gazebo_ros_control::RobotHWSim Class Reference

Gazebo plugin version of RobotHW. More...

#include <robot_hw_sim.h>

Inheritance diagram for gazebo_ros_control::RobotHWSim:

List of all members.

Public Member Functions
virtual void	eStopActive (const bool active)
	Set the emergency stop state.
virtual 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)=0
	Initialize the simulated robot hardware.
virtual void	readSim (ros::Time time, ros::Duration period)=0
	Read state data from the simulated robot hardware.
virtual void	writeSim (ros::Time time, ros::Duration period)=0
	Write commands to the simulated robot hardware.
virtual	~RobotHWSim ()

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Detailed Description

Gazebo plugin version of RobotHW.

An object of class RobotHWSim represents a robot's simulated hardware.

Definition at line 68 of file robot_hw_sim.h.

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Constructor & Destructor Documentation

virtual gazebo_ros_control::RobotHWSim::~RobotHWSim

(

)

[inline, virtual]

Definition at line 72 of file robot_hw_sim.h.

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Member Function Documentation

virtual void gazebo_ros_control::RobotHWSim::eStopActive

(

const bool

active

)

[inline, virtual]

Set the emergency stop state.

Set the simulated robot's emergency stop state. The default implementation of this function does nothing.

Parameters:

active

true if the emergency stop is active, false if not.

Reimplemented in gazebo_ros_control::DefaultRobotHWSim.

Definition at line 113 of file robot_hw_sim.h.

virtual bool gazebo_ros_control::RobotHWSim::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
	)		[pure virtual]

Initialize the simulated robot hardware.

Initialize the simulated robot hardware.

Parameters:

robot_namespace	Robot namespace.
model_nh	Model node handle.
parent_model	Parent model.
urdf_model	URDF model.
transmissions	Transmissions.

Returns:

true if the simulated robot hardware is initialized successfully, false if not.

Implemented in gazebo_ros_control::DefaultRobotHWSim.

virtual void gazebo_ros_control::RobotHWSim::readSim	(	ros::Time	time,
		ros::Duration	period
	)		[pure virtual]

Read state data from the simulated robot hardware.

Read state data, such as joint positions and velocities, from the simulated robot hardware.

Parameters:

time	Simulation time.
period	Time since the last simulation step.

Implemented in gazebo_ros_control::DefaultRobotHWSim.

virtual void gazebo_ros_control::RobotHWSim::writeSim	(	ros::Time	time,
		ros::Duration	period
	)		[pure virtual]

Write commands to the simulated robot hardware.

Write commands, such as joint position and velocity commands, to the simulated robot hardware.

Parameters:

time	Simulation time.
period	Time since the last simulation step.

Implemented in gazebo_ros_control::DefaultRobotHWSim.

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

• robot_hw_sim.h