gazebo::IOBPlugin Class Reference

#include <IOBPlugin.h>

List of all members.

Classes
class	ErrorTerms
struct	force_sensor_info
struct	imu_sensor_info
Public Member Functions
	IOBPlugin ()
void	Load (physics::ModelPtr _parent, sdf::ElementPtr _sdf)
virtual	~IOBPlugin ()
Private Member Functions
void	DeferredLoad ()
void	GetAndPublishRobotStates (const common::Time &_curTime)
void	GetForceTorqueSensorState (const common::Time &_curTime)
void	GetIMUState (const common::Time &_curTime)
void	LoadPIDGainsFromParameter ()
void	RosQueueThread ()
void	SetJointCommand (const JointCommand::ConstPtr &_msg)
void	UpdatePIDControl (double _dt)
void	UpdateStates ()
void	ZeroJointCommand ()
Private Attributes
boost::thread	callbackQueeuThread
std::string	controller_name
boost::thread	deferredLoadThread
std::vector< double >	effortLimit
std::vector< ErrorTerms >	errorTerms
std::map< std::string, struct imu_sensor_info >	imuSensors
JointCommand	jointCommand
std::vector< std::string >	jointNames
physics::Joint_V	joints
common::Time	lastControllerUpdateTime
physics::ModelPtr	model
boost::mutex	mutex
PubMultiQueue	pmq
ros::Publisher	pubRobotState
PubQueue< RobotState >::Ptr	pubRobotStateQueue
std::string	robot_name
RobotState	robotState
ros::NodeHandle *	rosNode
ros::CallbackQueue	rosQueue
sdf::ElementPtr	sdf
std::map< std::string, struct force_sensor_info >	sensorJoints
ros::Subscriber	subIOBCommand
event::ConnectionPtr	updateConnection
physics::WorldPtr	world

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Detailed Description

Definition at line 49 of file IOBPlugin.h.

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Constructor & Destructor Documentation

gazebo::IOBPlugin::IOBPlugin

(

)

Definition at line 14 of file IOBPlugin.cpp.

gazebo::IOBPlugin::~IOBPlugin

(

)

[virtual]

Definition at line 17 of file IOBPlugin.cpp.

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Member Function Documentation

void gazebo::IOBPlugin::DeferredLoad

(

)

[private]

Definition at line 248 of file IOBPlugin.cpp.

void gazebo::IOBPlugin::GetAndPublishRobotStates

(

const common::Time &

_curTime

)

[private]

Definition at line 368 of file IOBPlugin.cpp.

void gazebo::IOBPlugin::GetForceTorqueSensorState

(

const common::Time &

_curTime

)

[private]

void gazebo::IOBPlugin::GetIMUState

(

const common::Time &

_curTime

)

[private]

void gazebo::IOBPlugin::Load	(	physics::ModelPtr	_parent,
		sdf::ElementPtr	_sdf
	)

Definition at line 20 of file IOBPlugin.cpp.

void gazebo::IOBPlugin::LoadPIDGainsFromParameter

(

)

[private]

Definition at line 217 of file IOBPlugin.cpp.

void gazebo::IOBPlugin::RosQueueThread

(

)

[private]

Definition at line 451 of file IOBPlugin.cpp.

void gazebo::IOBPlugin::SetJointCommand

(

const JointCommand::ConstPtr &

_msg

)

[private]

Definition at line 276 of file IOBPlugin.cpp.

void gazebo::IOBPlugin::UpdatePIDControl

(

double

_dt

)

[private]

update pid with feedforward force

Definition at line 390 of file IOBPlugin.cpp.

void gazebo::IOBPlugin::UpdateStates

(

)

[private]

Definition at line 351 of file IOBPlugin.cpp.

void gazebo::IOBPlugin::ZeroJointCommand

(

)

[private]

Definition at line 201 of file IOBPlugin.cpp.

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Member Data Documentation

boost::thread gazebo::IOBPlugin::callbackQueeuThread [private]

Definition at line 91 of file IOBPlugin.h.

std::string gazebo::IOBPlugin::controller_name [private]

Definition at line 126 of file IOBPlugin.h.

boost::thread gazebo::IOBPlugin::deferredLoadThread [private]

Definition at line 92 of file IOBPlugin.h.

std::vector<double> gazebo::IOBPlugin::effortLimit [private]

Definition at line 109 of file IOBPlugin.h.

std::vector<ErrorTerms> gazebo::IOBPlugin::errorTerms [private]

Definition at line 119 of file IOBPlugin.h.

std::map< std::string, struct imu_sensor_info > gazebo::IOBPlugin::imuSensors [private]

Definition at line 107 of file IOBPlugin.h.

JointCommand gazebo::IOBPlugin::jointCommand [private]

Definition at line 100 of file IOBPlugin.h.

std::vector<std::string> gazebo::IOBPlugin::jointNames [private]

Definition at line 103 of file IOBPlugin.h.

physics::Joint_V gazebo::IOBPlugin::joints [private]

Definition at line 104 of file IOBPlugin.h.

common::Time gazebo::IOBPlugin::lastControllerUpdateTime [private]

Definition at line 94 of file IOBPlugin.h.

physics::ModelPtr gazebo::IOBPlugin::model [private]

Definition at line 86 of file IOBPlugin.h.

boost::mutex gazebo::IOBPlugin::mutex [private]

Definition at line 123 of file IOBPlugin.h.

PubMultiQueue gazebo::IOBPlugin::pmq [private]

Definition at line 122 of file IOBPlugin.h.

ros::Publisher gazebo::IOBPlugin::pubRobotState [private]

Definition at line 97 of file IOBPlugin.h.

PubQueue<RobotState>::Ptr gazebo::IOBPlugin::pubRobotStateQueue [private]

Definition at line 98 of file IOBPlugin.h.

std::string gazebo::IOBPlugin::robot_name [private]

Definition at line 125 of file IOBPlugin.h.

RobotState gazebo::IOBPlugin::robotState [private]

Definition at line 96 of file IOBPlugin.h.

ros::NodeHandle* gazebo::IOBPlugin::rosNode [private]

Definition at line 82 of file IOBPlugin.h.

ros::CallbackQueue gazebo::IOBPlugin::rosQueue [private]

Definition at line 83 of file IOBPlugin.h.

sdf::ElementPtr gazebo::IOBPlugin::sdf [private]

Definition at line 87 of file IOBPlugin.h.

std::map< std::string, struct force_sensor_info > gazebo::IOBPlugin::sensorJoints [private]

Definition at line 106 of file IOBPlugin.h.

ros::Subscriber gazebo::IOBPlugin::subIOBCommand [private]

Definition at line 101 of file IOBPlugin.h.

event::ConnectionPtr gazebo::IOBPlugin::updateConnection [private]

Definition at line 89 of file IOBPlugin.h.

physics::WorldPtr gazebo::IOBPlugin::world [private]

Definition at line 85 of file IOBPlugin.h.

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

• IOBPlugin.h
• IOBPlugin.cpp