This module implements GazeboTaskboardSlot1 class which represents gazebo ModelPlugin. More...

#include "../include/GazeboTaskboard.h"
#include <boost/bind.hpp>
#include <stdio.h>
#include <math.h>
#include <common/Events.hh>
#include <std_msgs/String.h>
#include <math/Angle.hh>
#include <math/Pose.hh>
#include <msgs/MessageTypes.hh>

Include dependency graph for GazeboTaskboard.cpp:

Go to the source code of this file.

Classes
struct	BaseManipulationState
	Holds base manipulation parameters: startTime and duration. More...
struct	gazebo::GazeboTaskboardSlot1::Led
	The Led structrure describes the LED in the simulator and holds current led state. More...
struct	gazebo::GazeboTaskboardSlot1::ManipulationState
	Holds entire manipulation state and used to manipulate taskboard programatically. More...
struct	NumPadButtonManipulationState
	Holds manipulation state for numpad buttons. More...
struct	PowerCoverManipulationState
	Holds manipulation state for power cover. More...
struct	PowerSwitchManipulationState
	Holds manipulation state for power switch. More...
struct	RockerSwitchManipulationState
	Holds manipulation state for rocker switch. More...
struct	SafeToggleManipulationState
	Holds manipulation state for safe toggles (A03/A04/A05). More...
struct	gazebo::GazeboTaskboardSlot1::TaskboardLeds
	This structure holds all led instances. More...
struct	gazebo::GazeboTaskboardSlot1::TaskboardSlot1State
	This structure holds state of the main taskboard elements. More...
Enumerations
enum	LedColor { eLedColor_Green, eLedColor_Blue }
	The available LED colors. More...
Functions
double	deg2rad (double degrees)
	Converts degrees to radians.
static physics::JointPtr	getJoint (physics::ModelPtr model, const std::string &jointName)
	Gets the model's joint by the joint name.
static physics::LinkPtr	getLink (physics::ModelPtr model, const std::string &linkName)
	Gets the model's link by the link name.
Variables
const double	LED_HIDE_OFFSET = 100.0
	z coordinate offset for hiding led model in ON state
const double	LED_HIDE_OFFSET2 = 105.0
	the z coordinate offset for hiding led model in OFF state
const std::string	LED_MATERIAL_BLUE = "Gazebo/BlueGlow"
	the material for blue led
const std::string	LED_MATERIAL_GREEN = "Gazebo/GreenGlow"
	the material for green led
const std::string	LED_MATERIAL_OFF = "Gazebo/Grey"
	the material for led in OFF state
const double	NUMPAD_LED_LENGTH = 0.0004
	led's model cylinder length used for numpad buttons
const double	NUMPAD_LED_RADIUS = 0.0095
	led's model cylinder radius used for numpad buttons
const double	POWER_COVER_JOINT_THRESHOLD = M_PI/4
	the middle position for power cover
const double	SAFE_TOGGLE_HALF_ANGLE = 0.47
	half angle angle angle for A03/A04/A05 toggles
const double	SAFE_TOGGLE_LOWER_LIMIT_ANGLE = -0.94
	lower limit for A03/A04/A05 toggles as defined in URDF
const double	SAFE_TOGGLE_MIDDLE_LIMIT_ANGLE = -0.47
	middle position for A03/A04/A05 toggles
const double	SAFE_TOGGLE_UPPER_LIMIT_ANGLE = 0.0
	upper limit for A03/A04/A05 toggles as defined in URDF
const double	SIMPLE_LED_LENGTH = 0.0004
	led's model cylinder length used for toggles/switches
const double	SIMPLE_LED_RADIUS = 0.003
	led's model cylinder radius used for toggles/switches
const math::Vector3	ZERO_VECTOR = math::Vector3(0, 0, 0)
	Zero vector constant for convenience.

Detailed Description

This module implements GazeboTaskboardSlot1 class which represents gazebo ModelPlugin.

Author:: KennyAlive

Version:: 1.0

Definition in file GazeboTaskboard.cpp.

Enumeration Type Documentation

enum LedColor

The available LED colors.

Enumerator:

eLedColor_Green
eLedColor_Blue

Definition at line 62 of file GazeboTaskboard.cpp.

Function Documentation

double deg2rad ( double degrees ) [inline]

Converts degrees to radians.

Parameters:

degrees the angle value in degrees

Returns:: the angle value in radians

Definition at line 300 of file GazeboTaskboard.cpp.

static physics::JointPtr getJoint	(	physics::ModelPtr	model,
		const std::string &	jointName
	)		`[static]`

Gets the model's joint by the joint name.

The function also prints ROS fatal message if fails to get the joint.

Parameters:

model	the model to get joint from
jointName	the joint name

Returns:: the joint object or null if the model does not have the requested joint

Definition at line 454 of file GazeboTaskboard.cpp.

static physics::LinkPtr getLink	(	physics::ModelPtr	model,
		const std::string &	linkName
	)		`[static]`

Gets the model's link by the link name.

The function also prints ROS fatal message if fails to get the link.

Parameters:

model	the model to get link from
linkName	the link name

Returns:: the link object or null if the model does not have the requested link

Definition at line 390 of file GazeboTaskboard.cpp.

Variable Documentation

const double LED_HIDE_OFFSET = 100.0

z coordinate offset for hiding led model in ON state

Definition at line 45 of file GazeboTaskboard.cpp.

const double LED_HIDE_OFFSET2 = 105.0

the z coordinate offset for hiding led model in OFF state

Definition at line 47 of file GazeboTaskboard.cpp.

const std::string LED_MATERIAL_BLUE = "Gazebo/BlueGlow"

the material for blue led

Definition at line 33 of file GazeboTaskboard.cpp.

const std::string LED_MATERIAL_GREEN = "Gazebo/GreenGlow"

the material for green led

Definition at line 31 of file GazeboTaskboard.cpp.

const std::string LED_MATERIAL_OFF = "Gazebo/Grey"

the material for led in OFF state

Definition at line 29 of file GazeboTaskboard.cpp.

const double NUMPAD_LED_LENGTH = 0.0004

led's model cylinder length used for numpad buttons

Definition at line 40 of file GazeboTaskboard.cpp.

const double NUMPAD_LED_RADIUS = 0.0095

led's model cylinder radius used for numpad buttons

Definition at line 42 of file GazeboTaskboard.cpp.

const double POWER_COVER_JOINT_THRESHOLD = M_PI/4

the middle position for power cover

Definition at line 26 of file GazeboTaskboard.cpp.

const double SAFE_TOGGLE_HALF_ANGLE = 0.47

half angle angle angle for A03/A04/A05 toggles

Definition at line 56 of file GazeboTaskboard.cpp.

const double SAFE_TOGGLE_LOWER_LIMIT_ANGLE = -0.94

lower limit for A03/A04/A05 toggles as defined in URDF

Definition at line 52 of file GazeboTaskboard.cpp.

const double SAFE_TOGGLE_MIDDLE_LIMIT_ANGLE = -0.47

middle position for A03/A04/A05 toggles

Definition at line 54 of file GazeboTaskboard.cpp.

const double SAFE_TOGGLE_UPPER_LIMIT_ANGLE = 0.0

upper limit for A03/A04/A05 toggles as defined in URDF

Definition at line 50 of file GazeboTaskboard.cpp.

const double SIMPLE_LED_LENGTH = 0.0004

led's model cylinder length used for toggles/switches

Definition at line 36 of file GazeboTaskboard.cpp.

const double SIMPLE_LED_RADIUS = 0.003

led's model cylinder radius used for toggles/switches

Definition at line 38 of file GazeboTaskboard.cpp.

const math::Vector3 ZERO_VECTOR = math::Vector3(0, 0, 0)

Zero vector constant for convenience.

Definition at line 59 of file GazeboTaskboard.cpp.

Classes

Enumerations

Functions

Variables

Detailed Description

Enumeration Type Documentation

Function Documentation

Variable Documentation