added Tactile sensor

Author: guihomework

urdf_sensor/include/urdf_sensor/tactile.h

@@ -0,0 +1,132 @@
+/*********************************************************************
+* Software License Agreement (BSD License)
+*
+*  Copyright (c) 2016, CITEC, Bielefeld University
+*  All rights reserved.
+*
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions
+*  are met:
+*
+*   * Redistributions of source code must retain the above copyright
+*     notice, this list of conditions and the following disclaimer.
+*   * Redistributions in binary form must reproduce the above
+*     copyright notice, this list of conditions and the following
+*     disclaimer in the documentation and/or other materials provided
+*     with the distribution.
+*   * Neither the name of the copyright holder nor the names of its
+*     contributors may be used to endorse or promote products derived
+*     from this software without specific prior written permission.
+*
+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+*  POSSIBILITY OF SUCH DAMAGE.
+*********************************************************************/
+
+/* Author: Guillaume Walck */
+
+#ifndef URDF_SENSOR_TACTILE_H
+#define URDF_SENSOR_TACTILE_H
+
+#include "urdf_model/pose.h"
+#include "urdf_model/link.h"
+#include <string>
+#include <vector>
+
+namespace urdf {
+
+template <typename T>
+class Vector2
+{
+public:
+  Vector2(T _x, T _y) {this->x=_x; this->y=_y;}
+  Vector2() {this->clear();}
+  T x;
+  T y;
+
+  void clear() {this->x = this->y = 0;}
+
+  Vector2<T> operator+(const Vector2<T> &vec)
+  {
+    return Vector2(this->x+vec.x, this->y+vec.y);
+  }
+};
+
+
+/** A taxel describes the location (origin), geometry,
+    and vector index in the TactileState message.
+*/
+class TactileTaxel
+{
+public:
+  TactileTaxel() { this->clear(); }
+
+  unsigned int idx; /// index into TactileState
+  Pose  origin;     /// location of taxel w.r.t. sensor frame
+  GeometrySharedPtr geometry; /// geometry of taxel
+
+  void clear()
+  {
+    this->idx = 0;
+    this->origin.clear();
+    this->geometry.reset();
+  }
+};
+
+/** A tactile array is a rectangular layout of taxels of size row x col.
+    The order specifies the ordering of taxels in the TactileState msg.
+*/
+class TactileArray
+{
+public:
+  TactileArray() { this->clear(); }
+
+  enum DataOrder {ROWMAJOR, COLUMNMAJOR};
+
+  unsigned int rows;
+  unsigned int cols;
+  DataOrder    order;
+  Vector2<double> size;
+  Vector2<double> spacing;
+  Vector2<double> offset;
+
+  void clear()
+  {
+    this->rows = 0;
+    this->cols = 0;
+    this->order = ROWMAJOR;
+    this->size.clear();
+    this->spacing.clear();
+    this->offset.clear();
+  }
+};
+
+typedef boost::shared_ptr<TactileTaxel> TactileTaxelSharedPtr;
+typedef boost::shared_ptr<TactileArray> TactileArraySharedPtr;
+
+class TactileSensor: public SensorBase
+{
+public:
+  TactileSensor() { this->clear(); }
+  std::vector<TactileTaxelSharedPtr> taxels_;
+  TactileArraySharedPtr array_;
+
+  void clear()
+  {
+    taxels_.clear();
+    array_.reset();
+  }
+};
+
+}
+
+#endif

urdf_sensor/include/urdf_sensor/types.h

@@ -46,6 +46,7 @@ URDF_TYPEDEF_CLASS_POINTER(Sensor);
 URDF_TYPEDEF_CLASS_POINTER(SensorBase);
 URDF_TYPEDEF_CLASS_POINTER(Camera);
 URDF_TYPEDEF_CLASS_POINTER(Ray);
+URDF_TYPEDEF_CLASS_POINTER(TactileSensor);
 
 class SensorBase
 {
@@ -61,7 +62,7 @@ class SensorBase
 class Sensor
 {
 public:
-  Sensor() { this->clear(); };
+  Sensor() { this->clear(); }
 
   /// sensor name must be unique
   std::string name_;