#include <quadrotor_hardware_gazebo.h>

Inheritance diagram for hector_quadrotor_controller_gazebo::QuadrotorHardwareSim:

Public Member Functions
virtual AccelerationHandlePtr	getAcceleration ()
virtual bool	getMassAndInertia (double &mass, double inertia[3])
virtual MotorStatusHandlePtr	getMotorStatus ()
virtual PoseHandlePtr	getPose ()
virtual ImuHandlePtr	getSensorImu ()
virtual const ros::Time &	getTimestamp ()
virtual TwistHandlePtr	getTwist ()
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)
	QuadrotorHardwareSim ()
virtual void	readSim (ros::Time time, ros::Duration period)
virtual void	writeSim (ros::Time time, ros::Duration period)
virtual	~QuadrotorHardwareSim ()
Protected Attributes
Vector3	acceleration_
std::string	base_link_frame_
ros::CallbackQueue	callback_queue_
gazebo::math::Vector3	gz_acceleration_
gazebo::math::Vector3	gz_angular_velocity_
gazebo::math::Pose	gz_pose_
gazebo::math::Vector3	gz_velocity_
std_msgs::Header	header_
Imu	imu_
gazebo::physics::LinkPtr	link_
gazebo::physics::ModelPtr	model_
MotorCommandHandlePtr	motor_output_
MotorStatus	motor_status_
gazebo::physics::PhysicsEnginePtr	physics_
Pose	pose_
ros::Publisher	publisher_motor_command_
ros::Publisher	publisher_wrench_command_
ros::Subscriber	subscriber_imu_
ros::Subscriber	subscriber_motor_status_
ros::Subscriber	subscriber_state_
Twist	twist_
std::string	world_frame_
WrenchCommandHandlePtr	wrench_output_
Private Member Functions
void	imuCallback (const sensor_msgs::ImuConstPtr &imu)
void	motorStatusCallback (const hector_uav_msgs::MotorStatusConstPtr &motor_status)
void	stateCallback (const nav_msgs::OdometryConstPtr &state)

Detailed Description

Definition at line 48 of file quadrotor_hardware_gazebo.h.

Constructor & Destructor Documentation

hector_quadrotor_controller_gazebo::QuadrotorHardwareSim::QuadrotorHardwareSim ( )

Definition at line 35 of file quadrotor_hardware_gazebo.cpp.

hector_quadrotor_controller_gazebo::QuadrotorHardwareSim::~QuadrotorHardwareSim ( ) [virtual]

Definition at line 43 of file quadrotor_hardware_gazebo.cpp.

Member Function Documentation

virtual AccelerationHandlePtr hector_quadrotor_controller_gazebo::QuadrotorHardwareSim::getAcceleration ( ) [inline, virtual]

Reimplemented from hector_quadrotor_controller::QuadrotorInterface.

Definition at line 58 of file quadrotor_hardware_gazebo.h.

bool hector_quadrotor_controller_gazebo::QuadrotorHardwareSim::getMassAndInertia	(	double &	mass,
		double	inertia[3]
	)		`[virtual]`

Reimplemented from hector_quadrotor_controller::QuadrotorInterface.

Definition at line 109 of file quadrotor_hardware_gazebo.cpp.

virtual MotorStatusHandlePtr hector_quadrotor_controller_gazebo::QuadrotorHardwareSim::getMotorStatus ( ) [inline, virtual]

Reimplemented from hector_quadrotor_controller::QuadrotorInterface.

Definition at line 60 of file quadrotor_hardware_gazebo.h.

virtual PoseHandlePtr hector_quadrotor_controller_gazebo::QuadrotorHardwareSim::getPose ( ) [inline, virtual]

Reimplemented from hector_quadrotor_controller::QuadrotorInterface.

Definition at line 56 of file quadrotor_hardware_gazebo.h.

virtual ImuHandlePtr hector_quadrotor_controller_gazebo::QuadrotorHardwareSim::getSensorImu ( ) [inline, virtual]

Reimplemented from hector_quadrotor_controller::QuadrotorInterface.

Definition at line 59 of file quadrotor_hardware_gazebo.h.

virtual const ros::Time& hector_quadrotor_controller_gazebo::QuadrotorHardwareSim::getTimestamp ( ) [inline, virtual]

Definition at line 54 of file quadrotor_hardware_gazebo.h.

virtual TwistHandlePtr hector_quadrotor_controller_gazebo::QuadrotorHardwareSim::getTwist ( ) [inline, virtual]

Reimplemented from hector_quadrotor_controller::QuadrotorInterface.

Definition at line 57 of file quadrotor_hardware_gazebo.h.

void hector_quadrotor_controller_gazebo::QuadrotorHardwareSim::imuCallback ( const sensor_msgs::ImuConstPtr & imu ) [private]

Definition at line 136 of file quadrotor_hardware_gazebo.cpp.

bool hector_quadrotor_controller_gazebo::QuadrotorHardwareSim::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 48 of file quadrotor_hardware_gazebo.cpp.

void hector_quadrotor_controller_gazebo::QuadrotorHardwareSim::motorStatusCallback ( const hector_uav_msgs::MotorStatusConstPtr & motor_status ) [private]

Definition at line 140 of file quadrotor_hardware_gazebo.cpp.