#include <gazebo_ros_actuator_array.h>

Inheritance diagram for gazebo::GazeboRosActuatorArray:

Public Member Functions
	GazeboRosActuatorArray (Entity *parent)
	Constructor.
virtual	~GazeboRosActuatorArray ()
Protected Member Functions
virtual void	FiniChild ()
virtual void	InitChild ()
virtual void	LoadChild (XMLConfigNode *node)
virtual void	UpdateChild ()
Private Member Functions
bool	command_ ()
	pure virtual function that handles sensing a command to the device. This gets called once after every message received on the 'command' topic. The internal command_msg_ will already be updated with the new command information
bool	home_ ()
	pure virtual function that sends the device to the home position. This gets called in response to a 'home' service call
void	parse_mimic_joints (const ros::NodeHandle &node)
void	QueueThread ()
bool	read_ (ros::Time ts=ros::Time::now())
	pure virtual function that is responsible for reading the current deivce state and updating the internal joint_state_msg_
bool	stop_ ()
	pure virtual function that sends a stop command to the device. This gets called in response to a 'stop' service call
void	update_joint (GazeboJointProperties &gazebo_joint, double command_position, double command_velocity, double command_effort, double dt)
Private Attributes
boost::thread	callback_queue_thread_
gazebo::Time	last_time_
	Time of previous update.
boost::mutex	lock_
	A mutex to lock access to fields that are used in message callbacks.
std::map< std::string, MimicJointProperties >	mimic_joints_
	A second set of joint properties for handling Gazebo Mimic joints.
Model *	myParent
	The parent Model.
ros::CallbackQueue	queue_
std::string	robot_namespace_
ParamT< std::string > *	robotNamespaceP
	for setting ROS name space
ParamT< std::string > *	robotParamP
	for setting the parameter name that holds the robot description

Detailed Description

Definition at line 192 of file gazebo_ros_actuator_array.h.

Constructor & Destructor Documentation

gazebo::GazeboRosActuatorArray::GazeboRosActuatorArray ( Entity * parent )

Constructor.

Definition at line 55 of file gazebo_ros_actuator_array.cpp.

gazebo::GazeboRosActuatorArray::~GazeboRosActuatorArray ( ) [virtual]

Definition at line 71 of file gazebo_ros_actuator_array.cpp.

Member Function Documentation

bool gazebo::GazeboRosActuatorArray::command_ ( ) [private, virtual]

pure virtual function that handles sensing a command to the device. This gets called once after every message received on the 'command' topic. The internal command_msg_ will already be updated with the new command information

Reimplemented from actuator_array_driver::ActuatorArrayDriver< GazeboJointProperties >.

Definition at line 452 of file gazebo_ros_actuator_array.cpp.

void gazebo::GazeboRosActuatorArray::FiniChild ( ) [protected, virtual]

Definition at line 276 of file gazebo_ros_actuator_array.cpp.

bool gazebo::GazeboRosActuatorArray::home_ ( ) [private, virtual]

pure virtual function that sends the device to the home position. This gets called in response to a 'home' service call

Reimplemented from actuator_array_driver::ActuatorArrayDriver< GazeboJointProperties >.

Definition at line 476 of file gazebo_ros_actuator_array.cpp.

void gazebo::GazeboRosActuatorArray::InitChild ( ) [protected, virtual]

Definition at line 202 of file gazebo_ros_actuator_array.cpp.

void gazebo::GazeboRosActuatorArray::LoadChild ( XMLConfigNode * node ) [protected, virtual]

Definition at line 79 of file gazebo_ros_actuator_array.cpp.

void gazebo::GazeboRosActuatorArray::parse_mimic_joints ( const ros::NodeHandle & node ) [private]

Definition at line 380 of file gazebo_ros_actuator_array.cpp.

void gazebo::GazeboRosActuatorArray::QueueThread ( ) [private]

bool gazebo::GazeboRosActuatorArray::read_ ( ros::Time ts = ros::Time::now() ) [private, virtual]

pure virtual function that is responsible for reading the current deivce state and updating the internal joint_state_msg_

Reimplemented from actuator_array_driver::ActuatorArrayDriver< GazeboJointProperties >.

Definition at line 492 of file gazebo_ros_actuator_array.cpp.

bool gazebo::GazeboRosActuatorArray::stop_ ( ) [private, virtual]

pure virtual function that sends a stop command to the device. This gets called in response to a 'stop' service call

Reimplemented from actuator_array_driver::ActuatorArrayDriver< GazeboJointProperties >.

Definition at line 460 of file gazebo_ros_actuator_array.cpp.

void gazebo::GazeboRosActuatorArray::update_joint	(	GazeboJointProperties &	gazebo_joint,
		double	command_position,
		double	command_velocity,
		double	command_effort,
		double	dt
	)		`[private]`