gazebo::GazeboInterface Class Reference

#include <GazeboInterface.h>

List of all members.

Public Member Functions
	GazeboInterface ()
virtual void	Init ()
virtual void	Load (physics::ModelPtr _model, sdf::ElementPtr _sdf)
void	update ()
	~GazeboInterface ()
Private Member Functions
void	commandJoints (const sensor_msgs::JointState::ConstPtr &msg)
void	controlJoints (const r2_msgs::JointControl::ConstPtr &msg)
bool	getDoubleVal (XmlRpc::XmlRpcValue &val, double &doubleVal)
void	traverseParams (XmlRpc::XmlRpcValue param, std::map< std::string, XmlRpc::XmlRpcValue > &valMap, std::string searchKey="", std::string ns="", std::string name="")
Private Attributes
bool	advancedMode
ros::Publisher	jointCapabilitiesPub
std::string	jointCapabilitiesTopic
std::map< std::string, RobotController::JointState >	jointCommandRefs
ros::Publisher	jointCommandRefsPub
std::string	jointCommandRefsTopic
ros::Subscriber	jointCommandsSub
std::string	jointCommandsTopic
ros::Subscriber	jointControlSub
std::string	jointControlTopic
std::map< std::string, std::pair< double, double > >	jointLimits
ros::Publisher	jointStatePub
std::map< std::string, RobotController::JointState >	jointStates
double	jointStatesStepTime
std::string	jointStatesTopic
ros::Publisher	jointStatusPub
double	jointStatusStepTime
std::string	jointStatusTopic
physics::ModelPtr	modelPtr
std::unique_ptr< ros::NodeHandle >	paramsNodePtr
common::Time	prevStatesUpdateTime
common::Time	prevStatusUpdateTime
std::unique_ptr< RobotController >	robotControllerPtr
std::unique_ptr< ros::NodeHandle >	rosNodePtr
event::ConnectionPtr	updateConnectionPtr

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Detailed Description

Definition at line 20 of file GazeboInterface.h.

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Constructor & Destructor Documentation

GazeboInterface::GazeboInterface

(

)

Definition at line 5 of file GazeboInterface.cpp.

GazeboInterface::~GazeboInterface

(

)

Definition at line 11 of file GazeboInterface.cpp.

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Member Function Documentation

void GazeboInterface::commandJoints

(

const sensor_msgs::JointState::ConstPtr &

msg

)

[private]

Definition at line 587 of file GazeboInterface.cpp.

void GazeboInterface::controlJoints

(

const r2_msgs::JointControl::ConstPtr &

msg

)

[private]

Definition at line 613 of file GazeboInterface.cpp.

bool GazeboInterface::getDoubleVal	(	XmlRpc::XmlRpcValue &	val,
		double &	doubleVal
	)		[private]

Definition at line 204 of file GazeboInterface.cpp.

void GazeboInterface::Init

(

)

[virtual]

Definition at line 222 of file GazeboInterface.cpp.

void GazeboInterface::Load	(	physics::ModelPtr	_model,
		sdf::ElementPtr	_sdf
	)		[virtual]

Definition at line 17 of file GazeboInterface.cpp.

void GazeboInterface::traverseParams	(	XmlRpc::XmlRpcValue	param,
		std::map< std::string, XmlRpc::XmlRpcValue > &	valMap,
		std::string	searchKey = "",
		std::string	ns = "",
		std::string	name = ""
	)		[private]

Definition at line 161 of file GazeboInterface.cpp.

void GazeboInterface::update

(

)

Definition at line 483 of file GazeboInterface.cpp.

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Member Data Documentation

bool gazebo::GazeboInterface::advancedMode [private]

Definition at line 85 of file GazeboInterface.h.

ros::Publisher gazebo::GazeboInterface::jointCapabilitiesPub [private]

Definition at line 70 of file GazeboInterface.h.

std::string gazebo::GazeboInterface::jointCapabilitiesTopic [private]

Definition at line 69 of file GazeboInterface.h.

std::map<std::string, RobotController::JointState> gazebo::GazeboInterface::jointCommandRefs [private]

Definition at line 82 of file GazeboInterface.h.

ros::Publisher gazebo::GazeboInterface::jointCommandRefsPub [private]

Definition at line 81 of file GazeboInterface.h.

std::string gazebo::GazeboInterface::jointCommandRefsTopic [private]

Definition at line 80 of file GazeboInterface.h.

ros::Subscriber gazebo::GazeboInterface::jointCommandsSub [private]

Definition at line 66 of file GazeboInterface.h.

std::string gazebo::GazeboInterface::jointCommandsTopic [private]

Definition at line 65 of file GazeboInterface.h.

ros::Subscriber gazebo::GazeboInterface::jointControlSub [private]

Definition at line 87 of file GazeboInterface.h.

std::string gazebo::GazeboInterface::jointControlTopic [private]

Definition at line 86 of file GazeboInterface.h.

std::map<std::string, std::pair<double, double> > gazebo::GazeboInterface::jointLimits [private]

Definition at line 71 of file GazeboInterface.h.

ros::Publisher gazebo::GazeboInterface::jointStatePub [private]

Definition at line 75 of file GazeboInterface.h.

std::map<std::string, RobotController::JointState> gazebo::GazeboInterface::jointStates [private]

Definition at line 77 of file GazeboInterface.h.

double gazebo::GazeboInterface::jointStatesStepTime [private]

Definition at line 76 of file GazeboInterface.h.

std::string gazebo::GazeboInterface::jointStatesTopic [private]

Definition at line 74 of file GazeboInterface.h.

ros::Publisher gazebo::GazeboInterface::jointStatusPub [private]

Definition at line 89 of file GazeboInterface.h.

double gazebo::GazeboInterface::jointStatusStepTime [private]

Definition at line 90 of file GazeboInterface.h.

std::string gazebo::GazeboInterface::jointStatusTopic [private]

Definition at line 88 of file GazeboInterface.h.

physics::ModelPtr gazebo::GazeboInterface::modelPtr [private]

Definition at line 53 of file GazeboInterface.h.

std::unique_ptr<ros::NodeHandle> gazebo::GazeboInterface::paramsNodePtr [private]

Definition at line 62 of file GazeboInterface.h.

common::Time gazebo::GazeboInterface::prevStatesUpdateTime [private]

Definition at line 92 of file GazeboInterface.h.

common::Time gazebo::GazeboInterface::prevStatusUpdateTime [private]

Definition at line 93 of file GazeboInterface.h.

std::unique_ptr<RobotController> gazebo::GazeboInterface::robotControllerPtr [private]

Definition at line 58 of file GazeboInterface.h.

std::unique_ptr<ros::NodeHandle> gazebo::GazeboInterface::rosNodePtr [private]

Definition at line 61 of file GazeboInterface.h.

event::ConnectionPtr gazebo::GazeboInterface::updateConnectionPtr [private]

Definition at line 56 of file GazeboInterface.h.

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

• GazeboInterface.h
• GazeboInterface.cpp