#include <usv_gazebo_thrust_plugin.hh>
Public Member Functions | |
| void | OnThrustAngle (const std_msgs::Float32::ConstPtr &_msg) |
| Callback for new thrust angle commands. More... | |
| void | OnThrustCmd (const std_msgs::Float32::ConstPtr &_msg) |
| Callback for new thrust commands. More... | |
| Thruster (UsvThrust *_parent) | |
| Constructor. More... | |
Public Attributes | |
| ros::Subscriber | angleSub |
| Subscription to thruster commands. More... | |
| std::string | angleTopic |
| Topic name for incoming ROS thruster angle commands. More... | |
| ros::Subscriber | cmdSub |
| Subscription to thruster commands. More... | |
| std::string | cmdTopic |
| Topic name for incoming ROS thruster commands. More... | |
| double | currCmd |
| Current, most recent command. More... | |
| double | desiredAngle |
| Most recent desired angle. More... | |
| bool | enableAngle |
| If true, thruster will have adjustable angle. If false, thruster will have constant angle. More... | |
| physics::JointPtr | engineJoint |
| Joint controlling the engine. More... | |
| common::PID | engineJointPID |
| PID for engine joint angle. More... | |
| common::Time | lastAngleUpdateTime |
| Last time of update. More... | |
| common::Time | lastCmdTime |
| Last time received a command via ROS topic. More... | |
| physics::LinkPtr | link |
| Link where thrust force is applied. More... | |
| int | mappingType |
| Thruster mapping (0=linear; 1=GLF, nonlinear). More... | |
| double | maxAngle |
| Maximum abs val of angle. More... | |
| double | maxCmd |
| Maximum abs val of incoming command. More... | |
| double | maxForceFwd |
| Max forward force in Newtons. More... | |
| double | maxForceRev |
| Max reverse force in Newtons. More... | |
| physics::JointPtr | propJoint |
| Joint controlling the propeller. More... | |
Protected Attributes | |
| UsvThrust * | plugin |
| Plugin parent pointer - for accessing world, etc. More... | |
Thruster class.
Definition at line 40 of file usv_gazebo_thrust_plugin.hh.
|
explicit |
Constructor.
| [in] | _parent | Pointer to an SDF element to parse. |
Definition at line 29 of file usv_gazebo_thrust_plugin.cc.
| void Thruster::OnThrustAngle | ( | const std_msgs::Float32::ConstPtr & | _msg | ) |
Callback for new thrust angle commands.
| [in] | _msg | The thrust angle message to process. |
Definition at line 59 of file usv_gazebo_thrust_plugin.cc.
| void Thruster::OnThrustCmd | ( | const std_msgs::Float32::ConstPtr & | _msg | ) |
Callback for new thrust commands.
| [in] | _msg | The thrust message to process. |
Definition at line 45 of file usv_gazebo_thrust_plugin.cc.
| ros::Subscriber gazebo::Thruster::angleSub |
Subscription to thruster commands.
Definition at line 86 of file usv_gazebo_thrust_plugin.hh.
| std::string gazebo::Thruster::angleTopic |
Topic name for incoming ROS thruster angle commands.
Definition at line 83 of file usv_gazebo_thrust_plugin.hh.
| ros::Subscriber gazebo::Thruster::cmdSub |
Subscription to thruster commands.
Definition at line 76 of file usv_gazebo_thrust_plugin.hh.
| std::string gazebo::Thruster::cmdTopic |
Topic name for incoming ROS thruster commands.
Definition at line 73 of file usv_gazebo_thrust_plugin.hh.
| double gazebo::Thruster::currCmd |
Current, most recent command.
Definition at line 89 of file usv_gazebo_thrust_plugin.hh.
| double gazebo::Thruster::desiredAngle |
Most recent desired angle.
Definition at line 92 of file usv_gazebo_thrust_plugin.hh.
| bool gazebo::Thruster::enableAngle |
If true, thruster will have adjustable angle. If false, thruster will have constant angle.
Definition at line 80 of file usv_gazebo_thrust_plugin.hh.
| physics::JointPtr gazebo::Thruster::engineJoint |
Joint controlling the engine.
Definition at line 104 of file usv_gazebo_thrust_plugin.hh.
| common::PID gazebo::Thruster::engineJointPID |
PID for engine joint angle.
Definition at line 107 of file usv_gazebo_thrust_plugin.hh.
| common::Time gazebo::Thruster::lastAngleUpdateTime |
Last time of update.
Definition at line 98 of file usv_gazebo_thrust_plugin.hh.
| common::Time gazebo::Thruster::lastCmdTime |
Last time received a command via ROS topic.
Definition at line 95 of file usv_gazebo_thrust_plugin.hh.
| physics::LinkPtr gazebo::Thruster::link |
Link where thrust force is applied.
Definition at line 67 of file usv_gazebo_thrust_plugin.hh.
| int gazebo::Thruster::mappingType |
Thruster mapping (0=linear; 1=GLF, nonlinear).
Definition at line 70 of file usv_gazebo_thrust_plugin.hh.
| double gazebo::Thruster::maxAngle |
Maximum abs val of angle.
Definition at line 64 of file usv_gazebo_thrust_plugin.hh.
| double gazebo::Thruster::maxCmd |
Maximum abs val of incoming command.
Definition at line 55 of file usv_gazebo_thrust_plugin.hh.
| double gazebo::Thruster::maxForceFwd |
Max forward force in Newtons.
Definition at line 58 of file usv_gazebo_thrust_plugin.hh.
| double gazebo::Thruster::maxForceRev |
Max reverse force in Newtons.
Definition at line 61 of file usv_gazebo_thrust_plugin.hh.
|
protected |
Plugin parent pointer - for accessing world, etc.
Definition at line 110 of file usv_gazebo_thrust_plugin.hh.
| physics::JointPtr gazebo::Thruster::propJoint |
Joint controlling the propeller.
Definition at line 101 of file usv_gazebo_thrust_plugin.hh.