Public Member Functions | Private Member Functions | Static Private Member Functions | Private Attributes
gazebo::DRCPlugin Class Reference

#include <drc_plugin.h>

List of all members.

Public Member Functions

void Load (physics::ModelPtr _model, sdf::ElementPtr _sdf)
void Load (physics::ModelPtr _model, sdf::ElementPtr _sdf)
void OnIMUUpdate ()
void OnIMUUpdate ()
void OnLAFTUpdate ()
void OnLAFTUpdate ()
void OnLWFTUpdate ()
void OnLWFTUpdate ()
void OnRAFTUpdate ()
void OnRAFTUpdate ()
void OnRWFTUpdate ()
void OnRWFTUpdate ()
void OnUpdate (const common::UpdateInfo &)
void OnUpdate (const common::UpdateInfo &)

Private Member Functions

void adjustAllGain ()
void adjustAllGain ()
int Connect2Server ()
int Connect2Server ()
int CreateSocket (const char *addr, int port)
int CreateSocket (const char *addr, int port)
void findHome (int jNum)
void findHome (int jNum)
void FirstData ()
void moveGainOverride (int joint)
void moveGainOverride (int joint)
void NewRXData ()
void NewRXData ()
void setGainOverride (int joint, float gain, long msTime)
void setGainOverride (int joint, float gain, long msTime)

Static Private Member Functions

static void * LANThread (void *_arg)
static void * LANThread (void *_arg)

Private Attributes

tf::TransformBroadcaster broadcaster
struct sockaddr_in client
int connectionStatus
sdf::ElementPtr element
double filt_alpha
math::Vector3 filt_LAF
math::Vector3 filt_LAT
math::Vector3 filt_LWF
math::Vector3 filt_LWT
math::Vector3 filt_RAF
math::Vector3 filt_RAT
math::Vector3 filt_RWF
math::Vector3 filt_RWT
int FirstRcvCnt
int FirstRcvData
GO_DATA GainOverride [NO_OF_JOINTS]
DRC_GAZEBO_GO_CMD GainOverrideCMD
double home_ref_LWH
double home_ref_RWH
int HomeJoint
sensors::ImuSensorPtr IMU
event::ConnectionPtr IMUupdateConnection
double inc_refs [NO_OF_JOINTS]
physics::JointController * JCon
ros::Publisher joint_pub
sensor_msgs::JointState joint_state
physics::JointPtr JPtr_Head
physics::JointPtr JPtr_LAFT
physics::JointPtr JPtr_LFUNI
physics::JointPtr JPtr_LFWH
physics::JointPtr JPtr_LHAND [9]
physics::JointPtr JPtr_LWFT
physics::JointPtr JPtr_RAFT
physics::JointPtr JPtr_RFUNI
physics::JointPtr JPtr_RFWH
physics::JointPtr JPtr_RHAND [9]
physics::JointPtr JPtr_RWFT
physics::JointPtr JPtrs [NO_OF_JOINTS]
gazebo::sensors::ForceTorqueSensorPtr LAFT
event::ConnectionPtr LAFTupdateConnection
pthread_t LANTHREAD_t
tf::StampedTransform left
tf::TransformListener listener
physics::ModelPtr model
int new_ref_cnt
float PIDGains [NO_OF_JOINTS][3]
double prev_refs [NO_OF_JOINTS]
gazebo::sensors::ForceTorqueSensorPtr RAFT
event::ConnectionPtr RAFTupdateConnection
double ref_LHAND
double ref_LWH
double ref_RHAND
double ref_RWH
double refs [NO_OF_JOINTS]
tf::StampedTransform right
void * RXBuffer
int RXDataSize
DRC_GAZEBO_JOINT RXJointData
int SimulateOk
int sock
int threadWorking
void * TXBuffer
int TXDataSize
DRC_GAZEBO_SENSOR TXSensorData
event::ConnectionPtr UpdateConnection

Detailed Description

Definition at line 48 of file backup/drc_plugin.h.


Member Function Documentation

Definition at line 577 of file backup/drc_plugin.cpp.

Definition at line 442 of file backup/drc_plugin.cpp.

int gazebo::DRCPlugin::CreateSocket ( const char *  addr,
int  port 
) [private]
int gazebo::DRCPlugin::CreateSocket ( const char *  addr,
int  port 
) [private]

Definition at line 429 of file backup/drc_plugin.cpp.

void gazebo::DRCPlugin::findHome ( int  jNum) [private]
void gazebo::DRCPlugin::findHome ( int  jNum) [private]

Definition at line 589 of file backup/drc_plugin.cpp.

void gazebo::DRCPlugin::FirstData ( ) [private]
static void* gazebo::DRCPlugin::LANThread ( void *  _arg) [static, private]
void * gazebo::DRCPlugin::LANThread ( void *  _arg) [static, private]

Definition at line 468 of file backup/drc_plugin.cpp.

void gazebo::DRCPlugin::Load ( physics::ModelPtr  _model,
sdf::ElementPtr  _sdf 
)
void gazebo::DRCPlugin::Load ( physics::ModelPtr  _model,
sdf::ElementPtr  _sdf 
)

Definition at line 14 of file backup/drc_plugin.cpp.

void gazebo::DRCPlugin::moveGainOverride ( int  joint) [private]
void gazebo::DRCPlugin::moveGainOverride ( int  joint) [private]

Definition at line 564 of file backup/drc_plugin.cpp.

void gazebo::DRCPlugin::NewRXData ( ) [private]
void gazebo::DRCPlugin::NewRXData ( ) [private]

Definition at line 450 of file backup/drc_plugin.cpp.

Definition at line 241 of file backup/drc_plugin.cpp.

Definition at line 211 of file backup/drc_plugin.cpp.

Definition at line 226 of file backup/drc_plugin.cpp.

void gazebo::DRCPlugin::OnUpdate ( const common::UpdateInfo &  )
void gazebo::DRCPlugin::OnUpdate ( const common::UpdateInfo &  )

Definition at line 269 of file backup/drc_plugin.cpp.

void gazebo::DRCPlugin::setGainOverride ( int  joint,
float  gain,
long  msTime 
) [private]
void gazebo::DRCPlugin::setGainOverride ( int  joint,
float  gain,
long  msTime 
) [private]

Definition at line 554 of file backup/drc_plugin.cpp.


Member Data Documentation

Definition at line 61 of file backup/drc_plugin.h.

struct sockaddr_in gazebo::DRCPlugin::client [private]

Definition at line 131 of file backup/drc_plugin.h.

Definition at line 135 of file backup/drc_plugin.h.

sdf::ElementPtr gazebo::DRCPlugin::element [private]

Definition at line 66 of file backup/drc_plugin.h.

Definition at line 115 of file backup/drc_plugin.h.

Definition at line 107 of file backup/drc_plugin.h.

Definition at line 108 of file backup/drc_plugin.h.

Definition at line 111 of file backup/drc_plugin.h.

Definition at line 112 of file backup/drc_plugin.h.

Definition at line 109 of file backup/drc_plugin.h.

Definition at line 110 of file backup/drc_plugin.h.

Definition at line 113 of file backup/drc_plugin.h.

Definition at line 114 of file backup/drc_plugin.h.

Definition at line 138 of file drc_plugin.h.

Definition at line 137 of file drc_plugin.h.

Definition at line 90 of file backup/drc_plugin.h.

Definition at line 144 of file backup/drc_plugin.h.

Definition at line 122 of file backup/drc_plugin.h.

Definition at line 122 of file backup/drc_plugin.h.

Definition at line 145 of file backup/drc_plugin.h.

sensors::ImuSensorPtr gazebo::DRCPlugin::IMU [private]

Definition at line 101 of file backup/drc_plugin.h.

Definition at line 74 of file backup/drc_plugin.h.

double gazebo::DRCPlugin::inc_refs [private]

Definition at line 125 of file backup/drc_plugin.h.

physics::JointController * gazebo::DRCPlugin::JCon [private]

Definition at line 79 of file backup/drc_plugin.h.

Definition at line 60 of file backup/drc_plugin.h.

sensor_msgs::JointState gazebo::DRCPlugin::joint_state [private]

Definition at line 62 of file backup/drc_plugin.h.

physics::JointPtr gazebo::DRCPlugin::JPtr_Head [private]

Definition at line 88 of file backup/drc_plugin.h.

physics::JointPtr gazebo::DRCPlugin::JPtr_LAFT [private]

Definition at line 83 of file backup/drc_plugin.h.

physics::JointPtr gazebo::DRCPlugin::JPtr_LFUNI [private]

Definition at line 76 of file drc_plugin.h.

physics::JointPtr gazebo::DRCPlugin::JPtr_LFWH [private]

Definition at line 75 of file drc_plugin.h.

physics::JointPtr gazebo::DRCPlugin::JPtr_LHAND [private]

Definition at line 81 of file backup/drc_plugin.h.

physics::JointPtr gazebo::DRCPlugin::JPtr_LWFT [private]

Definition at line 84 of file backup/drc_plugin.h.

physics::JointPtr gazebo::DRCPlugin::JPtr_RAFT [private]

Definition at line 83 of file backup/drc_plugin.h.

physics::JointPtr gazebo::DRCPlugin::JPtr_RFUNI [private]

Definition at line 76 of file drc_plugin.h.

physics::JointPtr gazebo::DRCPlugin::JPtr_RFWH [private]

Definition at line 75 of file drc_plugin.h.

physics::JointPtr gazebo::DRCPlugin::JPtr_RHAND [private]

Definition at line 82 of file backup/drc_plugin.h.

physics::JointPtr gazebo::DRCPlugin::JPtr_RWFT [private]

Definition at line 84 of file backup/drc_plugin.h.

physics::JointPtr gazebo::DRCPlugin::JPtrs [private]

Definition at line 80 of file backup/drc_plugin.h.

gazebo::sensors::ForceTorqueSensorPtr gazebo::DRCPlugin::LAFT [private]

Definition at line 100 of file backup/drc_plugin.h.

Definition at line 70 of file backup/drc_plugin.h.

pthread_t gazebo::DRCPlugin::LANTHREAD_t [private]

Definition at line 132 of file backup/drc_plugin.h.

Definition at line 116 of file drc_plugin.h.

Definition at line 115 of file drc_plugin.h.

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

Definition at line 65 of file backup/drc_plugin.h.

Definition at line 126 of file backup/drc_plugin.h.

float gazebo::DRCPlugin::PIDGains [private]

Definition at line 89 of file backup/drc_plugin.h.

double gazebo::DRCPlugin::prev_refs [private]

Definition at line 124 of file backup/drc_plugin.h.

gazebo::sensors::ForceTorqueSensorPtr gazebo::DRCPlugin::RAFT [private]

Definition at line 100 of file backup/drc_plugin.h.

Definition at line 71 of file backup/drc_plugin.h.

double gazebo::DRCPlugin::ref_LHAND [private]

Definition at line 119 of file backup/drc_plugin.h.

double gazebo::DRCPlugin::ref_LWH [private]

Definition at line 120 of file backup/drc_plugin.h.

double gazebo::DRCPlugin::ref_RHAND [private]

Definition at line 119 of file backup/drc_plugin.h.

double gazebo::DRCPlugin::ref_RWH [private]

Definition at line 120 of file backup/drc_plugin.h.

double gazebo::DRCPlugin::refs [private]

Definition at line 118 of file backup/drc_plugin.h.

Definition at line 117 of file drc_plugin.h.

void * gazebo::DRCPlugin::RXBuffer [private]

Definition at line 141 of file backup/drc_plugin.h.

Definition at line 139 of file backup/drc_plugin.h.

Definition at line 137 of file backup/drc_plugin.h.

Definition at line 139 of file drc_plugin.h.

int gazebo::DRCPlugin::sock [private]

Definition at line 130 of file backup/drc_plugin.h.

Definition at line 134 of file backup/drc_plugin.h.

void * gazebo::DRCPlugin::TXBuffer [private]

Definition at line 142 of file backup/drc_plugin.h.

Definition at line 140 of file backup/drc_plugin.h.

Definition at line 138 of file backup/drc_plugin.h.

Definition at line 69 of file backup/drc_plugin.h.


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


drc_plugin
Author(s): JeongsooLim , SeungwooHong
autogenerated on Sat Jun 8 2019 20:42:28