#include <gazebo_motor_model.h>

Inheritance diagram for gazebo::GazeboMotorModel:

Public Member Functions
	GazeboMotorModel ()
virtual void	InitializeParams ()
virtual void	Publish ()
virtual	~GazeboMotorModel ()
Protected Member Functions
virtual void	Load (physics::ModelPtr _model, sdf::ElementPtr _sdf)
virtual void	OnUpdate (const common::UpdateInfo &)
virtual void	UpdateForcesAndMoments ()
Private Member Functions
void	ControlCommandCallback (GzCommandMotorInputMsgPtr &command_motor_input_msg)
void	CreatePubsAndSubs ()
	Creates all required publishers and subscribers, incl. routing of messages to/from ROS if required.
double	NormalizeAngle (double input)
	Ensures any input angle is element of [0..2pi)
void	QueueThread ()
void	WindSpeedCallback (GzWindSpeedMsgPtr &wind_speed_msg)
Private Attributes
boost::thread	callback_queue_thread_
gazebo::transport::SubscriberPtr	command_sub_
std::string	command_sub_topic_
gz_std_msgs::Float32	force_msg_
physics::JointPtr	joint_
std::string	joint_name_
physics::LinkPtr	link_
std::string	link_name_
double	max_force_
double	max_rot_velocity_
physics::ModelPtr	model_
double	moment_constant_
double	motor_constant_
gazebo::transport::PublisherPtr	motor_force_pub_
std::string	motor_force_pub_topic_
int	motor_number_
gazebo::transport::PublisherPtr	motor_position_pub_
std::string	motor_position_pub_topic_
std::string	motor_speed_pub_topic_
MotorType	motor_type_
gazebo::transport::PublisherPtr	motor_velocity_pub_
std::string	namespace_
gazebo::transport::NodePtr	node_handle_
common::PID	pids_
gz_std_msgs::Float32	position_msg_
bool	publish_force_
bool	publish_position_
bool	publish_speed_
bool	pubs_and_subs_created_
	Flag that is set to true once CreatePubsAndSubs() is called, used to prevent CreatePubsAndSubs() from be called on every OnUpdate().
double	ref_motor_input_
double	rolling_moment_coefficient_
double	rotor_drag_coefficient_
double	rotor_velocity_slowdown_sim_
double	time_constant_down_
double	time_constant_up_
int	turning_direction_
gz_std_msgs::Float32	turning_velocity_msg_
event::ConnectionPtr	updateConnection_
	Pointer to the update event connection.
gazebo::transport::SubscriberPtr	wind_speed_sub_
std::string	wind_speed_sub_topic_

Detailed Description

Definition at line 72 of file gazebo_motor_model.h.

Constructor & Destructor Documentation

gazebo::GazeboMotorModel::GazeboMotorModel ( ) [inline]

Definition at line 75 of file gazebo_motor_model.h.

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

Definition at line 29 of file gazebo_motor_model.cpp.

Member Function Documentation

void gazebo::GazeboMotorModel::ControlCommandCallback ( GzCommandMotorInputMsgPtr & command_motor_input_msg ) [private]

Definition at line 332 of file gazebo_motor_model.cpp.

void gazebo::GazeboMotorModel::CreatePubsAndSubs ( ) [private]

Creates all required publishers and subscribers, incl. routing of messages to/from ROS if required.

Call this once the first time OnUpdate() is called (can't be called from Load() because there is no guarantee GazeboRosInterfacePlugin has has loaded and listening to ConnectGazeboToRosTopic and ConnectRosToGazeboTopic messages).

TODO(gbmhunter): Do we need this? There is a separate Gazebo wind plugin.

Definition at line 228 of file gazebo_motor_model.cpp.

void gazebo::GazeboMotorModel::InitializeParams ( ) [virtual]

Implements MotorModel.

Definition at line 32 of file gazebo_motor_model.cpp.