gazebo::GimbalControllerPlugin Class Reference

#include <gazebo_gimbal_controller_plugin.h>

List of all members.

Public Member Functions
	GimbalControllerPlugin ()
	Constructor.
virtual void	Init ()
virtual void	Load (physics::ModelPtr _model, sdf::ElementPtr _sdf)
Private Member Functions
double	NormalizeAbout (double _angle, double _reference)
	returns _angle1 normalized about (_reference - M_PI, _reference + M_PI]
void	OnPitchStringMsg (ConstAnyPtr &_msg)
void	OnRollStringMsg (ConstAnyPtr &_msg)
void	OnUpdate ()
void	OnYawStringMsg (ConstAnyPtr &_msg)
ignition::ignition::math::Vector3d	QtoZXY (const ignition::math::Quaterniond &_q)
double	ShortestAngularDistance (double _from, double _to)
	returns shortest angular distance from _from to _to
ignition::ignition::math::Vector3d	ThreeAxisRot (double r11, double r12, double r21, double r31, double r32)
Private Attributes
std::vector< event::ConnectionPtr >	connections
sensors::ImuSensorPtr	imuSensor
common::Time	lastUpdateTime
physics::ModelPtr	model
transport::NodePtr	node
double	pitchCommand
physics::JointPtr	pitchJoint
	camera pitch joint
common::PID	pitchPid
transport::PublisherPtr	pitchPub
transport::SubscriberPtr	pitchSub
double	rollCommand
physics::JointPtr	rollJoint
	camera roll joint
common::PID	rollPid
transport::PublisherPtr	rollPub
transport::SubscriberPtr	rollSub
sdf::ElementPtr	sdf
std::string	status
double	yawCommand
physics::JointPtr	yawJoint
	yaw camera
common::PID	yawPid
transport::PublisherPtr	yawPub
transport::SubscriberPtr	yawSub

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Detailed Description

Definition at line 36 of file gazebo_gimbal_controller_plugin.h.

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Constructor & Destructor Documentation

GimbalControllerPlugin::GimbalControllerPlugin

(

)

Constructor.

TODO: make these gains part of sdf xml

Definition at line 28 of file gazebo_gimbal_controller_plugin.cpp.

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Member Function Documentation

void GimbalControllerPlugin::Init

(

)

[virtual]

Definition at line 138 of file gazebo_gimbal_controller_plugin.cpp.

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

Definition at line 41 of file gazebo_gimbal_controller_plugin.cpp.

double GimbalControllerPlugin::NormalizeAbout	(	double	_angle,
		double	_reference
	)		[private]

returns _angle1 normalized about (_reference - M_PI, _reference + M_PI]

something to move into Angle class

Parameters:

[in]	_angle1	input angle
[in]	_reference	reference input angle for normalization

Returns:

normalized _angle1 about _reference

Definition at line 387 of file gazebo_gimbal_controller_plugin.cpp.

void GimbalControllerPlugin::OnPitchStringMsg

(

ConstAnyPtr &

_msg

)

[private]

Definition at line 185 of file gazebo_gimbal_controller_plugin.cpp.

void GimbalControllerPlugin::OnRollStringMsg

(

ConstAnyPtr &

_msg

)

[private]

Definition at line 192 of file gazebo_gimbal_controller_plugin.cpp.

void GimbalControllerPlugin::OnUpdate

(

)

[private]

Get current joint angles (in sensor frame):

currentAngleYPRVariable is defined in roll-pitch-yaw-fixed-axis and gimbal is constructed using yaw-roll-pitch-variable-axis

get joint limits (in sensor frame) TODO: move to Load() if limits do not change

Definition at line 232 of file gazebo_gimbal_controller_plugin.cpp.

void GimbalControllerPlugin::OnYawStringMsg

(

ConstAnyPtr &

_msg

)

[private]

Definition at line 199 of file gazebo_gimbal_controller_plugin.cpp.

ignition::ignition::math::Vector3d GimbalControllerPlugin::QtoZXY

(

const ignition::math::Quaterniond &

_q

)

[private]

Definition at line 216 of file gazebo_gimbal_controller_plugin.cpp.

double GimbalControllerPlugin::ShortestAngularDistance	(	double	_from,
		double	_to
	)		[private]

returns shortest angular distance from _from to _to

something to move into Angle class

Parameters:

[in]	_from	starting anglular position
[in]	_to	end angular position

Returns:

distance traveled from starting to end angular positions

Definition at line 403 of file gazebo_gimbal_controller_plugin.cpp.

ignition::ignition::math::Vector3d GimbalControllerPlugin::ThreeAxisRot	(	double	r11,
		double	r12,
		double	r21,
		double	r31,
		double	r32
	)		[private]

Definition at line 206 of file gazebo_gimbal_controller_plugin.cpp.

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Member Data Documentation

std::vector<event::ConnectionPtr> gazebo::GimbalControllerPlugin::connections [private]

Definition at line 68 of file gazebo_gimbal_controller_plugin.h.

sensors::ImuSensorPtr gazebo::GimbalControllerPlugin::imuSensor [private]

Definition at line 89 of file gazebo_gimbal_controller_plugin.h.

common::Time gazebo::GimbalControllerPlugin::lastUpdateTime [private]

Definition at line 102 of file gazebo_gimbal_controller_plugin.h.

physics::ModelPtr gazebo::GimbalControllerPlugin::model [private]

Definition at line 78 of file gazebo_gimbal_controller_plugin.h.

transport::NodePtr gazebo::GimbalControllerPlugin::node [private]

Definition at line 97 of file gazebo_gimbal_controller_plugin.h.

double gazebo::GimbalControllerPlugin::pitchCommand [private]

Definition at line 93 of file gazebo_gimbal_controller_plugin.h.

physics::JointPtr gazebo::GimbalControllerPlugin::pitchJoint [private]

camera pitch joint

Definition at line 87 of file gazebo_gimbal_controller_plugin.h.

common::PID gazebo::GimbalControllerPlugin::pitchPid [private]

Definition at line 99 of file gazebo_gimbal_controller_plugin.h.

transport::PublisherPtr gazebo::GimbalControllerPlugin::pitchPub [private]

Definition at line 74 of file gazebo_gimbal_controller_plugin.h.

transport::SubscriberPtr gazebo::GimbalControllerPlugin::pitchSub [private]

Definition at line 70 of file gazebo_gimbal_controller_plugin.h.

double gazebo::GimbalControllerPlugin::rollCommand [private]

Definition at line 95 of file gazebo_gimbal_controller_plugin.h.

physics::JointPtr gazebo::GimbalControllerPlugin::rollJoint [private]

camera roll joint

Definition at line 84 of file gazebo_gimbal_controller_plugin.h.

common::PID gazebo::GimbalControllerPlugin::rollPid [private]

Definition at line 100 of file gazebo_gimbal_controller_plugin.h.

transport::PublisherPtr gazebo::GimbalControllerPlugin::rollPub [private]

Definition at line 75 of file gazebo_gimbal_controller_plugin.h.

transport::SubscriberPtr gazebo::GimbalControllerPlugin::rollSub [private]

Definition at line 71 of file gazebo_gimbal_controller_plugin.h.

sdf::ElementPtr gazebo::GimbalControllerPlugin::sdf [private]

Definition at line 66 of file gazebo_gimbal_controller_plugin.h.

std::string gazebo::GimbalControllerPlugin::status [private]

Definition at line 91 of file gazebo_gimbal_controller_plugin.h.

double gazebo::GimbalControllerPlugin::yawCommand [private]

Definition at line 94 of file gazebo_gimbal_controller_plugin.h.

physics::JointPtr gazebo::GimbalControllerPlugin::yawJoint [private]

yaw camera

Definition at line 81 of file gazebo_gimbal_controller_plugin.h.

common::PID gazebo::GimbalControllerPlugin::yawPid [private]

Definition at line 101 of file gazebo_gimbal_controller_plugin.h.

transport::PublisherPtr gazebo::GimbalControllerPlugin::yawPub [private]

Definition at line 76 of file gazebo_gimbal_controller_plugin.h.

transport::SubscriberPtr gazebo::GimbalControllerPlugin::yawSub [private]

Definition at line 72 of file gazebo_gimbal_controller_plugin.h.

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

• gazebo_gimbal_controller_plugin.h
• gazebo_gimbal_controller_plugin.cpp