Drake

Detailed Description

Drake provides a variety of capabilities for sensor modeling.

Some sensors are offered as Systems in a block diagram. These sensors are listed in the following section as classes. On the other hand, Drake has some internal functionalities, which can be used to model a sensor. The Force/Torque Sensor falls into this catergory.

A Force/Torque Sensor measures nothing but the reaction force/torque of a WeldJoint. The MultibodyPlant class provides the get_reaction_forces_output_port() method that returns the reaction SpatialForce of all the joints. You only need to extract the entries for the joints in which you are interested. To simulate a Force/Torque sensor, you need to either a) define a fixed joint for the force/torque sensor in the SDF/URDF model file or b) add a WeldJoint between two bodies. This joint will then serve as the Force/Torque sensor. You can also refer to planar_gripper for an example.

Classes

class  Accelerometer< T >
 Sensor to represent an ideal accelerometer sensor. More...
 
class  BeamModel< T >
 Implements the "Beam Models of Range Finders" from section 6.3 of Probabilistic Robotics (2006), by Thrun, Burgard, and Fox. More...
 
class  Gyroscope< T >
 Sensor to represent an ideal gyroscopic sensor. More...
 
class  RgbdSensor
 A meta-sensor that houses RGB, depth, and label cameras, producing their corresponding images based on the contents of the geometry::SceneGraph. More...
 
class  RotaryEncoders< T >
 Simple model to capture the quantization and calibration offset effects of a rotary encoder. More...