gazebo::DiffDrivePlugin Class Reference

#include <diff_drive_plugin.h>

List of all members.

Public Member Functions
	DiffDrivePlugin ()
void	Load (physics::ModelPtr _parent, sdf::ElementPtr _sdf)
	~DiffDrivePlugin ()
Protected Member Functions
virtual void	FiniChild ()
virtual void	UpdateChild ()
Private Member Functions
void	cmdVelCallback (const geometry_msgs::Twist::ConstPtr &cmd_msg)
void	getWheelVelocities ()
void	publishOdometry (double step_time)
void	QueueThread ()
Private Attributes
bool	alive_
boost::thread	callback_queue_thread_
physics::JointPtr	joints [2]
double	last_angular_vel_
math::Pose	last_odom_pose_
common::Time	last_update_time_
std::string	leftJointName
boost::mutex	lock
nav_msgs::Odometry	odom_
physics::ModelPtr	parent
physics::PhysicsEnginePtr	physicsEngine
ros::Publisher	pub_
ros::CallbackQueue	queue_
std::string	rightJointName
std::string	robotNamespace
ros::NodeHandle *	rosnode_
double	rot_
ros::Subscriber	sub_
std::string	tf_prefix_
std::string	topicName
double	torque
tf::TransformBroadcaster *	transform_broadcaster_
double	update_period_
event::ConnectionPtr	updateConnection
double	updateRate
bool	useSimpleModel
double	wheelDiameter
double	wheelSeparation
double	wheelSpeed [2]
physics::WorldPtr	world
double	x_

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Detailed Description

Definition at line 62 of file diff_drive_plugin.h.

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Constructor & Destructor Documentation

gazebo::DiffDrivePlugin::DiffDrivePlugin

(

)

Definition at line 57 of file diff_drive_plugin.cc.

gazebo::DiffDrivePlugin::~DiffDrivePlugin

(

)

Definition at line 60 of file diff_drive_plugin.cc.

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Member Function Documentation

void gazebo::DiffDrivePlugin::cmdVelCallback

(

const geometry_msgs::Twist::ConstPtr &

cmd_msg

)

[private]

Definition at line 247 of file diff_drive_plugin.cc.

void gazebo::DiffDrivePlugin::FiniChild

(

)

[protected, virtual]

Definition at line 228 of file diff_drive_plugin.cc.

void gazebo::DiffDrivePlugin::getWheelVelocities

(

)

[private]

Definition at line 236 of file diff_drive_plugin.cc.

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

Definition at line 66 of file diff_drive_plugin.cc.

void gazebo::DiffDrivePlugin::publishOdometry

(

double

step_time

)

[private]

Definition at line 263 of file diff_drive_plugin.cc.

void gazebo::DiffDrivePlugin::QueueThread

(

)

[private]

Definition at line 255 of file diff_drive_plugin.cc.

void gazebo::DiffDrivePlugin::UpdateChild

(

)

[protected, virtual]

Definition at line 209 of file diff_drive_plugin.cc.

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Member Data Documentation

bool gazebo::DiffDrivePlugin::alive_ [private]

Definition at line 118 of file diff_drive_plugin.h.

boost::thread gazebo::DiffDrivePlugin::callback_queue_thread_ [private]

Definition at line 110 of file diff_drive_plugin.h.

physics::JointPtr gazebo::DiffDrivePlugin::joints[2] [private]

Definition at line 91 of file diff_drive_plugin.h.

double gazebo::DiffDrivePlugin::last_angular_vel_ [private]

Definition at line 89 of file diff_drive_plugin.h.

math::Pose gazebo::DiffDrivePlugin::last_odom_pose_ [private]

Definition at line 88 of file diff_drive_plugin.h.

common::Time gazebo::DiffDrivePlugin::last_update_time_ [private]

Definition at line 123 of file diff_drive_plugin.h.

std::string gazebo::DiffDrivePlugin::leftJointName [private]

Definition at line 81 of file diff_drive_plugin.h.

boost::mutex gazebo::DiffDrivePlugin::lock [private]

Definition at line 102 of file diff_drive_plugin.h.

nav_msgs::Odometry gazebo::DiffDrivePlugin::odom_ [private]

Definition at line 99 of file diff_drive_plugin.h.

physics::ModelPtr gazebo::DiffDrivePlugin::parent [private]

Definition at line 78 of file diff_drive_plugin.h.

physics::PhysicsEnginePtr gazebo::DiffDrivePlugin::physicsEngine [private]

Definition at line 92 of file diff_drive_plugin.h.

ros::Publisher gazebo::DiffDrivePlugin::pub_ [private]

Definition at line 96 of file diff_drive_plugin.h.

ros::CallbackQueue gazebo::DiffDrivePlugin::queue_ [private]

Definition at line 109 of file diff_drive_plugin.h.

std::string gazebo::DiffDrivePlugin::rightJointName [private]

Definition at line 82 of file diff_drive_plugin.h.

std::string gazebo::DiffDrivePlugin::robotNamespace [private]

Definition at line 104 of file diff_drive_plugin.h.

ros::NodeHandle* gazebo::DiffDrivePlugin::rosnode_ [private]

Definition at line 95 of file diff_drive_plugin.h.

double gazebo::DiffDrivePlugin::rot_ [private]

Definition at line 117 of file diff_drive_plugin.h.

ros::Subscriber gazebo::DiffDrivePlugin::sub_ [private]

Definition at line 97 of file diff_drive_plugin.h.

std::string gazebo::DiffDrivePlugin::tf_prefix_ [private]

Definition at line 100 of file diff_drive_plugin.h.

std::string gazebo::DiffDrivePlugin::topicName [private]

Definition at line 105 of file diff_drive_plugin.h.

double gazebo::DiffDrivePlugin::torque [private]

Definition at line 86 of file diff_drive_plugin.h.

tf::TransformBroadcaster* gazebo::DiffDrivePlugin::transform_broadcaster_ [private]

Definition at line 98 of file diff_drive_plugin.h.

double gazebo::DiffDrivePlugin::update_period_ [private]

Definition at line 122 of file diff_drive_plugin.h.

event::ConnectionPtr gazebo::DiffDrivePlugin::updateConnection [private]

Definition at line 79 of file diff_drive_plugin.h.

double gazebo::DiffDrivePlugin::updateRate [private]

Definition at line 121 of file diff_drive_plugin.h.

bool gazebo::DiffDrivePlugin::useSimpleModel [private]

Definition at line 106 of file diff_drive_plugin.h.

double gazebo::DiffDrivePlugin::wheelDiameter [private]

Definition at line 85 of file diff_drive_plugin.h.

double gazebo::DiffDrivePlugin::wheelSeparation [private]

Definition at line 84 of file diff_drive_plugin.h.

double gazebo::DiffDrivePlugin::wheelSpeed[2] [private]

Definition at line 87 of file diff_drive_plugin.h.

physics::WorldPtr gazebo::DiffDrivePlugin::world [private]

Definition at line 77 of file diff_drive_plugin.h.

double gazebo::DiffDrivePlugin::x_ [private]

Definition at line 116 of file diff_drive_plugin.h.

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

• diff_drive_plugin.h
• diff_drive_plugin.cc