reemc_hardware_gazebo::ReemcHardwareGazebo Class Reference

#include <reemc_hardware_gazebo.h>

Inheritance diagram for reemc_hardware_gazebo::ReemcHardwareGazebo:

List of all members.

Public Member Functions
bool	initSim (const std::string &robot_ns, ros::NodeHandle nh, gazebo::physics::ModelPtr model, const urdf::Model *const urdf_model, std::vector< transmission_interface::TransmissionInfo > transmissions)
void	readSim (ros::Time time, ros::Duration period)
	ReemcHardwareGazebo ()
void	writeSim (ros::Time time, ros::Duration period)
Private Attributes
hardware_interface::ActuatorStateInterface	act_state_interface_
double	base_ang_vel_ [3]
double	base_lin_acc_ [3]
double	base_orientation_ [4]
hardware_interface::ForceTorqueSensorInterface	ft_sensor_interface_
boost::shared_ptr < gazebo::sensors::ImuSensor >	imu_sensor_
hardware_interface::ImuSensorInterface	imu_sensor_interface_
std::vector< double >	jnt_curr_limit_cmd_
hardware_interface::CurrentLimitActuatorInterface	jnt_curr_limit_cmd_interface_
std::vector< double >	jnt_eff_
joint_limits_interface::PositionJointSoftLimitsInterface	jnt_limits_interface_
std::vector< double >	jnt_max_effort_
std::vector< double >	jnt_pos_
std::vector< double >	jnt_pos_cmd_
hardware_interface::PositionJointInterface	jnt_pos_cmd_interface_
hardware_interface::JointStateInterface	jnt_state_interface_
std::vector< double >	jnt_vel_
gazebo::physics::JointPtr	left_ankle_
double	left_force_ [3]
double	left_torque_ [3]
unsigned int	n_dof_
std::vector< control_toolbox::Pid >	pids_
gazebo::physics::JointPtr	right_ankle_
double	right_force_ [3]
double	right_torque_ [3]
std::vector < gazebo::physics::JointPtr >	sim_joints_

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Detailed Description

Definition at line 60 of file reemc_hardware_gazebo.h.

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Constructor & Destructor Documentation

reemc_hardware_gazebo::ReemcHardwareGazebo::ReemcHardwareGazebo

(

)

Definition at line 49 of file reemc_hardware_gazebo.cpp.

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Member Function Documentation

bool reemc_hardware_gazebo::ReemcHardwareGazebo::initSim	(	const std::string &	robot_ns,
		ros::NodeHandle	nh,
		gazebo::physics::ModelPtr	model,
		const urdf::Model *const	urdf_model,
		std::vector< transmission_interface::TransmissionInfo >	transmissions
	)		[virtual]

Retrieving max joint effort from urdf because values are not set in sim_joints_

Implements gazebo_ros_control::RobotHWSim.

Definition at line 53 of file reemc_hardware_gazebo.cpp.

void reemc_hardware_gazebo::ReemcHardwareGazebo::readSim	(	ros::Time	time,
		ros::Duration	period
	)		[virtual]

Implements gazebo_ros_control::RobotHWSim.

Definition at line 199 of file reemc_hardware_gazebo.cpp.

void reemc_hardware_gazebo::ReemcHardwareGazebo::writeSim	(	ros::Time	time,
		ros::Duration	period
	)		[virtual]

Implements gazebo_ros_control::RobotHWSim.

Definition at line 247 of file reemc_hardware_gazebo.cpp.

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Member Data Documentation

hardware_interface::ActuatorStateInterface reemc_hardware_gazebo::ReemcHardwareGazebo::act_state_interface_ [private]

Definition at line 106 of file reemc_hardware_gazebo.h.

double reemc_hardware_gazebo::ReemcHardwareGazebo::base_ang_vel_[3] [private]

Definition at line 94 of file reemc_hardware_gazebo.h.

double reemc_hardware_gazebo::ReemcHardwareGazebo::base_lin_acc_[3] [private]

Definition at line 95 of file reemc_hardware_gazebo.h.

double reemc_hardware_gazebo::ReemcHardwareGazebo::base_orientation_[4] [private]

Definition at line 93 of file reemc_hardware_gazebo.h.

hardware_interface::ForceTorqueSensorInterface reemc_hardware_gazebo::ReemcHardwareGazebo::ft_sensor_interface_ [private]

Definition at line 110 of file reemc_hardware_gazebo.h.

boost::shared_ptr<gazebo::sensors::ImuSensor> reemc_hardware_gazebo::ReemcHardwareGazebo::imu_sensor_ [private]

Definition at line 101 of file reemc_hardware_gazebo.h.

hardware_interface::ImuSensorInterface reemc_hardware_gazebo::ReemcHardwareGazebo::imu_sensor_interface_ [private]

Definition at line 111 of file reemc_hardware_gazebo.h.

std::vector<double> reemc_hardware_gazebo::ReemcHardwareGazebo::jnt_curr_limit_cmd_ [private]

Definition at line 85 of file reemc_hardware_gazebo.h.

hardware_interface::CurrentLimitActuatorInterface reemc_hardware_gazebo::ReemcHardwareGazebo::jnt_curr_limit_cmd_interface_ [private]

Definition at line 107 of file reemc_hardware_gazebo.h.

std::vector<double> reemc_hardware_gazebo::ReemcHardwareGazebo::jnt_eff_ [private]

Definition at line 82 of file reemc_hardware_gazebo.h.

joint_limits_interface::PositionJointSoftLimitsInterface reemc_hardware_gazebo::ReemcHardwareGazebo::jnt_limits_interface_ [private]

Definition at line 114 of file reemc_hardware_gazebo.h.

std::vector<double> reemc_hardware_gazebo::ReemcHardwareGazebo::jnt_max_effort_ [private]

Definition at line 86 of file reemc_hardware_gazebo.h.

std::vector<double> reemc_hardware_gazebo::ReemcHardwareGazebo::jnt_pos_ [private]

Definition at line 80 of file reemc_hardware_gazebo.h.

std::vector<double> reemc_hardware_gazebo::ReemcHardwareGazebo::jnt_pos_cmd_ [private]

Definition at line 84 of file reemc_hardware_gazebo.h.

hardware_interface::PositionJointInterface reemc_hardware_gazebo::ReemcHardwareGazebo::jnt_pos_cmd_interface_ [private]

Definition at line 105 of file reemc_hardware_gazebo.h.

hardware_interface::JointStateInterface reemc_hardware_gazebo::ReemcHardwareGazebo::jnt_state_interface_ [private]

Definition at line 104 of file reemc_hardware_gazebo.h.

std::vector<double> reemc_hardware_gazebo::ReemcHardwareGazebo::jnt_vel_ [private]

Definition at line 81 of file reemc_hardware_gazebo.h.

gazebo::physics::JointPtr reemc_hardware_gazebo::ReemcHardwareGazebo::left_ankle_ [private]

Definition at line 99 of file reemc_hardware_gazebo.h.

double reemc_hardware_gazebo::ReemcHardwareGazebo::left_force_[3] [private]

Definition at line 88 of file reemc_hardware_gazebo.h.

double reemc_hardware_gazebo::ReemcHardwareGazebo::left_torque_[3] [private]

Definition at line 89 of file reemc_hardware_gazebo.h.

unsigned int reemc_hardware_gazebo::ReemcHardwareGazebo::n_dof_ [private]

Definition at line 78 of file reemc_hardware_gazebo.h.

std::vector<control_toolbox::Pid> reemc_hardware_gazebo::ReemcHardwareGazebo::pids_ [private]

Definition at line 117 of file reemc_hardware_gazebo.h.

gazebo::physics::JointPtr reemc_hardware_gazebo::ReemcHardwareGazebo::right_ankle_ [private]

Definition at line 100 of file reemc_hardware_gazebo.h.

double reemc_hardware_gazebo::ReemcHardwareGazebo::right_force_[3] [private]

Definition at line 90 of file reemc_hardware_gazebo.h.

double reemc_hardware_gazebo::ReemcHardwareGazebo::right_torque_[3] [private]

Definition at line 91 of file reemc_hardware_gazebo.h.

std::vector<gazebo::physics::JointPtr> reemc_hardware_gazebo::ReemcHardwareGazebo::sim_joints_ [private]

Definition at line 98 of file reemc_hardware_gazebo.h.

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

• reemc_hardware_gazebo.h
• reemc_hardware_gazebo.cpp