text: /*
   * Copyright (C) 2015 Open Source Robotics Foundation
   *
   * Licensed under the Apache License, Version 2.0 (the "License");
   * you may not use this file except in compliance with the License.
   * You may obtain a copy of the License at
   *
   *     http://www.apache.org/licenses/LICENSE-2.0
   *
   * Unless required by applicable law or agreed to in writing, software
   * distributed under the License is distributed on an "AS IS" BASIS,
   * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   * See the License for the specific language governing permissions and
   * limitations under the License.
   *
  */
  #ifndef _GAZEBO_SENSORS_FORCETORQUESENSOR_PRIVATE_HH_
  #define _GAZEBO_SENSORS_FORCETORQUESENSOR_PRIVATE_HH_
  
  #include <mutex>
  #include <ignition/math/Matrix3.hh>
  
  #include "gazebo/physics/PhysicsTypes.hh"
  #include "gazebo/transport/TransportTypes.hh"
  
  namespace gazebo
  {
    namespace sensors
    {
      /// \internal
      /// \brief Force torque sensor private data.
      class ForceTorqueSensorPrivate
      {
        /// \brief Update event.
        public: event::EventT<void(msgs::WrenchStamped)> update;
  
        /// \brief Parent joint, from which we get force torque info.
        public: physics::JointPtr parentJoint;
  
        /// \brief Publishes the wrenchMsg.
        public: transport::PublisherPtr wrenchPub;
  
        /// \brief Message the store the current force torque info.
        public: msgs::WrenchStamped wrenchMsg;
  
        /// \brief Mutex to protect the wrench message
        public: std::mutex mutex;
  
        /// \brief Which orientation we support for returning sensor measure
        public: enum MeasureFrame
        {
          PARENT_LINK,
          CHILD_LINK,
          SENSOR
        };
  
        /// \brief Frame in which we return the measured force torque info.
        public: MeasureFrame measureFrame;
  
        /// \brief Direction of the measure
        ///        True if the measured force torque is the one applied
        ///        by the parent on the child, false otherwise
        public: bool parentToChild;
  
        /// \brief Rotation matrix than transforms a vector expressed in child
        ///        orientation in a vector expressed in joint orientation.
        ///        Necessary is the measure is specified in joint frame.
        public: ignition::math::Matrix3d rotationSensorChild;
      };
    }
  }
  #endif
  