sr_gazebo_sim::SrGazeboHWSim Class Reference

#include <gazebo_hardware_sim.h>

Inheritance diagram for sr_gazebo_sim::SrGazeboHWSim:

List of all members.

Public Member Functions
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)
void	readSim (ros::Time time, ros::Duration period)
	SrGazeboHWSim ()
void	writeSim (ros::Time time, ros::Duration period)
Protected Member Functions
void	addFakeTransmissionsForJ0 (std::vector< transmission_interface::TransmissionInfo > *transmissions)
template<class T >
void	fixJointName (std::vector< T > *items, const std::string old_joint_name, const std::string new_joint_name) const
void	initializeFakeRobotState (const urdf::Model *const urdf_model, const std::vector< transmission_interface::TransmissionInfo > &transmissions)
bool	isHandJoint (const std::vector< transmission_interface::TransmissionInfo > &transmissions, const std::string &joint_name) const
void	registerSecondHardwareInterface (std::vector< transmission_interface::TransmissionInfo > transmissions)
Protected Attributes
ros_ethercat_model::RobotState	fake_state_
boost::unordered_map < std::string, std::string >	j2_j1_joints_
Static Protected Attributes
static const std::string	j0_transmission_name = "sr_mechanism_model/J0Transmission"
static const std::string	simple_transmission_name = "sr_mechanism_model/SimpleTransmission"

---

Detailed Description

Definition at line 41 of file gazebo_hardware_sim.h.

---

Constructor & Destructor Documentation

sr_gazebo_sim::SrGazeboHWSim::SrGazeboHWSim

(

)

Definition at line 37 of file gazebo_hardware_sim.cpp.

---

Member Function Documentation

void sr_gazebo_sim::SrGazeboHWSim::addFakeTransmissionsForJ0

(

std::vector< transmission_interface::TransmissionInfo > *

transmissions

)

[protected]

Definition at line 61 of file gazebo_hardware_sim.cpp.

template<class T >

void sr_gazebo_sim::SrGazeboHWSim::fixJointName	(	std::vector< T > *	items,
		const std::string	old_joint_name,
		const std::string	new_joint_name
	)		const [protected]

Definition at line 43 of file gazebo_hardware_sim.cpp.

void sr_gazebo_sim::SrGazeboHWSim::initializeFakeRobotState	(	const urdf::Model *const	urdf_model,
		const std::vector< transmission_interface::TransmissionInfo > &	transmissions
	)		[protected]

Definition at line 122 of file gazebo_hardware_sim.cpp.

bool sr_gazebo_sim::SrGazeboHWSim::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]

Reimplemented from gazebo_ros_control::DefaultRobotHWSim.

Definition at line 163 of file gazebo_hardware_sim.cpp.

bool sr_gazebo_sim::SrGazeboHWSim::isHandJoint	(	const std::vector< transmission_interface::TransmissionInfo > &	transmissions,
		const std::string &	joint_name
	)		const [protected]

Definition at line 101 of file gazebo_hardware_sim.cpp.

void sr_gazebo_sim::SrGazeboHWSim::readSim	(	ros::Time	time,
		ros::Duration	period
	)		[virtual]

Reimplemented from gazebo_ros_control::DefaultRobotHWSim.

Definition at line 180 of file gazebo_hardware_sim.cpp.

void sr_gazebo_sim::SrGazeboHWSim::registerSecondHardwareInterface

(

std::vector< transmission_interface::TransmissionInfo >

transmissions

)

[protected]

Definition at line 141 of file gazebo_hardware_sim.cpp.

void sr_gazebo_sim::SrGazeboHWSim::writeSim	(	ros::Time	time,
		ros::Duration	period
	)		[virtual]

Reimplemented from gazebo_ros_control::DefaultRobotHWSim.

Definition at line 198 of file gazebo_hardware_sim.cpp.

---

Member Data Documentation

ros_ethercat_model::RobotState sr_gazebo_sim::SrGazeboHWSim::fake_state_ [protected]

Definition at line 74 of file gazebo_hardware_sim.h.

const std::string sr_gazebo_sim::SrGazeboHWSim::j0_transmission_name = "sr_mechanism_model/J0Transmission" [static, protected]

Definition at line 71 of file gazebo_hardware_sim.h.

boost::unordered_map<std::string, std::string> sr_gazebo_sim::SrGazeboHWSim::j2_j1_joints_ [protected]

Definition at line 75 of file gazebo_hardware_sim.h.

const std::string sr_gazebo_sim::SrGazeboHWSim::simple_transmission_name = "sr_mechanism_model/SimpleTransmission" [static, protected]

Definition at line 72 of file gazebo_hardware_sim.h.

---

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

• gazebo_hardware_sim.h
• gazebo_hardware_sim.cpp