Public Member Functions
	GazeboInterface ()
virtual void	Init ()
virtual void	Load (physics::ModelPtr _model, sdf::ElementPtr _sdf)
void	update ()
	~GazeboInterface ()
Private Member Functions
void	commandJoints (const sensor_msgs::JointState::ConstPtr &msg)
void	controlJoints (const r2_msgs::JointControl::ConstPtr &msg)
bool	getDoubleVal (XmlRpc::XmlRpcValue &val, double &doubleVal)
void	traverseParams (XmlRpc::XmlRpcValue param, std::map< std::string, XmlRpc::XmlRpcValue > &valMap, std::string searchKey="", std::string ns="", std::string name="")
Private Attributes
bool	advancedMode
ros::Subscriber	jointCommandsSub
std::string	jointCommandsTopic
ros::Subscriber	jointControlSub
std::string	jointControlTopic
ros::Publisher	jointStatePub
double	jointStatesStepTime
std::string	jointStatesTopic
ros::Publisher	jointStatusPub
double	jointStatusStepTime
std::string	jointStatusTopic
physics::ModelPtr	modelPtr
std::auto_ptr< ros::NodeHandle >	paramsNodePtr
common::Time	prevStatesUpdateTime
common::Time	prevStatusUpdateTime
std::auto_ptr< RobotController >	robotControllerPtr
std::auto_ptr< ros::NodeHandle >	rosNodePtr
event::ConnectionPtr	updateConnectionPtr

Detailed Description

Definition at line 16 of file GazeboInterface.h.

Constructor & Destructor Documentation

GazeboInterface::GazeboInterface ( )

Definition at line 10 of file GazeboInterface.cpp.

GazeboInterface::~GazeboInterface ( )

Definition at line 16 of file GazeboInterface.cpp.

void GazeboInterface::commandJoints ( const sensor_msgs::JointState::ConstPtr & msg ) [private]

Definition at line 467 of file GazeboInterface.cpp.

void GazeboInterface::controlJoints ( const r2_msgs::JointControl::ConstPtr & msg ) [private]

Definition at line 492 of file GazeboInterface.cpp.

bool GazeboInterface::getDoubleVal	(	XmlRpc::XmlRpcValue &	val,
		double &	doubleVal
	)		`[private]`

Definition at line 162 of file GazeboInterface.cpp.

void GazeboInterface::Init ( void ) [virtual]

Definition at line 180 of file GazeboInterface.cpp.

Definition at line 22 of file GazeboInterface.cpp.

void GazeboInterface::traverseParams	(	XmlRpc::XmlRpcValue	param,
		std::map< std::string, XmlRpc::XmlRpcValue > &	valMap,
		std::string	searchKey = `""`,
		std::string	ns = `""`,
		std::string	name = `""`
	)		`[private]`