us.ihmc.scs2.definition.robot.WrenchSensorDefinition Maven / Gradle / Ivy

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package us.ihmc.scs2.definition.robot;

import us.ihmc.euclid.transform.interfaces.RigidBodyTransformReadOnly;
import us.ihmc.euclid.tuple3D.interfaces.Tuple3DReadOnly;

public class WrenchSensorDefinition extends SensorDefinition
{
   public enum SensorLocation
   {
      /**
       * Hints that the sensor is located after the rigid-body and thus does not measure the dynamic
       * wrench resulting from that body.
       * 
       * For instance, a wrench sensor in the foot sole of a biped robot would typically be located after
       * the foot (rigid-body it is attached to). As such, the sensor does not read the weight of the foot
       * when in swing.
       * 
       */
      AFTER_BODY,
      /**
       * Hints that the sensor is located before the rigid-body and thus measures the dynamic wrench
       * resulting from that body.
       */
      BEFORE_BODY;
   };

   /**
    * Indicates the location of the sensor with respect to the rigid-body it is attached to.
    * 
    * This is currently used as a hint to the simulated sensor to indicate whether to sense the dynamic
    * wrench generated by the rigid-body it is attached to.
    * 
    * 
    * While the sensor is added to a joint, it is considered to be physically attached to the successor
    * joint, which is the rigid-body that is referenced to in this documentation.
    * 
    */
   private SensorLocation location = SensorLocation.AFTER_BODY;

   public WrenchSensorDefinition()
   {
   }

   public WrenchSensorDefinition(String name)
   {
      super(name);
   }

   public WrenchSensorDefinition(String name, Tuple3DReadOnly offsetFromJoint)
   {
      super(name, offsetFromJoint);
   }

   public WrenchSensorDefinition(String name, RigidBodyTransformReadOnly transformToJoint)
   {
      super(name, transformToJoint);
   }

   public WrenchSensorDefinition(WrenchSensorDefinition other)
   {
      super(other);
   }

   public void setLocation(SensorLocation location)
   {
      this.location = location;
   }

   public SensorLocation getLocation()
   {
      return location;
   }

   @Override
   public SensorDefinition copy()
   {
      return new WrenchSensorDefinition(this);
   }
}