#include <default_robot_hw_sim.h>

Inheritance diagram for gazebo_ros_control::DefaultRobotHWSim:

Public Member Functions
virtual void	eStopActive (const bool active)
	Set the emergency stop state.
virtual bool	initSim (const std::string &robot_namespace, ros::NodeHandle model_nh, gazebo::physics::ModelPtr parent_model, const urdf::Model *const urdf_model, std::vector< transmission_interface::TransmissionInfo > transmissions)
	Initialize the simulated robot hardware.
virtual void	readSim (ros::Time time, ros::Duration period)
	Read state data from the simulated robot hardware.
virtual void	writeSim (ros::Time time, ros::Duration period)
	Write commands to the simulated robot hardware.
Protected Types
enum	ControlMethod { EFFORT, POSITION, POSITION_PID, VELOCITY, VELOCITY_PID }
Protected Member Functions
void	registerJointLimits (const std::string &joint_name, const hardware_interface::JointHandle &joint_handle, const ControlMethod ctrl_method, const ros::NodeHandle &joint_limit_nh, const urdf::Model const urdf_model, int const joint_type, double const lower_limit, double const upper_limit, double *const effort_limit)
Protected Attributes
bool	e_stop_active_
hardware_interface::EffortJointInterface	ej_interface_
joint_limits_interface::EffortJointSoftLimitsInterface	ej_limits_interface_
joint_limits_interface::EffortJointSaturationInterface	ej_sat_interface_
std::vector< ControlMethod >	joint_control_methods_
std::vector< double >	joint_effort_
std::vector< double >	joint_effort_command_
std::vector< double >	joint_effort_limits_
std::vector< double >	joint_lower_limits_
std::vector< std::string >	joint_names_
std::vector< double >	joint_position_
std::vector< double >	joint_position_command_
std::vector< int >	joint_types_
std::vector< double >	joint_upper_limits_
std::vector< double >	joint_velocity_
std::vector< double >	joint_velocity_command_
hardware_interface::JointStateInterface	js_interface_
bool	last_e_stop_active_
std::vector< double >	last_joint_position_command_
unsigned int	n_dof_
std::vector< control_toolbox::Pid >	pid_controllers_
hardware_interface::PositionJointInterface	pj_interface_
joint_limits_interface::PositionJointSoftLimitsInterface	pj_limits_interface_
joint_limits_interface::PositionJointSaturationInterface	pj_sat_interface_
std::vector < gazebo::physics::JointPtr >	sim_joints_
hardware_interface::VelocityJointInterface	vj_interface_
joint_limits_interface::VelocityJointSoftLimitsInterface	vj_limits_interface_
joint_limits_interface::VelocityJointSaturationInterface	vj_sat_interface_

Detailed Description

Definition at line 74 of file default_robot_hw_sim.h.

Member Enumeration Documentation

enum gazebo_ros_control::DefaultRobotHWSim::ControlMethod [protected]

Enumerator:

EFFORT
POSITION
POSITION_PID
VELOCITY
VELOCITY_PID

Definition at line 93 of file default_robot_hw_sim.h.

Member Function Documentation

void gazebo_ros_control::DefaultRobotHWSim::eStopActive ( const bool active ) [virtual]

Set the emergency stop state.

Set the simulated robot's emergency stop state. The default implementation of this function does nothing.

Parameters:

active true if the emergency stop is active, false if not.

Reimplemented from gazebo_ros_control::RobotHWSim.

Definition at line 356 of file default_robot_hw_sim.cpp.

bool gazebo_ros_control::DefaultRobotHWSim::initSim	(	const std::string &	robot_namespace,
		ros::NodeHandle	model_nh,
		gazebo::physics::ModelPtr	parent_model,
		const urdf::Model *const	urdf_model,
		std::vector< transmission_interface::TransmissionInfo >	transmissions
	)		`[virtual]`

Initialize the simulated robot hardware.

Parameters:

robot_namespace	Robot namespace.
model_nh	Model node handle.
parent_model	Parent model.
urdf_model	URDF model.
transmissions	Transmissions.

Returns:: true if the simulated robot hardware is initialized successfully, false if not.

Implements gazebo_ros_control::RobotHWSim.

Definition at line 59 of file default_robot_hw_sim.cpp.

void gazebo_ros_control::DefaultRobotHWSim::readSim	(	ros::Time	time,
		ros::Duration	period
	)		`[virtual]`

Read state data from the simulated robot hardware.

Read state data, such as joint positions and velocities, from the simulated robot hardware.

Parameters:

time	Simulation time.
period	Time since the last simulation step.

Implements gazebo_ros_control::RobotHWSim.

Definition at line 244 of file default_robot_hw_sim.cpp.

void gazebo_ros_control::DefaultRobotHWSim::registerJointLimits	(	const std::string &	joint_name,
		const hardware_interface::JointHandle &	joint_handle,
		const ControlMethod	ctrl_method,
		const ros::NodeHandle &	joint_limit_nh,
		const urdf::Model *const	urdf_model,
		int *const	joint_type,
		double *const	lower_limit,
		double *const	upper_limit,
		double *const	effort_limit
	)		`[protected]`