages representing the normal forces computed.
- Parameters
-
[out] _positionMarkerMsg Message for visualizing the contact positions [out] _forceMarkerMsg Message for visualizing the contact normal forces [in] _position Position of the normal force referenced to the depth camera's origin [in] _normalForce Value of the normal force referenced to the depth camera's origin [in] _sensorWorldPose Pose of the plugin's model referenced to the world's origin
◆ RequestNormalForcesMarkerMsgs()
| void RequestNormalForcesMarkerMsgs | ( | ignition::msgs::Marker & | _positionMarkerMsg, |
| ignition::msgs::Marker & | _forceMarkerMsg | ||
| ) |
Request the "/marker" service for the marker messages representing the normal forces.
- Parameters
-
[in] _positionMarkerMsg Message for visualizing the contact positions [in] _forceMarkerMsg Message for visualizing the contact normal forces
◆ RequestSensorMarkerMsg()
| void RequestSensorMarkerMsg | ( | ignition::math::Pose3f const & | _sensorPose | ) |
Request the "/marker" service for the sensor marker. This can be helpful when debbuging, given that there shouldn't be a visual tag in the plugin's model.
- Parameters
-
[in] _sensorPose Pose of the optical tactile sensor
The documentation for this class was generated from the following file: