A plugin for a conveyor belt. More...

#include <ConveyorBeltPlugin.hh>

Inheritance diagram for gazebo::ConveyorBeltPlugin:

Public Member Functions
	ConveyorBeltPlugin ()
	Constructor. More...

virtual void	Load (physics::ModelPtr _model, sdf::ElementPtr _sdf)
	Load the model plugin. More...

void	SetVelocity (double velocity)
	Set the state of the conveyor belt. More...

virtual	~ConveyorBeltPlugin ()
	Destructor. More...

Public Member Functions inherited from gazebo::SideContactPlugin
	SideContactPlugin ()
	Constructor. More...

virtual	~SideContactPlugin ()
	Destructor. More...

Protected Member Functions
void	ActOnContactingLinks (double velocity)
	Act on links that are ontop of the belt. More...

void	OnControlCommand (ConstHeaderPtr &_msg)
	Callback for responding to control commands. More...

void	OnUpdate (const common::UpdateInfo &_info)
	Callback that receives the world update event. More...

std::string	Topic (std::string topicName) const
	Generate a scoped topic name from a local one. More...

Protected Member Functions inherited from gazebo::SideContactPlugin
virtual void	CalculateContactingLinks ()
	Determine which links are in contact with the side of the parent link. More...

virtual void	CalculateContactingModels ()
	Determine which models are in contact with the side of the parent link. More...

bool	FindContactSensor ()
	Iterate through links of model to find sensor with the specified name. More...

virtual void	OnContactsReceived (ConstContactsPtr &_msg)
	Callback that recieves the contact sensor's messages. More...

Protected Attributes
double	beltVelocity
	Belt velocity (m/s) More...

transport::SubscriberPtr	controlCommandSub
	Subscriber for the control commands. More...

std::mutex	mutex
	Mutex to protect the belt velocity. More...

transport::NodePtr	node
	Pointer to this node for publishing/subscribing. More...

ignition::math::Vector3d	velocityAxis
	Axis for belt velocity in local frame (+Y by default) More...

Protected Attributes inherited from gazebo::SideContactPlugin
std::string	collisionName
	Name of the collision of the parent's link. More...

std::set< physics::LinkPtr >	contactingLinks
	Set of pointers to links that have collisions with the parent link's side. More...

std::set< physics::ModelPtr >	contactingModels
	Set of pointers to models that have collisions with the parent link's side. More...

std::string	contactSensorName
	Name of the contact sensor. More...

transport::SubscriberPtr	contactSub
	Subscriber for the contact topic. More...

physics::ModelPtr	model
	Pointer to the model. More...

boost::mutex	mutex
	Mutex for protecting contacts msg. More...

msgs::Contacts	newestContactsMsg
	Contacts msg received. More...

bool	newMsg
	Flag for new contacts message. More...

transport::NodePtr	node
	Pointer to this node for publishing/subscribing. More...

physics::LinkPtr	parentLink
	Pointer to the sensor's parent's link. More...

sensors::ContactSensorPtr	parentSensor
	Pointer to the contact sensor. More...

std::string	scopedContactSensorName
	Scoped name of the contact sensor. More...

ignition::math::Vector3d	sideNormal
	The normal, in local frame, to the side that is to have contacts monitored (default (0, 0, 1)) More...

event::ConnectionPtr	updateConnection
	Pointer to the update event connection. More...

physics::WorldPtr	world
	Pointer to the world. More...

Detailed Description

A plugin for a conveyor belt.

Definition at line 35 of file ConveyorBeltPlugin.hh.

Constructor & Destructor Documentation

ConveyorBeltPlugin::ConveyorBeltPlugin ( )

Constructor.

Definition at line 29 of file ConveyorBeltPlugin.cc.

ConveyorBeltPlugin::~ConveyorBeltPlugin ( )

virtual

Destructor.

Definition at line 34 of file ConveyorBeltPlugin.cc.

Member Function Documentation

void ConveyorBeltPlugin::ActOnContactingLinks ( double velocity )

protected

Act on links that are ontop of the belt.

Definition at line 107 of file ConveyorBeltPlugin.cc.

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

virtual

Load the model plugin.

Parameters

[in]	_model	Pointer to the model that loaded this plugin.
[in]	_sdf	SDF element that describes the plugin.

Reimplemented from gazebo::SideContactPlugin.

Reimplemented in gazebo::ROSConveyorBeltPlugin.

Definition at line 52 of file ConveyorBeltPlugin.cc.

void ConveyorBeltPlugin::OnControlCommand ( ConstHeaderPtr & _msg )

protected

Callback for responding to control commands.

Definition at line 120 of file ConveyorBeltPlugin.cc.

void ConveyorBeltPlugin::OnUpdate ( const common::UpdateInfo & _info )

protectedvirtual

Callback that receives the world update event.

Reimplemented from gazebo::SideContactPlugin.

Definition at line 93 of file ConveyorBeltPlugin.cc.

void ConveyorBeltPlugin::SetVelocity ( double velocity )

Set the state of the conveyor belt.

Definition at line 128 of file ConveyorBeltPlugin.cc.

std::string ConveyorBeltPlugin::Topic ( std::string topicName ) const

protected

Generate a scoped topic name from a local one.

Parameters

local local topic name

Definition at line 42 of file ConveyorBeltPlugin.cc.

Member Data Documentation

double gazebo::ConveyorBeltPlugin::beltVelocity

protected

Belt velocity (m/s)

Definition at line 64 of file ConveyorBeltPlugin.hh.

transport::SubscriberPtr gazebo::ConveyorBeltPlugin::controlCommandSub

protected

Subscriber for the control commands.

Definition at line 55 of file ConveyorBeltPlugin.hh.

std::mutex gazebo::ConveyorBeltPlugin::mutex

protected

Mutex to protect the belt velocity.

Definition at line 67 of file ConveyorBeltPlugin.hh.

transport::NodePtr gazebo::ConveyorBeltPlugin::node

protected

Pointer to this node for publishing/subscribing.

Definition at line 52 of file ConveyorBeltPlugin.hh.

ignition::math::Vector3d gazebo::ConveyorBeltPlugin::velocityAxis

protected

Axis for belt velocity in local frame (+Y by default)

Definition at line 61 of file ConveyorBeltPlugin.hh.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation