gazebo::GazeboRosForce Class Reference
[Plugin XML Reference and Example]

#include <gazebo_ros_force.h>

List of all members.

Public Member Functions
	GazeboRosForce (Entity *parent)
	Constructor.
virtual	~GazeboRosForce ()
	Destructor.
Protected Member Functions
virtual void	FiniChild ()
	Finalize the controller, unadvertise topics.
virtual void	InitChild ()
	Init the controller.
virtual void	LoadChild (XMLConfigNode *node)
	Load the controller.
virtual void	UpdateChild ()
	Update the controller.
Private Member Functions
void	QueueThread ()
void	UpdateObjectForce (const geometry_msgs::Wrench::ConstPtr &wrenchMsg)
	call back when a Wrench message is published
Private Attributes
std::string	bodyName
ParamT< std::string > *	bodyNameP
boost::thread	callback_queue_thread_
boost::mutex	lock
	A mutex to lock access to fields that are used in ROS message callbacks.
Body *	myBody
	A pointer to the Body.
Model *	myParent
	A pointer to the parent entity.
ros::CallbackQueue	queue_
std::string	robotNamespace
ParamT< std::string > *	robotNamespaceP
	for setting ROS name space
ros::NodeHandle *	rosnode_
	A pointer to the ROS node. A node will be instantiated if it does not exist.
ros::Subscriber	sub_
std::string	topicName
ParamT< std::string > *	topicNameP
	ROS Wrench topic name.
geometry_msgs::Wrench	wrench

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Detailed Description

Definition at line 76 of file gazebo_ros_force.h.

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Constructor & Destructor Documentation

GazeboRosForce::GazeboRosForce

(

Entity *

parent

)

Constructor.

Parameters:

parent

The parent entity, must be a Model or a Sensor

Definition at line 52 of file gazebo_ros_force.cpp.

GazeboRosForce::~GazeboRosForce

(

)

[virtual]

Destructor.

Definition at line 85 of file gazebo_ros_force.cpp.

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Member Function Documentation

void GazeboRosForce::FiniChild

(

)

[protected, virtual]

Finalize the controller, unadvertise topics.

Definition at line 171 of file gazebo_ros_force.cpp.

void GazeboRosForce::InitChild

(

)

[protected, virtual]

Init the controller.

Definition at line 137 of file gazebo_ros_force.cpp.

void GazeboRosForce::LoadChild

(

XMLConfigNode *

node

)

[protected, virtual]

Load the controller.

Parameters:

node

XML config node

Definition at line 97 of file gazebo_ros_force.cpp.

void GazeboRosForce::QueueThread

(

)

[private]

Definition at line 183 of file gazebo_ros_force.cpp.

void GazeboRosForce::UpdateChild

(

)

[protected, virtual]

Update the controller.

Definition at line 157 of file gazebo_ros_force.cpp.

void GazeboRosForce::UpdateObjectForce

(

const geometry_msgs::Wrench::ConstPtr &

wrenchMsg

)

[private]

call back when a Wrench message is published

Definition at line 145 of file gazebo_ros_force.cpp.

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Member Data Documentation

std::string gazebo::GazeboRosForce::bodyName [private]

Definition at line 117 of file gazebo_ros_force.h.

ParamT<std::string> * gazebo::GazeboRosForce::bodyNameP [private]

Definition at line 116 of file gazebo_ros_force.h.

boost::thread gazebo::GazeboRosForce::callback_queue_thread_ [private]

Definition at line 126 of file gazebo_ros_force.h.

boost::mutex gazebo::GazeboRosForce::lock [private]

A mutex to lock access to fields that are used in ROS message callbacks.

Definition at line 112 of file gazebo_ros_force.h.

Body* gazebo::GazeboRosForce::myBody [private]

A pointer to the Body.

Definition at line 105 of file gazebo_ros_force.h.

Model* gazebo::GazeboRosForce::myParent [private]

A pointer to the parent entity.

Definition at line 102 of file gazebo_ros_force.h.

ros::CallbackQueue gazebo::GazeboRosForce::queue_ [private]

Definition at line 124 of file gazebo_ros_force.h.

std::string gazebo::GazeboRosForce::robotNamespace [private]

Definition at line 121 of file gazebo_ros_force.h.

ParamT<std::string>* gazebo::GazeboRosForce::robotNamespaceP [private]

for setting ROS name space

Definition at line 120 of file gazebo_ros_force.h.

ros::NodeHandle* gazebo::GazeboRosForce::rosnode_ [private]

A pointer to the ROS node. A node will be instantiated if it does not exist.

Definition at line 108 of file gazebo_ros_force.h.

ros::Subscriber gazebo::GazeboRosForce::sub_ [private]

Definition at line 109 of file gazebo_ros_force.h.

std::string gazebo::GazeboRosForce::topicName [private]

Definition at line 117 of file gazebo_ros_force.h.

ParamT<std::string>* gazebo::GazeboRosForce::topicNameP [private]

ROS Wrench topic name.

inputs

Definition at line 116 of file gazebo_ros_force.h.

geometry_msgs::Wrench gazebo::GazeboRosForce::wrench [private]

Definition at line 127 of file gazebo_ros_force.h.

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The documentation for this class was generated from the following files:

• gazebo_ros_force.h
• gazebo_ros_force.cpp