gazebo::JointHandle Class Reference

#include <joint_handle.h>

Inheritance diagram for gazebo::JointHandle:

List of all members.

Public Member Functions
virtual double	getEffort ()
	Get applied effort of a joint in Nm or N.
virtual double	getEffortMax ()
	Get the maximum effort command.
virtual std::string	getName ()
	Get the name of this joint.
virtual double	getPosition ()
	Get the position of the joint in radians or meters.
virtual double	getPositionMax ()
	Get the maximum valid position command.
virtual double	getPositionMin ()
	Get the minimum valid position command.
virtual double	getVelocity ()
	Get the velocity of the joint in rad/sec or meters/sec.
virtual double	getVelocityMax ()
	Get the maximum velocity command.
virtual bool	isContinuous ()
	JointHandle (physics::JointPtr &joint, const double velocity_limit, const double effort_limit, const bool continuous)
virtual void	reset ()
	Reset the command.
virtual void	setEffort (double effort)
	Set an effort command for this joint.
virtual void	setPosition (double position, double velocity, double effort)
	Set a position command for this joint.
virtual void	setVelocity (double velocity, double effort)
	Set a velocity command for this joint.
void	update (const ros::Time now, const ros::Duration dt)
	Actually apply updates to gazebo.
virtual	~JointHandle ()
Private Types
enum	CommandState { MODE_DISABLED, MODE_CONTROL_EFFORT, MODE_CONTROL_VELOCITY, MODE_CONTROL_POSITION }
Private Member Functions
	JointHandle (const JointHandle &)
JointHandle &	operator= (const JointHandle &)
Private Attributes
double	actual_velocity_
double	applied_effort_
	GetForce(0u) is not always right.
bool	continuous_
double	desired_effort_
double	desired_position_
double	desired_velocity_
double	effort_limit_
	Hack for continuous joints that fail to have effort limits.
physics::JointPtr	joint_
int	mode_
	control mode
control_toolbox::Pid	position_pid_
double	velocity_limit_
	Hack for continuous joints that fail to have velocity limits.
control_toolbox::Pid	velocity_pid_

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Detailed Description

Definition at line 51 of file joint_handle.h.

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Member Enumeration Documentation

enum gazebo::JointHandle::CommandState [private]

Enumerator:

MODE_DISABLED
MODE_CONTROL_EFFORT
MODE_CONTROL_VELOCITY
MODE_CONTROL_POSITION

Definition at line 53 of file joint_handle.h.

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Constructor & Destructor Documentation

gazebo::JointHandle::JointHandle	(	physics::JointPtr &	joint,
		const double	velocity_limit,
		const double	effort_limit,
		const bool	continuous
	)		[inline]

Definition at line 62 of file joint_handle.h.

virtual gazebo::JointHandle::~JointHandle

(

)

[inline, virtual]

Reimplemented from robot_controllers::JointHandle.

Definition at line 81 of file joint_handle.h.

gazebo::JointHandle::JointHandle

(

const JointHandle &

)

[private]

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Member Function Documentation

virtual double gazebo::JointHandle::getEffort

(

)

[inline, virtual]

Get applied effort of a joint in Nm or N.

Implements robot_controllers::JointHandle.

Definition at line 143 of file joint_handle.h.

virtual double gazebo::JointHandle::getEffortMax

(

)

[inline, virtual]

Get the maximum effort command.

Implements robot_controllers::JointHandle.

Definition at line 176 of file joint_handle.h.

virtual std::string gazebo::JointHandle::getName

(

)

[inline, virtual]

Get the name of this joint.

Implements robot_controllers::JointHandle.

Definition at line 193 of file joint_handle.h.

virtual double gazebo::JointHandle::getPosition

(

)

[inline, virtual]

Get the position of the joint in radians or meters.

Implements robot_controllers::JointHandle.

Definition at line 127 of file joint_handle.h.

virtual double gazebo::JointHandle::getPositionMax

(

)

[inline, virtual]

Get the maximum valid position command.

Implements robot_controllers::JointHandle.

Definition at line 161 of file joint_handle.h.

virtual double gazebo::JointHandle::getPositionMin

(

)

[inline, virtual]

Get the minimum valid position command.

Implements robot_controllers::JointHandle.

Definition at line 155 of file joint_handle.h.

virtual double gazebo::JointHandle::getVelocity

(

)

[inline, virtual]

Get the velocity of the joint in rad/sec or meters/sec.

Implements robot_controllers::JointHandle.

Definition at line 137 of file joint_handle.h.

virtual double gazebo::JointHandle::getVelocityMax

(

)

[inline, virtual]

Get the maximum velocity command.

Implements robot_controllers::JointHandle.

Definition at line 167 of file joint_handle.h.

virtual bool gazebo::JointHandle::isContinuous

(

)

[inline, virtual]

Implements robot_controllers::JointHandle.

Definition at line 149 of file joint_handle.h.

JointHandle& gazebo::JointHandle::operator=

(

const JointHandle &

)

[private]

virtual void gazebo::JointHandle::reset

(

)

[inline, virtual]

Reset the command.

Implements robot_controllers::JointHandle.

Definition at line 199 of file joint_handle.h.

virtual void gazebo::JointHandle::setEffort

(

double

effort

)

[inline, virtual]

Set an effort command for this joint.

Parameters:

effort

Effort command in Nm or N.

Implements robot_controllers::JointHandle.

Definition at line 118 of file joint_handle.h.

virtual void gazebo::JointHandle::setPosition	(	double	position,
		double	velocity,
		double	effort
	)		[inline, virtual]

Set a position command for this joint.

Parameters:

position	Position command in radians or meters.
velocity	Velocity command in rad/sec or meters/sec.
effort	Effort command in Nm or N.

Implements robot_controllers::JointHandle.

Definition at line 91 of file joint_handle.h.

virtual void gazebo::JointHandle::setVelocity	(	double	velocity,
		double	effort
	)		[inline, virtual]

Set a velocity command for this joint.

Parameters:

velocity	Velocity command in rad/sec or meters/sec.
effort	Effort command in Nm or N.

Implements robot_controllers::JointHandle.

Definition at line 106 of file joint_handle.h.

void gazebo::JointHandle::update	(	const ros::Time	now,
		const ros::Duration	dt
	)		[inline]

Actually apply updates to gazebo.

Definition at line 208 of file joint_handle.h.

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Member Data Documentation

double gazebo::JointHandle::actual_velocity_ [private]

Definition at line 263 of file joint_handle.h.

double gazebo::JointHandle::applied_effort_ [private]

GetForce(0u) is not always right.

Definition at line 262 of file joint_handle.h.

bool gazebo::JointHandle::continuous_ [private]

Definition at line 259 of file joint_handle.h.

double gazebo::JointHandle::desired_effort_ [private]

Definition at line 244 of file joint_handle.h.

double gazebo::JointHandle::desired_position_ [private]

Definition at line 242 of file joint_handle.h.

double gazebo::JointHandle::desired_velocity_ [private]

Definition at line 243 of file joint_handle.h.

double gazebo::JointHandle::effort_limit_ [private]

Hack for continuous joints that fail to have effort limits.

Definition at line 256 of file joint_handle.h.

physics::JointPtr gazebo::JointHandle::joint_ [private]

Definition at line 240 of file joint_handle.h.

int gazebo::JointHandle::mode_ [private]

control mode

Definition at line 247 of file joint_handle.h.

control_toolbox::Pid gazebo::JointHandle::position_pid_ [private]

Definition at line 249 of file joint_handle.h.

double gazebo::JointHandle::velocity_limit_ [private]

Hack for continuous joints that fail to have velocity limits.

Definition at line 253 of file joint_handle.h.

control_toolbox::Pid gazebo::JointHandle::velocity_pid_ [private]

Definition at line 250 of file joint_handle.h.

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

• joint_handle.h