A plugin for a contact sensor on a kit tray. More...

#include <ROSAriacKitTrayPlugin.hh>

Inheritance diagram for gazebo::KitTrayPlugin:

Public Member Functions
std::string	DetermineModelType (const std::string &modelName)
	Update the kit based on which models are in contact. More...

	KitTrayPlugin ()
	Constructor. More...

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

virtual	~KitTrayPlugin ()
	Destructor. More...

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

virtual	~SideContactPlugin ()
	Destructor. More...

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

void	ProcessContactingModels ()
	Update the kit based on which models are in contact. More...

void	PublishKitMsg ()
	Publish the Kit ROS message. 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
ariac::Kit	currentKit
	Kit which is currently on the tray. More...

ros::Publisher	currentKitPub
	Publisher for the kit state. More...

ros::NodeHandle *	rosNode
	ROS node handle. More...

std::string	trayID
	ID of tray. 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 contact sensor on a kit tray.

Definition at line 38 of file ROSAriacKitTrayPlugin.hh.

Constructor & Destructor Documentation

KitTrayPlugin::KitTrayPlugin ( )

Constructor.

Definition at line 28 of file ROSAriacKitTrayPlugin.cc.

KitTrayPlugin::~KitTrayPlugin ( )

virtual

Destructor.

Definition at line 33 of file ROSAriacKitTrayPlugin.cc.

Member Function Documentation

std::string gazebo::KitTrayPlugin::DetermineModelType ( const std::string & modelName )

Update the kit based on which models are in contact.

void KitTrayPlugin::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.

Definition at line 41 of file ROSAriacKitTrayPlugin.cc.

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

protectedvirtual

Callback that receives the world update event.

Reimplemented from gazebo::SideContactPlugin.

Definition at line 61 of file ROSAriacKitTrayPlugin.cc.

void KitTrayPlugin::ProcessContactingModels ( )

protected

Update the kit based on which models are in contact.

Definition at line 79 of file ROSAriacKitTrayPlugin.cc.

void KitTrayPlugin::PublishKitMsg ( )

protected

Publish the Kit ROS message.

Definition at line 102 of file ROSAriacKitTrayPlugin.cc.

Member Data Documentation

ariac::Kit gazebo::KitTrayPlugin::currentKit

protected

Kit which is currently on the tray.

Definition at line 64 of file ROSAriacKitTrayPlugin.hh.

ros::Publisher gazebo::KitTrayPlugin::currentKitPub

protected

Publisher for the kit state.

Definition at line 73 of file ROSAriacKitTrayPlugin.hh.

ros::NodeHandle* gazebo::KitTrayPlugin::rosNode

protected

ROS node handle.

Definition at line 70 of file ROSAriacKitTrayPlugin.hh.

std::string gazebo::KitTrayPlugin::trayID

protected

ID of tray.

Definition at line 67 of file ROSAriacKitTrayPlugin.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