A plugin for a model with a contact sensor that only monitors collisions on one of its sides. More...

#include <SideContactPlugin.hh>

Inheritance diagram for gazebo::SideContactPlugin:

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Public Member Functions
virtual void	Load (physics::ModelPtr _model, sdf::ElementPtr _sdf)
	Load the sensor plugin. More...

	SideContactPlugin ()
	Constructor. More...

virtual	~SideContactPlugin ()
	Destructor. More...

Protected Member Functions
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...

virtual void	OnUpdate (const common::UpdateInfo &_info)
	Called when world update events are received. More...

Protected Attributes
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 model with a contact sensor that only monitors collisions on one of its sides.

Definition at line 35 of file SideContactPlugin.hh.

Constructor & Destructor Documentation

SideContactPlugin::SideContactPlugin ( )

Constructor.

Definition at line 28 of file SideContactPlugin.cc.

SideContactPlugin::~SideContactPlugin ( )

virtual

Destructor.

Definition at line 33 of file SideContactPlugin.cc.

Member Function Documentation

void SideContactPlugin::CalculateContactingLinks ( )

protectedvirtual

Determine which links are in contact with the side of the parent link.

Definition at line 145 of file SideContactPlugin.cc.

void SideContactPlugin::CalculateContactingModels ( )

protectedvirtual

Determine which models are in contact with the side of the parent link.

Definition at line 189 of file SideContactPlugin.cc.

bool SideContactPlugin::FindContactSensor ( )

protected

Iterate through links of model to find sensor with the specified name.

Returns: true if the sensor was successfully found and is a contact sensor

Definition at line 106 of file SideContactPlugin.cc.

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

virtual

Load the sensor plugin.

Parameters

[in]	_sensor	Pointer to the sensor that loaded this plugin.
[in]	_sdf	SDF element that describes the plugin.

Reimplemented in gazebo::KitTrayPlugin, gazebo::ConveyorBeltPlugin, gazebo::ObjectDisposalPlugin, and gazebo::ROSConveyorBeltPlugin.

Definition at line 41 of file SideContactPlugin.cc.

void SideContactPlugin::OnContactsReceived ( ConstContactsPtr & _msg )

protectedvirtual

Callback that recieves the contact sensor's messages.

Definition at line 131 of file SideContactPlugin.cc.

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

protectedvirtual

Called when world update events are received.

Parameters

[in] _info Update information provided by the server.

Reimplemented in gazebo::KitTrayPlugin, gazebo::ConveyorBeltPlugin, and gazebo::ObjectDisposalPlugin.

Definition at line 139 of file SideContactPlugin.cc.

Member Data Documentation

std::string gazebo::SideContactPlugin::collisionName

protected

Name of the collision of the parent's link.

Definition at line 93 of file SideContactPlugin.hh.

std::set<physics::LinkPtr> gazebo::SideContactPlugin::contactingLinks

protected

Set of pointers to links that have collisions with the parent link's side.

Definition at line 99 of file SideContactPlugin.hh.

std::set<physics::ModelPtr> gazebo::SideContactPlugin::contactingModels

protected

Set of pointers to models that have collisions with the parent link's side.

Definition at line 102 of file SideContactPlugin.hh.

std::string gazebo::SideContactPlugin::contactSensorName

protected

Name of the contact sensor.

Definition at line 59 of file SideContactPlugin.hh.

transport::SubscriberPtr gazebo::SideContactPlugin::contactSub

protected

Subscriber for the contact topic.

Definition at line 81 of file SideContactPlugin.hh.

physics::ModelPtr gazebo::SideContactPlugin::model

protected

Pointer to the model.

Definition at line 75 of file SideContactPlugin.hh.

boost::mutex gazebo::SideContactPlugin::mutex

mutableprotected

Mutex for protecting contacts msg.

Definition at line 87 of file SideContactPlugin.hh.

msgs::Contacts gazebo::SideContactPlugin::newestContactsMsg

protected

Contacts msg received.

Definition at line 84 of file SideContactPlugin.hh.

bool gazebo::SideContactPlugin::newMsg

protected

Flag for new contacts message.

Definition at line 90 of file SideContactPlugin.hh.

transport::NodePtr gazebo::SideContactPlugin::node

protected

Pointer to this node for publishing/subscribing.

Definition at line 78 of file SideContactPlugin.hh.

physics::LinkPtr gazebo::SideContactPlugin::parentLink

protected

Pointer to the sensor's parent's link.

Definition at line 96 of file SideContactPlugin.hh.

sensors::ContactSensorPtr gazebo::SideContactPlugin::parentSensor

protected

Pointer to the contact sensor.

Definition at line 65 of file SideContactPlugin.hh.

std::string gazebo::SideContactPlugin::scopedContactSensorName

protected

Scoped name of the contact sensor.

Definition at line 62 of file SideContactPlugin.hh.

ignition::math::Vector3d gazebo::SideContactPlugin::sideNormal

protected

The normal, in local frame, to the side that is to have contacts monitored (default (0, 0, 1))

Definition at line 69 of file SideContactPlugin.hh.

event::ConnectionPtr gazebo::SideContactPlugin::updateConnection

protected

Pointer to the update event connection.

Definition at line 56 of file SideContactPlugin.hh.

physics::WorldPtr gazebo::SideContactPlugin::world

protected

Pointer to the world.

Definition at line 72 of file SideContactPlugin.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