gazebo::RobotController Class Reference

#include <RobotController.h>

List of all members.

Public Member Functions
void	addJoint (physics::JointPtr _jointPtr, bool advancedMode=false)
void	addJointDependency (std::string _childName, std::string _parentName, double factor)
const r2_msgs::JointStatus &	getJointStatus (const std::string &name) const
void	publishJointStatuses (ros::Publisher &rosPub) const
	RobotController (physics::ModelPtr _modelPtr)
void	setJointControl (const r2_msgs::JointControl::ConstPtr &msg)
void	setJointEffortTarget (const std::string &name, double target)
void	setJointPositions (std::map< std::string, double > posMap)
void	setJointPosTarget (const std::string &name, double target)
void	setJointVelTarget (const std::string &name, double target)
void	setPosPid (const std::string &name, double _p=0.0, double _i=0.0, double _d=0.0, double _imax=0.0, double _imin=0.0, double _cmdMax=0.0, double _cmdMin=0.0)
void	setVelPid (const std::string &name, double _p=0.0, double _i=0.0, double _d=0.0, double _imax=0.0, double _imin=0.0, double _cmdMax=0.0, double _cmdMin=0.0)
void	update ()
	~RobotController ()
Private Types
typedef std::multimap < std::string, std::pair < std::string, double > >	dependenciesType
Private Attributes
dependenciesType	dependencies
std::map< std::string, JointControllerPtr >	joints
physics::ModelPtr	modelPtr
common::Time	prevUpdateTime

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Detailed Description

Definition at line 20 of file RobotController.h.

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Member Typedef Documentation

typedef std::multimap<std::string, std::pair<std::string, double> > gazebo::RobotController::dependenciesType [private]

Definition at line 58 of file RobotController.h.

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Constructor & Destructor Documentation

RobotController::RobotController

(

physics::ModelPtr

_modelPtr

)

Definition at line 14 of file RobotController.cpp.

RobotController::~RobotController

(

)

Definition at line 20 of file RobotController.cpp.

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Member Function Documentation

void RobotController::addJoint	(	physics::JointPtr	_jointPtr,
		bool	advancedMode = false
	)

Definition at line 24 of file RobotController.cpp.

void RobotController::addJointDependency	(	std::string	_childName,
		std::string	_parentName,
		double	factor
	)

Definition at line 31 of file RobotController.cpp.

const r2_msgs::JointStatus & RobotController::getJointStatus

(

const std::string &

name

)

const

Definition at line 185 of file RobotController.cpp.

void RobotController::publishJointStatuses

(

ros::Publisher &

rosPub

)

const

Definition at line 207 of file RobotController.cpp.

void RobotController::setJointControl

(

const r2_msgs::JointControl::ConstPtr &

msg

)

Definition at line 164 of file RobotController.cpp.

void RobotController::setJointEffortTarget	(	const std::string &	name,
		double	target
	)

Definition at line 145 of file RobotController.cpp.

void RobotController::setJointPositions

(

std::map< std::string, double >

posMap

)

Definition at line 72 of file RobotController.cpp.

void RobotController::setJointPosTarget	(	const std::string &	name,
		double	target
	)

Definition at line 109 of file RobotController.cpp.

void RobotController::setJointVelTarget	(	const std::string &	name,
		double	target
	)

Definition at line 127 of file RobotController.cpp.

void RobotController::setPosPid	(	const std::string &	name,
		double	_p = 0.0,
		double	_i = 0.0,
		double	_d = 0.0,
		double	_imax = 0.0,
		double	_imin = 0.0,
		double	_cmdMax = 0.0,
		double	_cmdMin = 0.0
	)

Definition at line 47 of file RobotController.cpp.

void RobotController::setVelPid	(	const std::string &	name,
		double	_p = 0.0,
		double	_i = 0.0,
		double	_d = 0.0,
		double	_imax = 0.0,
		double	_imin = 0.0,
		double	_cmdMax = 0.0,
		double	_cmdMin = 0.0
	)

Definition at line 59 of file RobotController.cpp.

void RobotController::update

(

void

)

Definition at line 195 of file RobotController.cpp.

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Member Data Documentation

dependenciesType gazebo::RobotController::dependencies [private]

Definition at line 59 of file RobotController.h.

std::map<std::string, JointControllerPtr> gazebo::RobotController::joints [private]

Definition at line 56 of file RobotController.h.

physics::ModelPtr gazebo::RobotController::modelPtr [private]

Definition at line 55 of file RobotController.h.

common::Time gazebo::RobotController::prevUpdateTime [private]

Definition at line 61 of file RobotController.h.

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

• RobotController.h
• RobotController.cpp