drc_plugin: 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

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

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

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

int gazebo::DRCPlugin::Connect2Server ( ) [private]

int gazebo::DRCPlugin::Connect2Server ( ) [private]

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.

void gazebo::DRCPlugin::OnIMUUpdate ( )

void gazebo::DRCPlugin::OnIMUUpdate ( )

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

void gazebo::DRCPlugin::OnLAFTUpdate ( )

void gazebo::DRCPlugin::OnLAFTUpdate ( )

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

void gazebo::DRCPlugin::OnLWFTUpdate ( )

void gazebo::DRCPlugin::OnLWFTUpdate ( )

void gazebo::DRCPlugin::OnRAFTUpdate ( )

void gazebo::DRCPlugin::OnRAFTUpdate ( )

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

void gazebo::DRCPlugin::OnRWFTUpdate ( )

void gazebo::DRCPlugin::OnRWFTUpdate ( )

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

tf::TransformBroadcaster gazebo::DRCPlugin::broadcaster [private]

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.

int gazebo::DRCPlugin::connectionStatus [private]

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.

double gazebo::DRCPlugin::filt_alpha [private]

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

math::Vector3 gazebo::DRCPlugin::filt_LAF [private]

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

math::Vector3 gazebo::DRCPlugin::filt_LAT [private]

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

math::Vector3 gazebo::DRCPlugin::filt_LWF [private]

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

math::Vector3 gazebo::DRCPlugin::filt_LWT [private]

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

math::Vector3 gazebo::DRCPlugin::filt_RAF [private]

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

math::Vector3 gazebo::DRCPlugin::filt_RAT [private]

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

math::Vector3 gazebo::DRCPlugin::filt_RWF [private]

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

math::Vector3 gazebo::DRCPlugin::filt_RWT [private]

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

int gazebo::DRCPlugin::FirstRcvCnt [private]

Definition at line 138 of file drc_plugin.h.

int gazebo::DRCPlugin::FirstRcvData [private]

Definition at line 137 of file drc_plugin.h.

GO_DATA gazebo::DRCPlugin::GainOverride [private]

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

DRC_GAZEBO_GO_CMD gazebo::DRCPlugin::GainOverrideCMD [private]

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

double gazebo::DRCPlugin::home_ref_LWH [private]

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

double gazebo::DRCPlugin::home_ref_RWH [private]

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

int gazebo::DRCPlugin::HomeJoint [private]

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.

event::ConnectionPtr gazebo::DRCPlugin::IMUupdateConnection [private]

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.

ros::Publisher gazebo::DRCPlugin::joint_pub [private]

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.

event::ConnectionPtr gazebo::DRCPlugin::LAFTupdateConnection [private]

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.

tf::StampedTransform gazebo::DRCPlugin::left [private]

Definition at line 116 of file drc_plugin.h.

tf::TransformListener gazebo::DRCPlugin::listener [private]

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.

int gazebo::DRCPlugin::new_ref_cnt [private]

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.

event::ConnectionPtr gazebo::DRCPlugin::RAFTupdateConnection [private]

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.

tf::StampedTransform gazebo::DRCPlugin::right [private]

Definition at line 117 of file drc_plugin.h.

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

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

int gazebo::DRCPlugin::RXDataSize [private]

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

DRC_GAZEBO_JOINT gazebo::DRCPlugin::RXJointData [private]

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

int gazebo::DRCPlugin::SimulateOk [private]

Definition at line 139 of file drc_plugin.h.

int gazebo::DRCPlugin::sock [private]

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

int gazebo::DRCPlugin::threadWorking [private]

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.

int gazebo::DRCPlugin::TXDataSize [private]

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

DRC_GAZEBO_SENSOR gazebo::DRCPlugin::TXSensorData [private]

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

event::ConnectionPtr gazebo::DRCPlugin::UpdateConnection [private]

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