#include <steer_bot_hardware_gazebo.h>

Inheritance diagram for steer_bot_hardware_gazebo::SteerBotHardwareGazebo:

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)
	SteerBotHardwareGazebo ()
void	writeSim (ros::Time time, ros::Duration period)
Private Types
enum	{ INDEX_RIGHT = 0, INDEX_LEFT = 1 }
Private Member Functions
void	CleanUp ()
double	ComputeEffCommandFromVelError (const int _index, ros::Duration _period)
template<class T >
std::string	containerToString (const T &cont, const std::string &prefix)
void	GetCurrentState (std::vector< double > &_jnt_pos, std::vector< double > &_jnt_vel, std::vector< double > &_jnt_eff, const int _if_index, const int _sim_jnt_index)
void	GetJointNames (ros::NodeHandle &_nh)
void	GetSteerJointNames (ros::NodeHandle &_nh)
void	GetWheelJointNames (ros::NodeHandle &_nh)
void	RegisterCommandJointInterfaceHandle (hardware_interface::JointStateInterface &_jnt_state_interface, hardware_interface::JointCommandInterface &_jnt_cmd_interface, const std::string _jnt_name, double &_jnt_cmd)
void	RegisterHardwareInterfaces ()
void	RegisterInterfaceHandles (hardware_interface::JointStateInterface &_jnt_state_interface, hardware_interface::JointCommandInterface &_jnt_cmd_interface, const std::string _jnt_name, double &_jnt_pos, double &_jnt_vel, double &_jnt_eff, double &_jnt_cmd)
void	RegisterJointStateInterfaceHandle (hardware_interface::JointStateInterface &_jnt_state_interface, const std::string _jnt_name, double &_jnt_pos, double &_jnt_vel, double &_jnt_eff)
void	RegisterSteerInterface ()
void	RegisterWheelInterface ()
Private Attributes
bool	enable_ackermann_link_
double	front_steer_jnt_eff_
std::string	front_steer_jnt_name_
double	front_steer_jnt_pos_
double	front_steer_jnt_pos_cmd_
hardware_interface::PositionJointInterface	front_steer_jnt_pos_cmd_interface_
double	front_steer_jnt_vel_
hardware_interface::VelocityJointInterface	front_wheel_jnt_vel_cmd_interface_
joint_limits_interface::PositionJointSoftLimitsInterface	jnt_limits_interface_
hardware_interface::JointStateInterface	jnt_state_interface_
int	log_cnt_
unsigned int	n_dof_
ros::NodeHandle	nh_
std::string	ns_
std::vector< control_toolbox::Pid >	pids_
double	rear_wheel_jnt_eff_
std::string	rear_wheel_jnt_name_
double	rear_wheel_jnt_pos_
double	rear_wheel_jnt_vel_
double	rear_wheel_jnt_vel_cmd_
hardware_interface::VelocityJointInterface	rear_wheel_jnt_vel_cmd_interface_
std::vector < gazebo::physics::JointPtr >	sim_joints_
std::vector< double >	virtual_front_steer_jnt_eff_
std::vector< std::string >	virtual_front_steer_jnt_names_
std::vector< double >	virtual_front_steer_jnt_pos_
std::vector< double >	virtual_front_steer_jnt_pos_cmd_
std::vector< double >	virtual_front_steer_jnt_vel_
std::vector< double >	virtual_front_wheel_jnt_eff_
std::vector< std::string >	virtual_front_wheel_jnt_names_
std::vector< double >	virtual_front_wheel_jnt_pos_
std::vector< double >	virtual_front_wheel_jnt_vel_
std::vector< double >	virtual_front_wheel_jnt_vel_cmd_
std::vector< double >	virtual_rear_wheel_jnt_eff_
std::vector< std::string >	virtual_rear_wheel_jnt_names_
std::vector< double >	virtual_rear_wheel_jnt_pos_
std::vector< double >	virtual_rear_wheel_jnt_vel_
std::vector< double >	virtual_rear_wheel_jnt_vel_cmd_
double	wheel_separation_h_
double	wheel_separation_w_

Detailed Description

Definition at line 66 of file steer_bot_hardware_gazebo.h.

Member Enumeration Documentation

anonymous enum [private]

Enumerator:

INDEX_RIGHT
INDEX_LEFT

Definition at line 110 of file steer_bot_hardware_gazebo.h.

Constructor & Destructor Documentation

steer_bot_hardware_gazebo::SteerBotHardwareGazebo::SteerBotHardwareGazebo ( )

Definition at line 54 of file steer_bot_hardware_gazebo.cpp.

Member Function Documentation

void steer_bot_hardware_gazebo::SteerBotHardwareGazebo::CleanUp ( ) [private]

Definition at line 277 of file steer_bot_hardware_gazebo.cpp.

double steer_bot_hardware_gazebo::SteerBotHardwareGazebo::ComputeEffCommandFromVelError	(	const int	_index,
		ros::Duration	_period
	)		`[private]`

Definition at line 447 of file steer_bot_hardware_gazebo.cpp.

template<class T >

std::string steer_bot_hardware_gazebo::SteerBotHardwareGazebo::containerToString	(	const T &	cont,
		const std::string &	prefix
	)		`[inline, private]`

Definition at line 198 of file steer_bot_hardware_gazebo.h.

void steer_bot_hardware_gazebo::SteerBotHardwareGazebo::GetCurrentState	(	std::vector< double > &	_jnt_pos,
		std::vector< double > &	_jnt_vel,
		std::vector< double > &	_jnt_eff,
		const int	_if_index,
		const int	_sim_jnt_index
	)		`[private]`

Definition at line 468 of file steer_bot_hardware_gazebo.cpp.

void steer_bot_hardware_gazebo::SteerBotHardwareGazebo::GetJointNames ( ros::NodeHandle & _nh ) [private]

Definition at line 315 of file steer_bot_hardware_gazebo.cpp.

void steer_bot_hardware_gazebo::SteerBotHardwareGazebo::GetSteerJointNames ( ros::NodeHandle & _nh ) [private]

Definition at line 343 of file steer_bot_hardware_gazebo.cpp.

void steer_bot_hardware_gazebo::SteerBotHardwareGazebo::GetWheelJointNames ( ros::NodeHandle & _nh ) [private]

Definition at line 321 of file steer_bot_hardware_gazebo.cpp.

bool steer_bot_hardware_gazebo::SteerBotHardwareGazebo::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]`

Implements gazebo_ros_control::RobotHWSim.

Definition at line 61 of file steer_bot_hardware_gazebo.cpp.

void steer_bot_hardware_gazebo::SteerBotHardwareGazebo::readSim	(	ros::Time	time,
		ros::Duration	period
	)		`[virtual]`

Implements gazebo_ros_control::RobotHWSim.

Definition at line 137 of file steer_bot_hardware_gazebo.cpp.

void steer_bot_hardware_gazebo::SteerBotHardwareGazebo::RegisterCommandJointInterfaceHandle	(	hardware_interface::JointStateInterface &	_jnt_state_interface,
		hardware_interface::JointCommandInterface &	_jnt_cmd_interface,
		const std::string	_jnt_name,
		double &	_jnt_cmd
	)		`[private]`

Definition at line 433 of file steer_bot_hardware_gazebo.cpp.

void steer_bot_hardware_gazebo::SteerBotHardwareGazebo::RegisterHardwareInterfaces ( ) [private]

Definition at line 358 of file steer_bot_hardware_gazebo.cpp.

void steer_bot_hardware_gazebo::SteerBotHardwareGazebo::RegisterInterfaceHandles	(	hardware_interface::JointStateInterface &	_jnt_state_interface,
		hardware_interface::JointCommandInterface &	_jnt_cmd_interface,
		const std::string	_jnt_name,
		double &	_jnt_pos,
		double &	_jnt_vel,
		double &	_jnt_eff,
		double &	_jnt_cmd
	)		`[private]`

Definition at line 369 of file steer_bot_hardware_gazebo.cpp.

void steer_bot_hardware_gazebo::SteerBotHardwareGazebo::RegisterJointStateInterfaceHandle	(	hardware_interface::JointStateInterface &	_jnt_state_interface,
		const std::string	_jnt_name,
		double &	_jnt_pos,
		double &	_jnt_vel,
		double &	_jnt_eff
	)		`[private]`