#include <simulator.h>

Public Member Functions
void	BaseEpCallback (const hrl_msgs::FloatArrayBare msg)
void	calc_torques ()
void	classCallback (dGeomID o1, dGeomID o2)
void	clear ()
void	create_compliant_obstacles ()
void	create_fixed_obstacles ()
void	create_movable_obstacles ()
void	create_robot ()
double	get_dist (double x1, double y1, double x2, double y2, double radius)
void	get_joint_data ()
void	go_initial_position ()
void	ImpedanceCallback (const hrl_haptic_manipulation_in_clutter_msgs::MechanicalImpedanceParams msg)
void	inner_torque_loop ()
void	JepCallback (const hrl_msgs::FloatArrayBare msg)
void	publish_angle_data ()
void	publish_imped_skin_viz ()
void	sense_forces ()
void	set_torques ()
void	setup_current_taxel_config (hrl_haptic_manipulation_in_clutter_msgs::TaxelArray &taxel)
	Simulator (ros::NodeHandle &nh)
void	update_friction_and_obstacles ()
void	update_linkage_viz ()
void	update_proximity_simulation ()
void	update_taxel_simulation ()
	~Simulator ()
Static Public Member Functions
static void	nearCallback (void *data, dGeomID o1, dGeomID o2)
Public Attributes
ros::Publisher	clock_pub
double	cur_time
dSimpleSpace	space
dWorld	world
Static Public Attributes
static const dReal	timestep = 0.0005
Protected Attributes
hrl_msgs::FloatArrayBare	angle_rates
ros::Publisher	angle_rates_pub
hrl_msgs::FloatArrayBare	angles
ros::Publisher	angles_pub
dSliderJoint	base_pris_jts [MAX_NUM_PRISM]
dHingeJoint	base_rev_jts [MAX_NUM_REV]
ros::Publisher	bodies_draw
dBody *	body_mobile_base
dBody	compliant_obstacles [NUM_OBST]
dJointID	compliant_plane2d_joint_ids [NUM_OBST]
hrl_haptic_manipulation_in_clutter_msgs::BodyDraw	draw
dBody *	env
int	fbnum
MyFeedback	feedbacks [MAX_FEEDBACKNUM]
dFixedJoint *	fixed_joint
dJointID	fixed_joint_ids [NUM_OBST]
dBodyID	fixed_obst_ids [NUM_OBST]
dBody	fixed_obstacles [NUM_OBST]
int	force_group
std::vector< int >	force_grouping
std::vector< int >	force_sign
hrl_haptic_manipulation_in_clutter_msgs::TaxelArray	force_taxel
ros::Publisher	force_taxel_pub
MyFeedback	frict_feedbacks [NUM_OBST]
dBox	g_link_box [100]
dCapsule	g_link_cap [100]
dBox *	geom_mobile_base
ros::Publisher	imped_pub
hrl_haptic_manipulation_in_clutter_msgs::MechanicalImpedanceParams	impedance_params
std::vector< double >	jep
ros::Publisher	jep_pub
hrl_msgs::FloatArrayBare	jep_ros
dJointGroup	joints
dContactJoint *	jt_contact
std::vector< double >	k_d
std::vector< double >	k_p
dBodyID	link_ids [100]
dBody	links_arr [100]
double	links_dim [100][3]
std::string	links_shape [100]
boost::mutex	m
dSliderJoint	manip_pris_jts [MAX_NUM_PRISM]
dHingeJoint	manip_rev_jts [MAX_NUM_REV]
double	max_friction
double	max_tor_friction
dJointID	mobile_base_plane2d_jt_id
ros::NodeHandle	nh_
int	num_jts
int	num_links
int	num_used_compliant
int	num_used_fixed
int	num_used_movable
double	obst_damping [NUM_OBST]
double	obst_home [NUM_OBST][3]
double	obst_stiffness [NUM_OBST]
dBody	obstacles [NUM_OBST]
dJointID	plane2d_joint_ids [NUM_OBST]
hrl_haptic_manipulation_in_clutter_msgs::TaxelArray	proximity_taxel
ros::Publisher	proximity_taxel_pub
std::vector< double >	pt_x
std::vector< double >	pt_y
std::vector< double >	pt_z
std::vector< double >	q
std::vector< double >	q_dot
double	resolution
hrl_haptic_manipulation_in_clutter_msgs::SkinContact	skin
ros::Publisher	skin_pub
dSliderJoint *	slider_x
dSliderJoint *	slider_y
std::vector< double >	torques
bool	use_prox_sensor
std::vector< double >	x_c
std::vector< double >	x_n
std::vector< double >	y_c
std::vector< double >	y_n
std::vector< double >	z_c
std::vector< double >	z_n