Class DoorCommon

• Defined in File door_common.hpp

Nested Relationships

Nested Types

• Struct DoorCommon::DoorElement

• Struct DoorCommon::DoorUpdateRequest

• Struct DoorCommon::DoorUpdateResult

Class Documentation

class DoorCommon

Public Types

using Doors = std::unordered_map<std::string, DoorElement>

Public Functions

rclcpp::Logger logger() const

std::vector<std::string> joint_names() const

MotionParams &params()

std::vector<DoorUpdateResult> update(const double time, const std::vector<DoorUpdateRequest> &request)

Public Static Functions

template<typename SdfPtrT>
static std::shared_ptr<DoorCommon> make(const std::string &door_name, rclcpp::Node::SharedPtr node, SdfPtrT &sdf)

template<typename SdfPtrT>
static std::shared_ptr<DoorCommon> make(const std::string &door_name, rclcpp::Node::SharedPtr node, SdfPtrT &sdf, Doors &doors)

struct DoorElement

Public Functions

inline DoorElement()

inline DoorElement(const double lower_limit, const double upper_limit, const bool flip_direction = false)

Public Members

double closed_position

double open_position

double current_position

double current_velocity

struct DoorUpdateRequest

Public Members

std::string joint_name

double position

double velocity

struct DoorUpdateResult

Public Members

std::string joint_name

double velocity

double fmax