The GazeboTaskboardSlot1 class represents a controller for taskboard model (slot1). More...

#include <GazeboTaskboard.h>

Classes
struct	Led
	The Led structrure describes the LED in the simulator and holds current led state. More...
struct	ManipulationState
	Holds entire manipulation state and used to manipulate taskboard programatically. More...
struct	TaskboardLeds
	This structure holds all led instances. More...
struct	TaskboardSlot1State
	This structure holds state of the main taskboard elements. More...
Public Member Functions
	GazeboTaskboardSlot1 ()
	Plugin's default constructor.
virtual void	Load (physics::ModelPtr _parent, sdf::ElementPtr _sdf)
	Initializes plugin by providing associated model.
	~GazeboTaskboardSlot1 ()
	Plugin's destructor.
Private Types
enum	ThreeWayToggleSwitchState { eThreeWayState_Center, eThreeWayState_Down, eThreeWayState_Up }
	Switch state with 3 stable positions. More...
enum	TwoWayToggleSwitchState { eTwoWayState_Down, eTwoWayState_Up }
	Switch state with 2 stable positions. More...
Private Member Functions
math::Vector3	computeEmpiricalTorque (double deviationAngle, double initialValue, double snapCoeff, double snapExp, double torqueCoeff) const
	Calculates empirical torque vector used to simulate switches/toggles rotation.
void	DeriveStateFromModel ()
	Derives current state from the model's positional configuration.
double	GetTime () const
	Gets current simulation time in seconds.
void	HandleManipulation ()
	Handles current manipulation state.
bool	InitJoints ()
	Initializes all joints that are used by the plugin.
bool	InitLinks ()
	Initializes all links that are used by the plugin.
bool	ManipulateNumPad (gazebo_taskboard::ManipulateNumPad::Request &request, gazebo_taskboard::ManipulateNumPad::Response &response)
	Peforms numpad buttons manipulation.
bool	ManipulatePowerCover (gazebo_taskboard::ManipulatePowerCover::Request &request, gazebo_taskboard::ManipulatePowerCover::Response &response)
	Peforms power cover manipulation.
bool	ManipulatePowerSwitch (gazebo_taskboard::ManipulatePowerSwitch::Request &request, gazebo_taskboard::ManipulatePowerSwitch::Response &response)
	Peforms power switch manipulation.
bool	ManipulateRockerSwitch (gazebo_taskboard::ManipulateRockerSwitch::Request &request, gazebo_taskboard::ManipulateRockerSwitch::Response &response)
	Peforms rocker switch manipulation.
bool	ManipulateSafeToggle (gazebo_taskboard::ManipulateSafeToggle::Request &request, gazebo_taskboard::ManipulateSafeToggle::Response &response)
	Peforms safe toggle (A03/A04/A05) manipulation.
void	MonitorNumpadStateChanges ()
	Handles numpad buttons state changes.
void	MonitorPowerCoverStateChanges ()
	Handles power cover state changes.
void	MonitorPowerSwitchStateChanges ()
	Handles power switch state changes.
void	MonitorRockerSwitchA01StateChanges ()
	Handles rocker switch A01 state changes.
void	MonitorSafeTogglesStateChanges ()
	Handles safe toggles (A03/A04/A05) state changes.
void	OnUpdate ()
	Simulates expected behavior according to the current state.
void	PublishState ()
	Sends TaskboardPanelA message to /taskboard/TaskboardPanelA topic.
void	SetLedState (Led &led, bool on)
	Turns on/off the given LED.
void	TurnOffAllLeds ()
	Turns off all LEDs.
void	TurnOnLeds ()
	Turns on all LEDs that should be on in the current state.
bool	UpdateTransitionFromOutState2Way (physics::LinkPtr link, physics::JointPtr joint, TwoWayToggleSwitchState &state) const
	Makes joint transition from current OUT position to nearest UP/DOWN state.
bool	UpdateTransitionFromOutState3Way (physics::LinkPtr link, physics::JointPtr joint, ThreeWayToggleSwitchState &state) const
	Makes joint transition from current OUT position to nearest UP/CENTER/DOWN state.
Private Attributes
bool	firstFrameInitializationDone
	first frame update flag.
boost::scoped_ptr< TaskboardLeds >	leds
	the LEDs
bool	ledsReady
	indicates if the leds setup is done
physics::LinkPtr	linkA01Switch
	rocker switch link
physics::LinkPtr	linkPowerCover
	power cover link
physics::LinkPtr	linkPowerSwitch
	power switch link
physics::LinkPtr	linksBaseSafeToggle [SAFE_TOGGLES_COUNT]
	parent links for safe toggles
physics::LinkPtr	linksNumPad [NUM_PAD_BUTTONS_COUNT]
	the numpad buttons links
physics::LinkPtr	linksSafeToggle [SAFE_TOGGLES_COUNT]
	safe toggles links (A03/A04/A05)
boost::scoped_ptr < ManipulationState >	manipulationState
	Holds entire manipulation state.
physics::ModelPtr	model
	the model associated with this plugin
ros::NodeHandle	node
	the handle of plugin node
ros::Publisher	publisher
	publishers for sending messages about state changes
physics::JointPtr	safeTogglesRevoluteJoints [SAFE_TOGGLES_COUNT]
	safe toggles revolute joints
ros::ServiceServer	srv_manipulateNumPad
	service for numpad buttons manipulation
ros::ServiceServer	srv_manipulatePowerCover
	service for power cover manipulation
ros::ServiceServer	srv_manipulatePowerSwitch
	service for power switch manipulation
ros::ServiceServer	srv_manipulateRockerSwitch
	service for rocker switch manipulation
ros::ServiceServer	srv_manipulateSafeToggle
	service for safe toggles manipulation
boost::scoped_ptr < TaskboardSlot1State >	state
	Taskboard Slot1 state.
event::ConnectionPtr	updateConnection
	pointer to the update event connection
Static Private Attributes
static const int	NUM_PAD_BUTTONS_COUNT = 9
	the numpad buttons count constant
static const int	SAFE_TOGGLES_COUNT = 3
	the toggles count constant

Detailed Description

The GazeboTaskboardSlot1 class represents a controller for taskboard model (slot1).

It is implemented as gazebo ModelPlugin, the instane of this class is associated with taskboard model by the ROS gazebo plugin. The controller is responsible for simulating taskboard behavior in reaction to external influences in similar way as it happens for real ISS taskboard.

Author:: KennyAlive

Version:: 1.0

Definition at line 41 of file GazeboTaskboard.h.

Member Enumeration Documentation

enum gazebo::GazeboTaskboardSlot1::ThreeWayToggleSwitchState [private]

Switch state with 3 stable positions.

Enumerator:

eThreeWayState_Center
eThreeWayState_Down
eThreeWayState_Up

Definition at line 60 of file GazeboTaskboard.h.

enum gazebo::GazeboTaskboardSlot1::TwoWayToggleSwitchState [private]

Switch state with 2 stable positions.

Enumerator:

eTwoWayState_Down
eTwoWayState_Up

Definition at line 54 of file GazeboTaskboard.h.

Constructor & Destructor Documentation

GazeboTaskboardSlot1::GazeboTaskboardSlot1 ( )

Plugin's default constructor.

Definition at line 309 of file GazeboTaskboard.cpp.

GazeboTaskboardSlot1::~GazeboTaskboardSlot1 ( )

Plugin's destructor.

Plugin's desctructor.

Stops listening to the world update event.

Definition at line 320 of file GazeboTaskboard.cpp.

Member Function Documentation

math::Vector3 GazeboTaskboardSlot1::computeEmpiricalTorque	(	double	deviationAngle,
		double	initialValue,
		double	snapCoeff,
		double	snapExp,
		double	torqueCoeff
	)		const `[private]`

Calculates empirical torque vector used to simulate switches/toggles rotation.

Parameters:

deviationAngle	the angle value counted from some central direction
initialValue	specifies the initial amount of torque (this will be scaled by torqueCoeff)
snapCoeff	scales the mantissa value
snapExp	the exponent in the empirical expression
torqueCoeff	the coefficient used to scale the entire torque vector

Returns:: the computed torque vector

Definition at line 1398 of file GazeboTaskboard.cpp.

void GazeboTaskboardSlot1::DeriveStateFromModel ( ) [private]

Derives current state from the model's positional configuration.

The state is derived only for elements that have more then one stable position. For elements that have only single stable position (like rocker switch) state is not derived from the model but directly initialized to single stable position.

Definition at line 500 of file GazeboTaskboard.cpp.

double GazeboTaskboardSlot1::GetTime ( ) const [private]

Gets current simulation time in seconds.

Returns:: current simulation time in seconds

Definition at line 1416 of file GazeboTaskboard.cpp.

void GazeboTaskboardSlot1::HandleManipulation ( ) [private]

Handles current manipulation state.

Definition at line 1284 of file GazeboTaskboard.cpp.

bool GazeboTaskboardSlot1::InitJoints ( ) [private]

Initializes all joints that are used by the plugin.

Returns:: true if the joints are initialized successfully, otherwise false

Definition at line 469 of file GazeboTaskboard.cpp.

bool GazeboTaskboardSlot1::InitLinks ( ) [private]

Initializes all links that are used by the plugin.

Returns:: true if the links are initialized successfully, otherwise false

Definition at line 405 of file GazeboTaskboard.cpp.

void GazeboTaskboardSlot1::Load	(	physics::ModelPtr	_parent,
		sdf::ElementPtr	_sdf
	)		`[virtual]`

Initializes plugin by providing associated model.

Parameters:

_parent	the models associated with this plugin instance
_sdf	the SDF definition that holds models parameters

Definition at line 335 of file GazeboTaskboard.cpp.

bool GazeboTaskboardSlot1::ManipulateNumPad	(	gazebo_taskboard::ManipulateNumPad::Request &	request,
		gazebo_taskboard::ManipulateNumPad::Response &	response
	)		`[private]`

Peforms numpad buttons manipulation.

Applies the given amount of force to the given button.

Parameters:

request	the request object with manipulation parameters
response	the response object

Returns:: true if the operation succeeded, otherwise false

Definition at line 1220 of file GazeboTaskboard.cpp.

bool GazeboTaskboardSlot1::ManipulatePowerCover	(	gazebo_taskboard::ManipulatePowerCover::Request &	request,
		gazebo_taskboard::ManipulatePowerCover::Response &	response
	)		`[private]`

Peforms power cover manipulation.

Rotates the cover on the given angle.

Parameters:

request	the request object with manipulation parameters
response	the response object

Returns:: true if the operation succeeded, otherwise false

Definition at line 1143 of file GazeboTaskboard.cpp.

bool GazeboTaskboardSlot1::ManipulatePowerSwitch	(	gazebo_taskboard::ManipulatePowerSwitch::Request &	request,
		gazebo_taskboard::ManipulatePowerSwitch::Response &	response
	)		`[private]`

Peforms power switch manipulation.

Rotates the switch on the given angle.

Parameters:

request	the request object with manipulation parameters
response	the response object

Returns:: true if the operation succeeded, otherwise false

Definition at line 1169 of file GazeboTaskboard.cpp.

bool GazeboTaskboardSlot1::ManipulateRockerSwitch	(	gazebo_taskboard::ManipulateRockerSwitch::Request &	request,
		gazebo_taskboard::ManipulateRockerSwitch::Response &	response
	)		`[private]`

Peforms rocker switch manipulation.

Applies the given amount of torque to the rocker switch.

Parameters:

request	the request object with manipulation parameters
response	the response object

Returns:: true if the operation succeeded, otherwise false

Definition at line 1195 of file GazeboTaskboard.cpp.

bool GazeboTaskboardSlot1::ManipulateSafeToggle	(	gazebo_taskboard::ManipulateSafeToggle::Request &	request,
		gazebo_taskboard::ManipulateSafeToggle::Response &	response
	)		`[private]`

Peforms safe toggle (A03/A04/A05) manipulation.

Applies the given amount of force to the given toggle or rotates the toggle on the given angle.

Parameters:

request	the request object with manipulation parameters
response	the response object

Returns:: true if the operation succeeded, otherwise false

Definition at line 1248 of file GazeboTaskboard.cpp.

void GazeboTaskboardSlot1::MonitorNumpadStateChanges ( ) [private]

Handles numpad buttons state changes.

Definition at line 723 of file GazeboTaskboard.cpp.

void GazeboTaskboardSlot1::MonitorPowerCoverStateChanges ( ) [private]

Handles power cover state changes.

Definition at line 583 of file GazeboTaskboard.cpp.

void GazeboTaskboardSlot1::MonitorPowerSwitchStateChanges ( ) [private]

Handles power switch state changes.

Definition at line 621 of file GazeboTaskboard.cpp.

void GazeboTaskboardSlot1::MonitorRockerSwitchA01StateChanges ( ) [private]

Handles rocker switch A01 state changes.

Definition at line 665 of file GazeboTaskboard.cpp.

void GazeboTaskboardSlot1::MonitorSafeTogglesStateChanges ( ) [private]

Handles safe toggles (A03/A04/A05) state changes.

Definition at line 860 of file GazeboTaskboard.cpp.

void GazeboTaskboardSlot1::OnUpdate ( ) [private]

Simulates expected behavior according to the current state.

The method is called regularly by Gazebo which allows the plugin to function as an active object.

Definition at line 546 of file GazeboTaskboard.cpp.

void GazeboTaskboardSlot1::PublishState ( ) [private]

Sends TaskboardPanelA message to /taskboard/TaskboardPanelA topic.

The message is initialized with controller's current state.

Definition at line 963 of file GazeboTaskboard.cpp.

void GazeboTaskboardSlot1::SetLedState	(	Led &	led,
		bool	on
	)		`[private]`

Turns on/off the given LED.

Parameters:

led	the Led instance
on	true to turn on the LED, false to turn off the LED

Definition at line 1037 of file GazeboTaskboard.cpp.

void GazeboTaskboardSlot1::TurnOffAllLeds ( ) [private]

Turns off all LEDs.

Definition at line 1114 of file GazeboTaskboard.cpp.

void GazeboTaskboardSlot1::TurnOnLeds ( ) [private]

Turns on all LEDs that should be on in the current state.

Definition at line 1073 of file GazeboTaskboard.cpp.

bool GazeboTaskboardSlot1::UpdateTransitionFromOutState2Way	(	physics::LinkPtr	link,
		physics::JointPtr	joint,
		TwoWayToggleSwitchState &	state
	)		const `[private]`

Makes joint transition from current OUT position to nearest UP/DOWN state.

Parameters:

link	the link that is in transition state
joint	the revolute joint of the link
state	if the method detects that transition is over then final state is returned via this reference

Returns:: true if the transition is over, otherwise false

Definition at line 763 of file GazeboTaskboard.cpp.

bool GazeboTaskboardSlot1::UpdateTransitionFromOutState3Way	(	physics::LinkPtr	link,
		physics::JointPtr	joint,
		ThreeWayToggleSwitchState &	state
	)		const `[private]`

Makes joint transition from current OUT position to nearest UP/CENTER/DOWN state.

Parameters:

link	the link that is in transition state
joint	the revolute joint of the link
state	if the method detects that transition is over then final state is returned via this reference

Returns:: true if the transition is over, otherwise false

Definition at line 807 of file GazeboTaskboard.cpp.

Member Data Documentation

bool gazebo::GazeboTaskboardSlot1::firstFrameInitializationDone [private]

first frame update flag.

In Load method the physics engine is not ready for usage, for example, we can not create model at that point. On the first update frame the physics is ready and we can create all the necessary models (LEDs in our case).

Definition at line 141 of file GazeboTaskboard.h.

boost::scoped_ptr<TaskboardLeds> gazebo::GazeboTaskboardSlot1::leds [private]

the LEDs

Definition at line 159 of file GazeboTaskboard.h.

bool gazebo::GazeboTaskboardSlot1::ledsReady [private]

indicates if the leds setup is done

Definition at line 144 of file GazeboTaskboard.h.

physics::LinkPtr gazebo::GazeboTaskboardSlot1::linkA01Switch [private]

rocker switch link

Definition at line 169 of file GazeboTaskboard.h.

physics::LinkPtr gazebo::GazeboTaskboardSlot1::linkPowerCover [private]

power cover link