ForceTorqueSimulationSensorDevice.h

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/*
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package    ArmarXSimulation::ArmarXObjects::RobotUnitSimulation
 * @author     Raphael Grimm ( raphael dot grimm at kit dot edu )
 * @date       2017
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <ArmarXCore/observers/filters/ButterworthFilter.h>
 
#include <RobotAPI/components/units/RobotUnit/Devices/SensorDevice.h>
#include <RobotAPI/components/units/RobotUnit/SensorValues/SensorValueForceTorque.h>
 
namespace armarx
{
    TYPEDEF_PTRS_SHARED(ForceTorqueSimulationSensorDevice);
 
    class ForceTorqueSimulationSensorDevice :
        virtual public SensorDeviceTemplate<SensorValueForceTorque>
    {
    public:
        ForceTorqueSimulationSensorDevice(const std::string& name,
                                          const std::string reportingFrame,
                                          const Eigen::Matrix3f reportingTransformation) :
            DeviceBase(name),
            SensorDevice(name),
            SensorDeviceTemplate(name),
            reportingFrame{reportingFrame},
            reportingTransformation{reportingTransformation}
        {
        }
 
        std::string
        getReportingFrame() const override
        {
            return reportingFrame;
        }
 
        filters::ButterworthFilter tx{2, 100, Lowpass, 1};
        filters::ButterworthFilter ty{2, 100, Lowpass, 1};
        filters::ButterworthFilter tz{2, 100, Lowpass, 1};
        filters::ButterworthFilter fx{2, 100, Lowpass, 1};
        filters::ButterworthFilter fy{2, 100, Lowpass, 1};
        filters::ButterworthFilter fz{2, 100, Lowpass, 1};
 
        const std::string reportingFrame;
        const Eigen::Matrix3f reportingTransformation;
    };
} // namespace armarx