gazebo::GazeboRosForce Class Reference

#include <gazebo_ros_force.h>

Inheritance diagram for gazebo::GazeboRosForce:

Public Member Functions
	GazeboRosForce ()
	Constructor. More...
virtual	~GazeboRosForce ()
	Destructor. More...

Protected Member Functions
void	Load (physics::ModelPtr _model, sdf::ElementPtr _sdf)
virtual void	UpdateChild ()

Private Member Functions
void	QueueThread ()
	The custom callback queue thread function. More...
void	UpdateObjectForce (const geometry_msgs::Wrench::ConstPtr &_msg)
	call back when a Wrench message is published More...

Private Attributes
boost::thread	callback_queue_thread_
	Thead object for the running callback Thread. More...
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_
	A mutex to lock access to fields that are used in ROS message callbacks. More...
ros::CallbackQueue	queue_
std::string	robot_namespace_
	for setting ROS name space More...
ros::NodeHandle *	rosnode_
	A pointer to the ROS node. A node will be instantiated if it does not exist. More...
ros::Subscriber	sub_
std::string	topic_name_
	ROS Wrench topic name inputs. More...
event::ConnectionPtr	update_connection_
physics::WorldPtr	world_
	A pointer to the gazebo world. More...
geometry_msgs::Wrench	wrench_msg_
	Container for the wrench force that this plugin exerts on the body. More...

Detailed Description

Definition at line 71 of file gazebo_ros_force.h.

Constructor & Destructor Documentation

GazeboRosForce()

gazebo::GazeboRosForce::GazeboRosForce

(

)

Constructor.

Definition at line 35 of file gazebo_ros_force.cpp.

~GazeboRosForce()

gazebo::GazeboRosForce::~GazeboRosForce ( )

virtual

Destructor.

Definition at line 47 of file gazebo_ros_force.cpp.

Member Function Documentation

Load()

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

protected

Definition at line 62 of file gazebo_ros_force.cpp.

QueueThread()

void gazebo::GazeboRosForce::QueueThread ( )

private

The custom callback queue thread function.

Definition at line 157 of file gazebo_ros_force.cpp.

UpdateChild()

void gazebo::GazeboRosForce::UpdateChild ( )

protectedvirtual

Definition at line 144 of file gazebo_ros_force.cpp.

UpdateObjectForce()

void gazebo::GazeboRosForce::UpdateObjectForce ( const geometry_msgs::Wrench::ConstPtr &  _msg )

private

call back when a Wrench message is published

Parameters

[in]

_msg

The Incoming ROS message representing the new force to exert.

Definition at line 132 of file gazebo_ros_force.cpp.

Member Data Documentation

callback_queue_thread_

boost::thread gazebo::GazeboRosForce::callback_queue_thread_

private

Thead object for the running callback Thread.

Definition at line 116 of file gazebo_ros_force.h.

link_

physics::LinkPtr gazebo::GazeboRosForce::link_

private

A pointer to the Link, where force is applied.

Definition at line 96 of file gazebo_ros_force.h.

link_name_

std::string gazebo::GazeboRosForce::link_name_

private

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

Definition at line 108 of file gazebo_ros_force.h.

lock_

boost::mutex gazebo::GazeboRosForce::lock_

private

A mutex to lock access to fields that are used in ROS message callbacks.

Definition at line 103 of file gazebo_ros_force.h.

queue_

ros::CallbackQueue gazebo::GazeboRosForce::queue_

private

Definition at line 114 of file gazebo_ros_force.h.

robot_namespace_

std::string gazebo::GazeboRosForce::robot_namespace_

private

for setting ROS name space

Definition at line 111 of file gazebo_ros_force.h.

rosnode_

ros::NodeHandle* gazebo::GazeboRosForce::rosnode_

private

A pointer to the ROS node. A node will be instantiated if it does not exist.

Definition at line 99 of file gazebo_ros_force.h.

sub_

ros::Subscriber gazebo::GazeboRosForce::sub_

private

Definition at line 100 of file gazebo_ros_force.h.

topic_name_

std::string gazebo::GazeboRosForce::topic_name_

private

ROS Wrench topic name inputs.

Definition at line 106 of file gazebo_ros_force.h.

update_connection_

event::ConnectionPtr gazebo::GazeboRosForce::update_connection_

private

Definition at line 121 of file gazebo_ros_force.h.

world_

physics::WorldPtr gazebo::GazeboRosForce::world_

private

A pointer to the gazebo world.

Definition at line 93 of file gazebo_ros_force.h.

wrench_msg_

geometry_msgs::Wrench gazebo::GazeboRosForce::wrench_msg_

private

Container for the wrench force that this plugin exerts on the body.

Definition at line 118 of file gazebo_ros_force.h.

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

• gazebo_ros_force.h
• gazebo_ros_force.cpp