#include <gazebo_ros_p3d.h>

Inheritance diagram for gazebo::GazeboRosP3D:

Public Member Functions
	GazeboRosP3D ()
	Constructor. More...

void	Load (physics::ModelPtr _parent, sdf::ElementPtr _sdf)
	Load the controller. More...

virtual	~GazeboRosP3D ()
	Destructor. More...

Protected Member Functions
virtual void	UpdateChild ()
	Update the controller. More...

Private Member Functions
double	GaussianKernel (double mu, double sigma)
	Gaussian noise generator. More...

void	P3DQueueThread ()

Private Attributes
ignition::math::Vector3d	aeul_

ignition::math::Vector3d	apos_

boost::thread	callback_queue_thread_

ignition::math::Vector3d	frame_aeul_

ignition::math::Vector3d	frame_apos_

std::string	frame_name_
	frame transform name, should match link name FIXME: extract link name directly? More...

double	gaussian_noise_
	Gaussian noise. More...

ignition::math::Vector3d	last_frame_veul_

ignition::math::Vector3d	last_frame_vpos_

common::Time	last_time_
	save last_time More...

ignition::math::Vector3d	last_veul_

ignition::math::Vector3d	last_vpos_

physics::LinkPtr	link_
	The parent Model. More...

std::string	link_name_
	store bodyname More...

bool	local_twist_
	Compute twist in the local coordinate frame. More...

boost::mutex	lock
	mutex to lock access to fields used in message callbacks More...

physics::ModelPtr	model_

ignition::math::Pose3d	offset_
	allow specifying constant xyz and rpy offsets More...

ros::CallbackQueue	p3d_queue_

PubMultiQueue	pmq

nav_msgs::Odometry	pose_msg_
	ros message More...

ros::Publisher	pub_

PubQueue< nav_msgs::Odometry >::Ptr	pub_Queue

physics::LinkPtr	reference_link_
	The body of the frame to display pose, twist. More...

std::string	robot_namespace_
	for setting ROS name space More...

ros::NodeHandle *	rosnode_
	pointer to ros node More...

std::string	tf_frame_name_

std::string	topic_name_
	topic name More...

event::ConnectionPtr	update_connection_

double	update_rate_

physics::WorldPtr	world_

Detailed Description

Definition at line 48 of file gazebo_ros_p3d.h.

Constructor & Destructor Documentation

◆ GazeboRosP3D()

gazebo::GazeboRosP3D::GazeboRosP3D ( )

Constructor.

Definition at line 34 of file gazebo_ros_p3d.cpp.

◆ ~GazeboRosP3D()

gazebo::GazeboRosP3D::~GazeboRosP3D ( )

virtual

Destructor.

Definition at line 40 of file gazebo_ros_p3d.cpp.

Member Function Documentation

◆ GaussianKernel()

double gazebo::GazeboRosP3D::GaussianKernel	(	double	mu,
		double	sigma
	)

private

Gaussian noise generator.

Definition at line 397 of file gazebo_ros_p3d.cpp.

◆ Load()

void gazebo::GazeboRosP3D::Load	(	physics::ModelPtr	_parent,
		sdf::ElementPtr	_sdf
	)

Load the controller.

Definition at line 53 of file gazebo_ros_p3d.cpp.

◆ P3DQueueThread()

void gazebo::GazeboRosP3D::P3DQueueThread ( )

private

Definition at line 419 of file gazebo_ros_p3d.cpp.

◆ UpdateChild()

void gazebo::GazeboRosP3D::UpdateChild ( )

protectedvirtual

Update the controller.

Todo:: : let user set separate linear and angular covariance values.

Definition at line 224 of file gazebo_ros_p3d.cpp.

Member Data Documentation

◆ aeul_

ignition::math::Vector3d gazebo::GazeboRosP3D::aeul_

private

Definition at line 105 of file gazebo_ros_p3d.h.

◆ apos_

ignition::math::Vector3d gazebo::GazeboRosP3D::apos_

private

Definition at line 104 of file gazebo_ros_p3d.h.

◆ callback_queue_thread_

boost::thread gazebo::GazeboRosP3D::callback_queue_thread_

private

Definition at line 125 of file gazebo_ros_p3d.h.

◆ frame_aeul_

ignition::math::Vector3d gazebo::GazeboRosP3D::frame_aeul_

private

Definition at line 109 of file gazebo_ros_p3d.h.

◆ frame_apos_

ignition::math::Vector3d gazebo::GazeboRosP3D::frame_apos_

private

Definition at line 108 of file gazebo_ros_p3d.h.

◆ frame_name_

std::string gazebo::GazeboRosP3D::frame_name_

private

frame transform name, should match link name FIXME: extract link name directly?

Definition at line 91 of file gazebo_ros_p3d.h.

◆ gaussian_noise_

double gazebo::GazeboRosP3D::gaussian_noise_

private

Gaussian noise.

Definition at line 115 of file gazebo_ros_p3d.h.

◆ last_frame_veul_

ignition::math::Vector3d gazebo::GazeboRosP3D::last_frame_veul_

private

Definition at line 107 of file gazebo_ros_p3d.h.

◆ last_frame_vpos_

ignition::math::Vector3d gazebo::GazeboRosP3D::last_frame_vpos_

private

Definition at line 106 of file gazebo_ros_p3d.h.

◆ last_time_

common::Time gazebo::GazeboRosP3D::last_time_

private

save last_time

Definition at line 101 of file gazebo_ros_p3d.h.

◆ last_veul_

ignition::math::Vector3d gazebo::GazeboRosP3D::last_veul_

private

Definition at line 103 of file gazebo_ros_p3d.h.

◆ last_vpos_

ignition::math::Vector3d gazebo::GazeboRosP3D::last_vpos_

private

Definition at line 102 of file gazebo_ros_p3d.h.

◆ link_

physics::LinkPtr gazebo::GazeboRosP3D::link_

private

The parent Model.

Definition at line 66 of file gazebo_ros_p3d.h.

◆ link_name_

std::string gazebo::GazeboRosP3D::link_name_

private

store bodyname

Definition at line 84 of file gazebo_ros_p3d.h.

◆ local_twist_

bool gazebo::GazeboRosP3D::local_twist_

private

Compute twist in the local coordinate frame.

Definition at line 72 of file gazebo_ros_p3d.h.

◆ lock

boost::mutex gazebo::GazeboRosP3D::lock

private

mutex to lock access to fields used in message callbacks

Definition at line 98 of file gazebo_ros_p3d.h.

◆ model_

physics::ModelPtr gazebo::GazeboRosP3D::model_

private

Definition at line 63 of file gazebo_ros_p3d.h.

◆ offset_

ignition::math::Pose3d gazebo::GazeboRosP3D::offset_

private

allow specifying constant xyz and rpy offsets

Definition at line 95 of file gazebo_ros_p3d.h.

◆ p3d_queue_

ros::CallbackQueue gazebo::GazeboRosP3D::p3d_queue_

private

Definition at line 123 of file gazebo_ros_p3d.h.

◆ pmq

PubMultiQueue gazebo::GazeboRosP3D::pmq

private

Definition at line 131 of file gazebo_ros_p3d.h.

◆ pose_msg_

nav_msgs::Odometry gazebo::GazeboRosP3D::pose_msg_

private

ros message

Definition at line 81 of file gazebo_ros_p3d.h.

◆ pub_

ros::Publisher gazebo::GazeboRosP3D::pub_

private

Definition at line 77 of file gazebo_ros_p3d.h.

◆ pub_Queue

PubQueue<nav_msgs::Odometry>::Ptr gazebo::GazeboRosP3D::pub_Queue

private

Definition at line 78 of file gazebo_ros_p3d.h.

◆ reference_link_

physics::LinkPtr gazebo::GazeboRosP3D::reference_link_

private

The body of the frame to display pose, twist.

Definition at line 69 of file gazebo_ros_p3d.h.

◆ robot_namespace_

std::string gazebo::GazeboRosP3D::robot_namespace_

private

for setting ROS name space

Definition at line 121 of file gazebo_ros_p3d.h.

◆ rosnode_

ros::NodeHandle* gazebo::GazeboRosP3D::rosnode_

private

pointer to ros node

Definition at line 76 of file gazebo_ros_p3d.h.

◆ tf_frame_name_

std::string gazebo::GazeboRosP3D::tf_frame_name_

private

Definition at line 92 of file gazebo_ros_p3d.h.

◆ topic_name_

std::string gazebo::GazeboRosP3D::topic_name_

private

topic name

Definition at line 87 of file gazebo_ros_p3d.h.

◆ update_connection_

event::ConnectionPtr gazebo::GazeboRosP3D::update_connection_

private

Definition at line 128 of file gazebo_ros_p3d.h.

◆ update_rate_

double gazebo::GazeboRosP3D::update_rate_

private

Definition at line 112 of file gazebo_ros_p3d.h.

◆ world_

physics::WorldPtr gazebo::GazeboRosP3D::world_

private

Definition at line 62 of file gazebo_ros_p3d.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

◆ GazeboRosP3D()

◆ ~GazeboRosP3D()

Member Function Documentation

◆ GaussianKernel()

◆ Load()

◆ P3DQueueThread()

◆ UpdateChild()

Member Data Documentation

◆ aeul_

◆ apos_

◆ callback_queue_thread_

◆ frame_aeul_

◆ frame_apos_

◆ frame_name_

◆ gaussian_noise_

◆ last_frame_veul_

◆ last_frame_vpos_

◆ last_time_

◆ last_veul_

◆ last_vpos_

◆ link_

◆ link_name_

◆ local_twist_

◆ lock

◆ model_

◆ offset_

◆ p3d_queue_

◆ pmq

◆ pose_msg_

◆ pub_

◆ pub_Queue

◆ reference_link_

◆ robot_namespace_

◆ rosnode_

◆ tf_frame_name_

◆ topic_name_

◆ update_connection_

◆ update_rate_

◆ world_