Public Member Functions | Protected Member Functions | Private Member Functions | Private Attributes | List of all members
gazebo::GazeboRosForceBasedMove Class Reference

#include <gazebo_ros_force_based_move.h>

Inheritance diagram for gazebo::GazeboRosForceBasedMove:
Inheritance graph
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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 linear_vel_y, double angular_vel, double timeSeconds) const
 
void publishOdometry (double step_time)
 
void QueueThread ()
 

Private Attributes

bool alive_
 
bool allow_lateral_motion_
 
boost::thread callback_queue_thread_
 
std::string command_topic_
 
double commandTimeoutDuration_
 
double force_x_velocity_p_gain_
 
double force_y_velocity_p_gain_
 
ros::Time last_cmd_time_
 
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

◆ GazeboRosForceBasedMove()

gazebo::GazeboRosForceBasedMove::GazeboRosForceBasedMove ( )

Definition at line 31 of file gazebo_ros_force_based_move.cpp.

◆ ~GazeboRosForceBasedMove()

gazebo::GazeboRosForceBasedMove::~GazeboRosForceBasedMove ( )

Definition at line 33 of file gazebo_ros_force_based_move.cpp.

Member Function Documentation

◆ cmdVelCallback()

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

Definition at line 294 of file gazebo_ros_force_based_move.cpp.

◆ FiniChild()

void gazebo::GazeboRosForceBasedMove::FiniChild ( )
protectedvirtual

Definition at line 286 of file gazebo_ros_force_based_move.cpp.

◆ getTransformForMotion()

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

Definition at line 396 of file gazebo_ros_force_based_move.cpp.

◆ Load()

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

Definition at line 36 of file gazebo_ros_force_based_move.cpp.

◆ publishOdometry()

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

Definition at line 318 of file gazebo_ros_force_based_move.cpp.

◆ QueueThread()

void gazebo::GazeboRosForceBasedMove::QueueThread ( )
private

Definition at line 309 of file gazebo_ros_force_based_move.cpp.

◆ UpdateChild()

void gazebo::GazeboRosForceBasedMove::UpdateChild ( )
protectedvirtual

Definition at line 218 of file gazebo_ros_force_based_move.cpp.

Member Data Documentation

◆ alive_

bool gazebo::GazeboRosForceBasedMove::alive_
private

Definition at line 108 of file gazebo_ros_force_based_move.h.

◆ allow_lateral_motion_

bool gazebo::GazeboRosForceBasedMove::allow_lateral_motion_
private

Definition at line 105 of file gazebo_ros_force_based_move.h.

◆ callback_queue_thread_

boost::thread gazebo::GazeboRosForceBasedMove::callback_queue_thread_
private

Definition at line 94 of file gazebo_ros_force_based_move.h.

◆ command_topic_

std::string gazebo::GazeboRosForceBasedMove::command_topic_
private

Definition at line 85 of file gazebo_ros_force_based_move.h.

◆ commandTimeoutDuration_

double gazebo::GazeboRosForceBasedMove::commandTimeoutDuration_
private

Definition at line 106 of file gazebo_ros_force_based_move.h.

◆ force_x_velocity_p_gain_

double gazebo::GazeboRosForceBasedMove::force_x_velocity_p_gain_
private

Definition at line 117 of file gazebo_ros_force_based_move.h.

◆ force_y_velocity_p_gain_

double gazebo::GazeboRosForceBasedMove::force_y_velocity_p_gain_
private

Definition at line 118 of file gazebo_ros_force_based_move.h.

◆ last_cmd_time_

ros::Time gazebo::GazeboRosForceBasedMove::last_cmd_time_
private

Definition at line 96 of file gazebo_ros_force_based_move.h.

◆ last_odom_pose_

math::Pose gazebo::GazeboRosForceBasedMove::last_odom_pose_
private

Definition at line 113 of file gazebo_ros_force_based_move.h.

◆ last_odom_publish_time_

common::Time gazebo::GazeboRosForceBasedMove::last_odom_publish_time_
private

Definition at line 109 of file gazebo_ros_force_based_move.h.

◆ link_

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.

◆ link_name_

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.

◆ lock

boost::mutex gazebo::GazeboRosForceBasedMove::lock
private

Definition at line 82 of file gazebo_ros_force_based_move.h.

◆ odom_

nav_msgs::Odometry gazebo::GazeboRosForceBasedMove::odom_
private

Definition at line 77 of file gazebo_ros_force_based_move.h.

◆ odom_transform_

tf::Transform gazebo::GazeboRosForceBasedMove::odom_transform_
private

Definition at line 80 of file gazebo_ros_force_based_move.h.

◆ odometry_frame_

std::string gazebo::GazeboRosForceBasedMove::odometry_frame_
private

Definition at line 87 of file gazebo_ros_force_based_move.h.

◆ odometry_pub_

ros::Publisher gazebo::GazeboRosForceBasedMove::odometry_pub_
private

Definition at line 74 of file gazebo_ros_force_based_move.h.

◆ odometry_rate_

double gazebo::GazeboRosForceBasedMove::odometry_rate_
private

Definition at line 89 of file gazebo_ros_force_based_move.h.

◆ odometry_topic_

std::string gazebo::GazeboRosForceBasedMove::odometry_topic_
private

Definition at line 86 of file gazebo_ros_force_based_move.h.

◆ parent_

physics::ModelPtr gazebo::GazeboRosForceBasedMove::parent_
private

Definition at line 64 of file gazebo_ros_force_based_move.h.

◆ publish_odometry_tf_

bool gazebo::GazeboRosForceBasedMove::publish_odometry_tf_
private

Definition at line 90 of file gazebo_ros_force_based_move.h.

◆ queue_

ros::CallbackQueue gazebo::GazeboRosForceBasedMove::queue_
private

Definition at line 93 of file gazebo_ros_force_based_move.h.

◆ robot_base_frame_

std::string gazebo::GazeboRosForceBasedMove::robot_base_frame_
private

Definition at line 88 of file gazebo_ros_force_based_move.h.

◆ robot_namespace_

std::string gazebo::GazeboRosForceBasedMove::robot_namespace_
private

Definition at line 84 of file gazebo_ros_force_based_move.h.

◆ rosnode_

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

Definition at line 73 of file gazebo_ros_force_based_move.h.

◆ rot_

double gazebo::GazeboRosForceBasedMove::rot_
private

Definition at line 103 of file gazebo_ros_force_based_move.h.

◆ tf_prefix_

std::string gazebo::GazeboRosForceBasedMove::tf_prefix_
private

Definition at line 78 of file gazebo_ros_force_based_move.h.

◆ torque_yaw_velocity_p_gain_

double gazebo::GazeboRosForceBasedMove::torque_yaw_velocity_p_gain_
private

Definition at line 116 of file gazebo_ros_force_based_move.h.

◆ transform_broadcaster_

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

Definition at line 76 of file gazebo_ros_force_based_move.h.

◆ update_connection_

event::ConnectionPtr gazebo::GazeboRosForceBasedMove::update_connection_
private

Definition at line 65 of file gazebo_ros_force_based_move.h.

◆ vel_sub_

ros::Subscriber gazebo::GazeboRosForceBasedMove::vel_sub_
private

Definition at line 75 of file gazebo_ros_force_based_move.h.

◆ x_

double gazebo::GazeboRosForceBasedMove::x_
private

Definition at line 101 of file gazebo_ros_force_based_move.h.

◆ y_

double gazebo::GazeboRosForceBasedMove::y_
private

Definition at line 102 of file gazebo_ros_force_based_move.h.

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

hector_gazebo_plugins
Author(s): Stefan Kohlbrecher , Johannes Meyer
autogenerated on Thu Nov 3 2022 02:36:07