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

#include <gazebo_motor_model.h>

Inheritance diagram for gazebo::GazeboMotorModel:
Inheritance graph
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Public Member Functions

 GazeboMotorModel ()
 
virtual void InitializeParams ()
 
virtual void Publish ()
 
virtual ~GazeboMotorModel ()
 
- Public Member Functions inherited from MotorModel
void GetMotorVelocity (double &result) const
 
 MotorModel ()
 
void SetReferenceMotorVelocity (double ref_motor_rot_vel)
 
virtual ~MotorModel ()
 

Protected Member Functions

virtual void Load (physics::ModelPtr _model, sdf::ElementPtr _sdf)
 
virtual void OnUpdate (const common::UpdateInfo &)
 
virtual void UpdateForcesAndMoments ()
 

Private Member Functions

void ControlCommandCallback (GzCommandMotorInputMsgPtr &command_motor_input_msg)
 
void CreatePubsAndSubs ()
 Creates all required publishers and subscribers, incl. routing of messages to/from ROS if required. More...
 
double NormalizeAngle (double input)
 Ensures any input angle is element of [0..2pi) More...
 
void QueueThread ()
 
void WindSpeedCallback (GzWindSpeedMsgPtr &wind_speed_msg)
 

Private Attributes

boost::thread callback_queue_thread_
 
gazebo::transport::SubscriberPtr command_sub_
 
std::string command_sub_topic_
 
gz_std_msgs::Float32 force_msg_
 
physics::JointPtr joint_
 
std::string joint_name_
 
physics::LinkPtr link_
 
std::string link_name_
 
double max_force_
 
double max_rot_velocity_
 
physics::ModelPtr model_
 
double moment_constant_
 
double motor_constant_
 
gazebo::transport::PublisherPtr motor_force_pub_
 
std::string motor_force_pub_topic_
 
int motor_number_
 
gazebo::transport::PublisherPtr motor_position_pub_
 
std::string motor_position_pub_topic_
 
std::string motor_speed_pub_topic_
 
MotorType motor_type_
 
gazebo::transport::PublisherPtr motor_velocity_pub_
 
std::string namespace_
 
gazebo::transport::NodePtr node_handle_
 
common::PID pids_
 
gz_std_msgs::Float32 position_msg_
 
bool publish_force_
 
bool publish_position_
 
bool publish_speed_
 
bool pubs_and_subs_created_
 Flag that is set to true once CreatePubsAndSubs() is called, used to prevent CreatePubsAndSubs() from be called on every OnUpdate(). More...
 
double ref_motor_input_
 
double rolling_moment_coefficient_
 
double rotor_drag_coefficient_
 
std::unique_ptr< FirstOrderFilter< double > > rotor_velocity_filter_
 
double rotor_velocity_slowdown_sim_
 
double time_constant_down_
 
double time_constant_up_
 
int turning_direction_
 
gz_std_msgs::Float32 turning_velocity_msg_
 
event::ConnectionPtr updateConnection_
 Pointer to the update event connection. More...
 
gazebo::transport::SubscriberPtr wind_speed_sub_
 
std::string wind_speed_sub_topic_
 
ignition::math::Vector3d wind_speed_W_
 

Additional Inherited Members

- Protected Attributes inherited from MotorModel
double motor_rot_vel_
 
double prev_ref_motor_rot_vel_
 
double prev_sim_time_
 
double ref_motor_rot_vel_
 
double sampling_time_
 

Detailed Description

Definition at line 72 of file gazebo_motor_model.h.

Constructor & Destructor Documentation

◆ GazeboMotorModel()

gazebo::GazeboMotorModel::GazeboMotorModel ( )
inline

Definition at line 75 of file gazebo_motor_model.h.

◆ ~GazeboMotorModel()

gazebo::GazeboMotorModel::~GazeboMotorModel ( )
virtual

Definition at line 29 of file gazebo_motor_model.cpp.

Member Function Documentation

◆ ControlCommandCallback()

void gazebo::GazeboMotorModel::ControlCommandCallback ( GzCommandMotorInputMsgPtr &  command_motor_input_msg)
private

Definition at line 332 of file gazebo_motor_model.cpp.

◆ CreatePubsAndSubs()

void gazebo::GazeboMotorModel::CreatePubsAndSubs ( )
private

Creates all required publishers and subscribers, incl. routing of messages to/from ROS if required.

Call this once the first time OnUpdate() is called (can't be called from Load() because there is no guarantee GazeboRosInterfacePlugin has has loaded and listening to ConnectGazeboToRosTopic and ConnectRosToGazeboTopic messages).

TODO(gbmhunter): Do we need this? There is a separate Gazebo wind plugin.

Definition at line 228 of file gazebo_motor_model.cpp.

◆ InitializeParams()

void gazebo::GazeboMotorModel::InitializeParams ( )
virtual

Implements MotorModel.

Definition at line 32 of file gazebo_motor_model.cpp.

◆ Load()

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

Definition at line 49 of file gazebo_motor_model.cpp.

◆ NormalizeAngle()

double gazebo::GazeboMotorModel::NormalizeAngle ( double  input)
private

Ensures any input angle is element of [0..2pi)

Definition at line 371 of file gazebo_motor_model.cpp.

◆ OnUpdate()

void gazebo::GazeboMotorModel::OnUpdate ( const common::UpdateInfo &  _info)
protectedvirtual

Definition at line 212 of file gazebo_motor_model.cpp.

◆ Publish()

void gazebo::GazeboMotorModel::Publish ( )
virtual

Implements MotorModel.

Definition at line 34 of file gazebo_motor_model.cpp.

◆ QueueThread()

void gazebo::GazeboMotorModel::QueueThread ( )
private

◆ UpdateForcesAndMoments()

void gazebo::GazeboMotorModel::UpdateForcesAndMoments ( )
protectedvirtual

Implements MotorModel.

Definition at line 390 of file gazebo_motor_model.cpp.

◆ WindSpeedCallback()

void gazebo::GazeboMotorModel::WindSpeedCallback ( GzWindSpeedMsgPtr &  wind_speed_msg)
private

Definition at line 359 of file gazebo_motor_model.cpp.

Member Data Documentation

◆ callback_queue_thread_

boost::thread gazebo::GazeboMotorModel::callback_queue_thread_
private

Definition at line 176 of file gazebo_motor_model.h.

◆ command_sub_

gazebo::transport::SubscriberPtr gazebo::GazeboMotorModel::command_sub_
private

Definition at line 165 of file gazebo_motor_model.h.

◆ command_sub_topic_

std::string gazebo::GazeboMotorModel::command_sub_topic_
private

Definition at line 127 of file gazebo_motor_model.h.

◆ force_msg_

gz_std_msgs::Float32 gazebo::GazeboMotorModel::force_msg_
private

Definition at line 182 of file gazebo_motor_model.h.

◆ joint_

physics::JointPtr gazebo::GazeboMotorModel::joint_
private

Definition at line 170 of file gazebo_motor_model.h.

◆ joint_name_

std::string gazebo::GazeboMotorModel::joint_name_
private

Definition at line 129 of file gazebo_motor_model.h.

◆ link_

physics::LinkPtr gazebo::GazeboMotorModel::link_
private

Definition at line 171 of file gazebo_motor_model.h.

◆ link_name_

std::string gazebo::GazeboMotorModel::link_name_
private

Definition at line 130 of file gazebo_motor_model.h.

◆ max_force_

double gazebo::GazeboMotorModel::max_force_
private

Definition at line 144 of file gazebo_motor_model.h.

◆ max_rot_velocity_

double gazebo::GazeboMotorModel::max_rot_velocity_
private

Definition at line 145 of file gazebo_motor_model.h.

◆ model_

physics::ModelPtr gazebo::GazeboMotorModel::model_
private

Definition at line 169 of file gazebo_motor_model.h.

◆ moment_constant_

double gazebo::GazeboMotorModel::moment_constant_
private

Definition at line 146 of file gazebo_motor_model.h.

◆ motor_constant_

double gazebo::GazeboMotorModel::motor_constant_
private

Definition at line 147 of file gazebo_motor_model.h.

◆ motor_force_pub_

gazebo::transport::PublisherPtr gazebo::GazeboMotorModel::motor_force_pub_
private

Definition at line 163 of file gazebo_motor_model.h.

◆ motor_force_pub_topic_

std::string gazebo::GazeboMotorModel::motor_force_pub_topic_
private

Definition at line 133 of file gazebo_motor_model.h.

◆ motor_number_

int gazebo::GazeboMotorModel::motor_number_
private

Definition at line 140 of file gazebo_motor_model.h.

◆ motor_position_pub_

gazebo::transport::PublisherPtr gazebo::GazeboMotorModel::motor_position_pub_
private

Definition at line 161 of file gazebo_motor_model.h.

◆ motor_position_pub_topic_

std::string gazebo::GazeboMotorModel::motor_position_pub_topic_
private

Definition at line 132 of file gazebo_motor_model.h.

◆ motor_speed_pub_topic_

std::string gazebo::GazeboMotorModel::motor_speed_pub_topic_
private

Definition at line 131 of file gazebo_motor_model.h.

◆ motor_type_

MotorType gazebo::GazeboMotorModel::motor_type_
private

Definition at line 142 of file gazebo_motor_model.h.

◆ motor_velocity_pub_

gazebo::transport::PublisherPtr gazebo::GazeboMotorModel::motor_velocity_pub_
private

Definition at line 159 of file gazebo_motor_model.h.

◆ namespace_

std::string gazebo::GazeboMotorModel::namespace_
private

Definition at line 134 of file gazebo_motor_model.h.

◆ node_handle_

gazebo::transport::NodePtr gazebo::GazeboMotorModel::node_handle_
private

Definition at line 157 of file gazebo_motor_model.h.

◆ pids_

common::PID gazebo::GazeboMotorModel::pids_
private

Definition at line 155 of file gazebo_motor_model.h.

◆ position_msg_

gz_std_msgs::Float32 gazebo::GazeboMotorModel::position_msg_
private

Definition at line 181 of file gazebo_motor_model.h.

◆ publish_force_

bool gazebo::GazeboMotorModel::publish_force_
private

Definition at line 138 of file gazebo_motor_model.h.

◆ publish_position_

bool gazebo::GazeboMotorModel::publish_position_
private

Definition at line 137 of file gazebo_motor_model.h.

◆ publish_speed_

bool gazebo::GazeboMotorModel::publish_speed_
private

Definition at line 136 of file gazebo_motor_model.h.

◆ pubs_and_subs_created_

bool gazebo::GazeboMotorModel::pubs_and_subs_created_
private

Flag that is set to true once CreatePubsAndSubs() is called, used to prevent CreatePubsAndSubs() from be called on every OnUpdate().

Definition at line 116 of file gazebo_motor_model.h.

◆ ref_motor_input_

double gazebo::GazeboMotorModel::ref_motor_input_
private

Definition at line 148 of file gazebo_motor_model.h.

◆ rolling_moment_coefficient_

double gazebo::GazeboMotorModel::rolling_moment_coefficient_
private

Definition at line 149 of file gazebo_motor_model.h.

◆ rotor_drag_coefficient_

double gazebo::GazeboMotorModel::rotor_drag_coefficient_
private

Definition at line 150 of file gazebo_motor_model.h.

◆ rotor_velocity_filter_

std::unique_ptr<FirstOrderFilter<double> > gazebo::GazeboMotorModel::rotor_velocity_filter_
private

Definition at line 188 of file gazebo_motor_model.h.

◆ rotor_velocity_slowdown_sim_

double gazebo::GazeboMotorModel::rotor_velocity_slowdown_sim_
private

Definition at line 151 of file gazebo_motor_model.h.

◆ time_constant_down_

double gazebo::GazeboMotorModel::time_constant_down_
private

Definition at line 152 of file gazebo_motor_model.h.

◆ time_constant_up_

double gazebo::GazeboMotorModel::time_constant_up_
private

Definition at line 153 of file gazebo_motor_model.h.

◆ turning_direction_

int gazebo::GazeboMotorModel::turning_direction_
private

Definition at line 141 of file gazebo_motor_model.h.

◆ turning_velocity_msg_

gz_std_msgs::Float32 gazebo::GazeboMotorModel::turning_velocity_msg_
private

Definition at line 180 of file gazebo_motor_model.h.

◆ updateConnection_

event::ConnectionPtr gazebo::GazeboMotorModel::updateConnection_
private

Pointer to the update event connection.

Definition at line 174 of file gazebo_motor_model.h.

◆ wind_speed_sub_

gazebo::transport::SubscriberPtr gazebo::GazeboMotorModel::wind_speed_sub_
private

Definition at line 167 of file gazebo_motor_model.h.

◆ wind_speed_sub_topic_

std::string gazebo::GazeboMotorModel::wind_speed_sub_topic_
private

Definition at line 128 of file gazebo_motor_model.h.

◆ wind_speed_W_

ignition::math::Vector3d gazebo::GazeboMotorModel::wind_speed_W_
private

Definition at line 189 of file gazebo_motor_model.h.

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

rotors_gazebo_plugins
Author(s): Fadri Furrer, Michael Burri, Mina Kamel, Janosch Nikolic, Markus Achtelik
autogenerated on Mon Feb 28 2022 23:39:04