#include <gazebo_ros_force_based_move.h>

Inheritance diagram for gazebo::GazeboRosForceBasedMove:

Public Member Functions
	GazeboRosForceBasedMove ()

void	Load (physics::ModelPtr parent, sdf::ElementPtr sdf)

	~GazeboRosForceBasedMove ()

Protected Member Functions
virtual void	FiniChild ()

virtual void	UpdateChild ()

Private Member Functions
void	cmdVelCallback (const geometry_msgs::Twist::ConstPtr &cmd_msg)

tf::Transform	getTransformForMotion (double linear_vel_x, double angular_vel, double timeSeconds) const

void	publishOdometry (double step_time)

void	QueueThread ()

Private Attributes
bool	alive_

boost::thread	callback_queue_thread_

std::string	command_topic_

double	force_x_velocity_p_gain_

double	force_y_velocity_p_gain_

math::Pose	last_odom_pose_

common::Time	last_odom_publish_time_

physics::LinkPtr	link_
	A pointer to the Link, where force is applied. More...

std::string	link_name_
	The Link this plugin is attached to, and will exert forces on. More...

boost::mutex	lock

nav_msgs::Odometry	odom_

tf::Transform	odom_transform_

std::string	odometry_frame_

ros::Publisher	odometry_pub_

double	odometry_rate_

std::string	odometry_topic_

physics::ModelPtr	parent_

bool	publish_odometry_tf_

ros::CallbackQueue	queue_

std::string	robot_base_frame_

std::string	robot_namespace_

boost::shared_ptr< ros::NodeHandle >	rosnode_

double	rot_

std::string	tf_prefix_

double	torque_yaw_velocity_p_gain_

boost::shared_ptr< tf::TransformBroadcaster >	transform_broadcaster_

event::ConnectionPtr	update_connection_

ros::Subscriber	vel_sub_

double	x_

double	y_

Detailed Description

Definition at line 48 of file gazebo_ros_force_based_move.h.

Constructor & Destructor Documentation

gazebo::GazeboRosForceBasedMove::GazeboRosForceBasedMove ( )

Definition at line 31 of file gazebo_ros_force_based_move.cpp.

gazebo::GazeboRosForceBasedMove::~GazeboRosForceBasedMove ( )

Definition at line 33 of file gazebo_ros_force_based_move.cpp.

Member Function Documentation

void gazebo::GazeboRosForceBasedMove::cmdVelCallback ( const geometry_msgs::Twist::ConstPtr & cmd_msg )

private

Definition at line 267 of file gazebo_ros_force_based_move.cpp.

void gazebo::GazeboRosForceBasedMove::FiniChild ( )

protectedvirtual

Definition at line 259 of file gazebo_ros_force_based_move.cpp.

tf::Transform gazebo::GazeboRosForceBasedMove::getTransformForMotion	(	double	linear_vel_x,
		double	angular_vel,
		double	timeSeconds
	)		const

private

Definition at line 361 of file gazebo_ros_force_based_move.cpp.

void gazebo::GazeboRosForceBasedMove::Load	(	physics::ModelPtr	parent,
		sdf::ElementPtr	sdf
	)

Definition at line 36 of file gazebo_ros_force_based_move.cpp.

void gazebo::GazeboRosForceBasedMove::publishOdometry ( double step_time )

private

Definition at line 285 of file gazebo_ros_force_based_move.cpp.

void gazebo::GazeboRosForceBasedMove::QueueThread ( )

private

Definition at line 276 of file gazebo_ros_force_based_move.cpp.

void gazebo::GazeboRosForceBasedMove::UpdateChild ( )

protectedvirtual

Definition at line 200 of file gazebo_ros_force_based_move.cpp.

Member Data Documentation

bool gazebo::GazeboRosForceBasedMove::alive_

private

Definition at line 103 of file gazebo_ros_force_based_move.h.

boost::thread gazebo::GazeboRosForceBasedMove::callback_queue_thread_

private

Definition at line 94 of file gazebo_ros_force_based_move.h.

std::string gazebo::GazeboRosForceBasedMove::command_topic_

private

Definition at line 85 of file gazebo_ros_force_based_move.h.

double gazebo::GazeboRosForceBasedMove::force_x_velocity_p_gain_

private

Definition at line 112 of file gazebo_ros_force_based_move.h.

double gazebo::GazeboRosForceBasedMove::force_y_velocity_p_gain_

private

Definition at line 113 of file gazebo_ros_force_based_move.h.

math::Pose gazebo::GazeboRosForceBasedMove::last_odom_pose_

private

Definition at line 108 of file gazebo_ros_force_based_move.h.

common::Time gazebo::GazeboRosForceBasedMove::last_odom_publish_time_

private

Definition at line 104 of file gazebo_ros_force_based_move.h.

physics::LinkPtr gazebo::GazeboRosForceBasedMove::link_

private

A pointer to the Link, where force is applied.

Definition at line 68 of file gazebo_ros_force_based_move.h.

std::string gazebo::GazeboRosForceBasedMove::link_name_

private

The Link this plugin is attached to, and will exert forces on.

Definition at line 71 of file gazebo_ros_force_based_move.h.

boost::mutex gazebo::GazeboRosForceBasedMove::lock

private

Definition at line 82 of file gazebo_ros_force_based_move.h.

nav_msgs::Odometry gazebo::GazeboRosForceBasedMove::odom_

private

Definition at line 77 of file gazebo_ros_force_based_move.h.

tf::Transform gazebo::GazeboRosForceBasedMove::odom_transform_

private

Definition at line 80 of file gazebo_ros_force_based_move.h.

std::string gazebo::GazeboRosForceBasedMove::odometry_frame_

private

Definition at line 87 of file gazebo_ros_force_based_move.h.

ros::Publisher gazebo::GazeboRosForceBasedMove::odometry_pub_

private

Definition at line 74 of file gazebo_ros_force_based_move.h.

double gazebo::GazeboRosForceBasedMove::odometry_rate_

private

Definition at line 89 of file gazebo_ros_force_based_move.h.

std::string gazebo::GazeboRosForceBasedMove::odometry_topic_

private

Definition at line 86 of file gazebo_ros_force_based_move.h.

physics::ModelPtr gazebo::GazeboRosForceBasedMove::parent_

private

Definition at line 64 of file gazebo_ros_force_based_move.h.

bool gazebo::GazeboRosForceBasedMove::publish_odometry_tf_

private

Definition at line 90 of file gazebo_ros_force_based_move.h.

ros::CallbackQueue gazebo::GazeboRosForceBasedMove::queue_

private

Definition at line 93 of file gazebo_ros_force_based_move.h.

std::string gazebo::GazeboRosForceBasedMove::robot_base_frame_

private

Definition at line 88 of file gazebo_ros_force_based_move.h.

std::string gazebo::GazeboRosForceBasedMove::robot_namespace_

private

Definition at line 84 of file gazebo_ros_force_based_move.h.

boost::shared_ptr<ros::NodeHandle> gazebo::GazeboRosForceBasedMove::rosnode_

private

Definition at line 73 of file gazebo_ros_force_based_move.h.

double gazebo::GazeboRosForceBasedMove::rot_

private

Definition at line 102 of file gazebo_ros_force_based_move.h.

std::string gazebo::GazeboRosForceBasedMove::tf_prefix_

private

Definition at line 78 of file gazebo_ros_force_based_move.h.

double gazebo::GazeboRosForceBasedMove::torque_yaw_velocity_p_gain_

private

Definition at line 111 of file gazebo_ros_force_based_move.h.

boost::shared_ptr<tf::TransformBroadcaster> gazebo::GazeboRosForceBasedMove::transform_broadcaster_

private

Definition at line 76 of file gazebo_ros_force_based_move.h.

event::ConnectionPtr gazebo::GazeboRosForceBasedMove::update_connection_

private

Definition at line 65 of file gazebo_ros_force_based_move.h.

ros::Subscriber gazebo::GazeboRosForceBasedMove::vel_sub_

private

Definition at line 75 of file gazebo_ros_force_based_move.h.

double gazebo::GazeboRosForceBasedMove::x_

private

Definition at line 100 of file gazebo_ros_force_based_move.h.

double gazebo::GazeboRosForceBasedMove::y_

private

Definition at line 101 of file gazebo_ros_force_based_move.h.

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

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation