#include <IOBPlugin.h>

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 Types
typedef std::map< std::string, struct force_sensor_info >	forceSensorMap
typedef std::map< std::string, struct imu_sensor_info >	imuSensorMap
Private Member Functions
void	DeferredLoad ()
void	GetForceTorqueSensorState (const common::Time &_curTime)
void	GetIMUState (const common::Time &_curTime)
void	GetRobotStates (const common::Time &_curTime)
void	LoadPIDGainsFromParameter ()
void	PublishJointState ()
void	RosQueueThread ()
bool	serviceCallback (hrpsys_gazebo_msgs::SyncCommandRequest &req, hrpsys_gazebo_msgs::SyncCommandResponse &res)
bool	serviceRefCallback (std_srvs::EmptyRequest &req, std_srvs::EmptyResponse &res)
void	SetJointCommand (const JointCommand::ConstPtr &_msg)
void	SetJointCommand_impl (const JointCommand &_msg)
void	SrvQueueThread ()
void	UpdatePID_Velocity_Control (double _dt)
void	UpdatePIDControl (double _dt)
void	UpdateStates ()
void	ZeroJointCommand ()
Static Private Member Functions
static double	xmlrpc_value_as_double (XmlRpc::XmlRpcValue &v)
static int	xmlrpc_value_as_int (XmlRpc::XmlRpcValue &v)
Private Attributes
boost::thread	callbackQueeuThread_msg
boost::thread	callbackQueeuThread_srv
std::string	controller_name
ros::ServiceServer	controlServ
boost::thread	deferredLoadThread
int	effort_average_cnt
int	effort_average_window_size
std::vector< double >	effortLimit
std::vector< boost::shared_ptr < std::vector< double > > >	effortValQueue
std::vector< ErrorTerms >	errorTerms
int	force_sensor_average_cnt
int	force_sensor_average_window_size
std::vector< std::string >	forceSensorNames
forceSensorMap	forceSensors
std::map< std::string, boost::shared_ptr< std::vector < boost::shared_ptr < geometry_msgs::WrenchStamped > > > >	forceValQueueMap
std::vector< std::string >	imuSensorNames
imuSensorMap	imuSensors
double	iob_period
JointCommand	jointCommand
std::vector< double >	jointDampingMax
std::vector< double >	jointDampingMin
std::vector< double >	jointDampingModel
std::vector< std::string >	jointNames
ros::ServiceServer	jointrefServ
physics::Joint_V	joints
common::Time	lastControllerUpdateTime
std::vector< double >	lastJointCFMDamping
physics::ModelPtr	model
boost::mutex	mutex
PubMultiQueue	pmq
ros::Publisher	pubJointState
PubQueue < sensor_msgs::JointState > ::Ptr	pubJointStateQueue
int	publish_count
bool	publish_joint_state
int	publish_joint_state_counter
int	publish_joint_state_step
int	publish_step
ros::Publisher	pubRobotState
PubQueue< RobotState >::Ptr	pubRobotStateQueue
boost::condition_variable	return_service_cond_
std::string	robot_name
RobotState	robotState
ros::NodeHandle *	rosNode
ros::CallbackQueue	rosQueue
sdf::ElementPtr	sdf
ros::CallbackQueue	srvQueue
ros::Subscriber	subIOBCommand
boost::mutex	uniq_mutex
event::ConnectionPtr	updateConnection
bool	use_joint_effort
bool	use_loose_synchronized
bool	use_synchronized_command
bool	use_velocity_feedback
boost::condition_variable	wait_service_cond_
physics::WorldPtr	world

Detailed Description

Definition at line 52 of file IOBPlugin.h.

Member Typedef Documentation

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

Definition at line 134 of file IOBPlugin.h.

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

Definition at line 135 of file IOBPlugin.h.

Constructor & Destructor Documentation

gazebo::IOBPlugin::IOBPlugin ( )

Definition at line 14 of file IOBPlugin.cpp.

gazebo::IOBPlugin::~IOBPlugin ( ) [virtual]

Definition at line 31 of file IOBPlugin.cpp.

Member Function Documentation

void gazebo::IOBPlugin::DeferredLoad ( ) [private]

Definition at line 504 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::GetRobotStates ( const common::Time & _curTime ) [private]

Definition at line 777 of file IOBPlugin.cpp.

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

Definition at line 34 of file IOBPlugin.cpp.

void gazebo::IOBPlugin::LoadPIDGainsFromParameter ( ) [private]

Definition at line 447 of file IOBPlugin.cpp.

void gazebo::IOBPlugin::PublishJointState ( ) [private]

Definition at line 652 of file IOBPlugin.cpp.

void gazebo::IOBPlugin::RosQueueThread ( ) [private]

Definition at line 1064 of file IOBPlugin.cpp.

bool gazebo::IOBPlugin::serviceCallback	(	hrpsys_gazebo_msgs::SyncCommandRequest &	req,
		hrpsys_gazebo_msgs::SyncCommandResponse &	res
	)		`[private]`

Definition at line 736 of file IOBPlugin.cpp.

bool gazebo::IOBPlugin::serviceRefCallback	(	std_srvs::EmptyRequest &	req,
		std_srvs::EmptyResponse &	res
	)		`[private]`

Definition at line 752 of file IOBPlugin.cpp.

void gazebo::IOBPlugin::SetJointCommand ( const JointCommand::ConstPtr & _msg ) [private]

Definition at line 559 of file IOBPlugin.cpp.

void gazebo::IOBPlugin::SetJointCommand_impl ( const JointCommand & _msg ) [private]

Definition at line 562 of file IOBPlugin.cpp.

void gazebo::IOBPlugin::SrvQueueThread ( ) [private]

Definition at line 1072 of file IOBPlugin.cpp.

void gazebo::IOBPlugin::UpdatePID_Velocity_Control ( double _dt ) [private]

update pid with feedforward force

Definition at line 924 of file IOBPlugin.cpp.

void gazebo::IOBPlugin::UpdatePIDControl ( double _dt ) [private]

update pid with feedforward force

Definition at line 965 of file IOBPlugin.cpp.

void gazebo::IOBPlugin::UpdateStates ( ) [private]

Definition at line 681 of file IOBPlugin.cpp.

static double gazebo::IOBPlugin::xmlrpc_value_as_double ( XmlRpc::XmlRpcValue & v ) [inline, static, private]

Definition at line 183 of file IOBPlugin.h.

static int gazebo::IOBPlugin::xmlrpc_value_as_int ( XmlRpc::XmlRpcValue & v ) [inline, static, private]

Definition at line 169 of file IOBPlugin.h.

void gazebo::IOBPlugin::ZeroJointCommand ( ) [private]

Definition at line 426 of file IOBPlugin.cpp.

Member Data Documentation

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

Definition at line 104 of file IOBPlugin.h.

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

Definition at line 105 of file IOBPlugin.h.

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

Definition at line 162 of file IOBPlugin.h.

ros::ServiceServer gazebo::IOBPlugin::controlServ [private]

Definition at line 121 of file IOBPlugin.h.

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

Definition at line 106 of file IOBPlugin.h.

int gazebo::IOBPlugin::effort_average_cnt [private]

Definition at line 202 of file IOBPlugin.h.

int gazebo::IOBPlugin::effort_average_window_size [private]

Definition at line 203 of file IOBPlugin.h.

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

Definition at line 141 of file IOBPlugin.h.

std::vector< boost::shared_ptr<std::vector<double> > > gazebo::IOBPlugin::effortValQueue [private]

Definition at line 204 of file IOBPlugin.h.

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

Definition at line 151 of file IOBPlugin.h.

int gazebo::IOBPlugin::force_sensor_average_cnt [private]

Definition at line 199 of file IOBPlugin.h.

int gazebo::IOBPlugin::force_sensor_average_window_size [private]

Definition at line 198 of file IOBPlugin.h.

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

Definition at line 136 of file IOBPlugin.h.

forceSensorMap gazebo::IOBPlugin::forceSensors [private]

Definition at line 138 of file IOBPlugin.h.

std::map<std::string, boost::shared_ptr<std::vector<boost::shared_ptr<geometry_msgs::WrenchStamped> > > > gazebo::IOBPlugin::forceValQueueMap [private]

Definition at line 200 of file IOBPlugin.h.

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

Definition at line 137 of file IOBPlugin.h.

imuSensorMap gazebo::IOBPlugin::imuSensors [private]

Definition at line 139 of file IOBPlugin.h.

double gazebo::IOBPlugin::iob_period [private]

Definition at line 167 of file IOBPlugin.h.

JointCommand gazebo::IOBPlugin::jointCommand [private]

Definition at line 123 of file IOBPlugin.h.

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

Definition at line 131 of file IOBPlugin.h.

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