gazebo::ServoPlugin Class Reference

#include <servo_plugin.h>

Inheritance diagram for gazebo::ServoPlugin:

Classes
struct	Servo

Public Member Functions
	ServoPlugin ()
virtual	~ServoPlugin ()

Protected Member Functions
virtual void	Init ()
virtual void	Load (physics::ModelPtr _model, sdf::ElementPtr _sdf)
virtual void	Reset ()
virtual void	Update ()

Private Member Functions
void	CalculateVelocities ()
void	cmdCallback (const geometry_msgs::QuaternionStamped::ConstPtr &cmd_msg)
void	publish_joint_states ()

Private Attributes
common::Time	controlPeriod
unsigned int	countOfServos
geometry_msgs::QuaternionStamped::ConstPtr	current_cmd
float	derivativeControllerGain
bool	enableMotors
sensor_msgs::JointState	joint_state
std::string	jointStateName
ros::Publisher	jointStatePub_
float	maximumTorque
double	maximumVelocity
boost::mutex	mutex
unsigned int	orderOfAxes [3]
common::Time	prevUpdateTime
float	proportionalControllerGain
ros::CallbackQueue	queue_
std::string	robotNamespace
ros::NodeHandle *	rosnode_
math::Quaternion	rotation_
unsigned int	rotationConv
struct gazebo::ServoPlugin::Servo	servo [3]
ros::Subscriber	sub_
std::string	topicName
tf::TransformListener *	transform_listener_
event::ConnectionPtr	updateConnection
physics::WorldPtr	world
	The parent World. More...

Detailed Description

Definition at line 52 of file servo_plugin.h.

Constructor & Destructor Documentation

gazebo::ServoPlugin::ServoPlugin

(

)

Definition at line 57 of file servo_plugin.cpp.

gazebo::ServoPlugin::~ServoPlugin ( )

virtual

Definition at line 64 of file servo_plugin.cpp.

Member Function Documentation

void gazebo::ServoPlugin::CalculateVelocities ( )

private

Definition at line 270 of file servo_plugin.cpp.

void gazebo::ServoPlugin::cmdCallback ( const geometry_msgs::QuaternionStamped::ConstPtr &  cmd_msg )

private

Definition at line 459 of file servo_plugin.cpp.

void gazebo::ServoPlugin::Init ( )

protectedvirtual

Definition at line 175 of file servo_plugin.cpp.

void gazebo::ServoPlugin::Load ( physics::ModelPtr  _model, sdf::ElementPtr  _sdf  )

protectedvirtual

Definition at line 77 of file servo_plugin.cpp.

void gazebo::ServoPlugin::publish_joint_states ( )

private

Definition at line 465 of file servo_plugin.cpp.

void gazebo::ServoPlugin::Reset ( )

protectedvirtual

Definition at line 181 of file servo_plugin.cpp.

void gazebo::ServoPlugin::Update ( )

protectedvirtual

Definition at line 200 of file servo_plugin.cpp.

Member Data Documentation

common::Time gazebo::ServoPlugin::controlPeriod

private

Definition at line 99 of file servo_plugin.h.

unsigned int gazebo::ServoPlugin::countOfServos

private

Definition at line 90 of file servo_plugin.h.

geometry_msgs::QuaternionStamped::ConstPtr gazebo::ServoPlugin::current_cmd

private

Definition at line 121 of file servo_plugin.h.

float gazebo::ServoPlugin::derivativeControllerGain

private

Definition at line 102 of file servo_plugin.h.

bool gazebo::ServoPlugin::enableMotors

private

Definition at line 76 of file servo_plugin.h.

sensor_msgs::JointState gazebo::ServoPlugin::joint_state

private

Definition at line 93 of file servo_plugin.h.

std::string gazebo::ServoPlugin::jointStateName

private

Definition at line 98 of file servo_plugin.h.

ros::Publisher gazebo::ServoPlugin::jointStatePub_

private

Definition at line 108 of file servo_plugin.h.

float gazebo::ServoPlugin::maximumTorque

private

Definition at line 104 of file servo_plugin.h.

double gazebo::ServoPlugin::maximumVelocity

private

Definition at line 103 of file servo_plugin.h.

boost::mutex gazebo::ServoPlugin::mutex

private

Definition at line 120 of file servo_plugin.h.

unsigned int gazebo::ServoPlugin::orderOfAxes[3]

private

Definition at line 91 of file servo_plugin.h.

common::Time gazebo::ServoPlugin::prevUpdateTime

private

Definition at line 74 of file servo_plugin.h.

float gazebo::ServoPlugin::proportionalControllerGain

private

Definition at line 101 of file servo_plugin.h.

ros::CallbackQueue gazebo::ServoPlugin::queue_

private

Definition at line 113 of file servo_plugin.h.

std::string gazebo::ServoPlugin::robotNamespace

private

Definition at line 96 of file servo_plugin.h.

ros::NodeHandle* gazebo::ServoPlugin::rosnode_

private

Definition at line 107 of file servo_plugin.h.

math::Quaternion gazebo::ServoPlugin::rotation_

private

Definition at line 125 of file servo_plugin.h.

unsigned int gazebo::ServoPlugin::rotationConv

private

Definition at line 92 of file servo_plugin.h.

struct gazebo::ServoPlugin::Servo gazebo::ServoPlugin::servo[3]

private

ros::Subscriber gazebo::ServoPlugin::sub_

private

Definition at line 109 of file servo_plugin.h.

std::string gazebo::ServoPlugin::topicName

private

Definition at line 97 of file servo_plugin.h.

tf::TransformListener* gazebo::ServoPlugin::transform_listener_

private

Definition at line 110 of file servo_plugin.h.

event::ConnectionPtr gazebo::ServoPlugin::updateConnection

private

Definition at line 129 of file servo_plugin.h.

physics::WorldPtr gazebo::ServoPlugin::world

private

The parent World.

Definition at line 71 of file servo_plugin.h.

---

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

• servo_plugin.h
• servo_plugin.cpp