gazebo::ServoPlugin Class Reference

#include <servo_plugin.h>

List of all members.

Classes
struct	Servo
Public Member Functions
	ServoPlugin ()
virtual	~ServoPlugin ()
Protected Member Functions
virtual void	Init ()
virtual void	Load (physics::ModelPtr _model, sdf::ElementPtr _sdf)
virtual void	Reset ()
virtual void	Update ()
Private Member Functions
void	CalculateVelocities ()
void	cmdCallback (const geometry_msgs::QuaternionStamped::ConstPtr &cmd_msg)
void	publish_joint_states ()
Private Attributes
common::Time	controlPeriod
unsigned int	countOfServos
geometry_msgs::QuaternionStamped::ConstPtr	current_cmd
float	derivativeControllerGain
bool	enableMotors
sensor_msgs::JointState	joint_state
std::string	jointStateName
ros::Publisher	jointStatePub_
float	maximumTorque
double	maximumVelocity
boost::mutex	mutex
unsigned int	orderOfAxes [3]
common::Time	prevUpdateTime
float	proportionalControllerGain
ros::CallbackQueue	queue_
std::string	robotNamespace
ros::NodeHandle *	rosnode_
math::Quaternion	rotation_
unsigned int	rotationConv
struct gazebo::ServoPlugin::Servo	servo [3]
ros::Subscriber	sub_
std::string	topicName
tf::TransformListener *	transform_listener_
event::ConnectionPtr	updateConnection
physics::WorldPtr	world
	The parent World.

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Detailed Description

Definition at line 43 of file servo_plugin.h.

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Constructor & Destructor Documentation

gazebo::ServoPlugin::ServoPlugin

(

)

Definition at line 56 of file servo_plugin.cpp.

gazebo::ServoPlugin::~ServoPlugin

(

)

[virtual]

Definition at line 63 of file servo_plugin.cpp.

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Member Function Documentation

void gazebo::ServoPlugin::CalculateVelocities

(

)

[private]

Definition at line 221 of file servo_plugin.cpp.

void gazebo::ServoPlugin::cmdCallback

(

const geometry_msgs::QuaternionStamped::ConstPtr &

cmd_msg

)

[private]

Definition at line 358 of file servo_plugin.cpp.

void gazebo::ServoPlugin::Init

(

)

[protected, virtual]

Definition at line 158 of file servo_plugin.cpp.

void gazebo::ServoPlugin::Load	(	physics::ModelPtr	_model,
		sdf::ElementPtr	_sdf
	)		[protected, virtual]

Definition at line 72 of file servo_plugin.cpp.

void gazebo::ServoPlugin::publish_joint_states

(

)

[private]

Definition at line 364 of file servo_plugin.cpp.

void gazebo::ServoPlugin::Reset

(

)

[protected, virtual]

Definition at line 164 of file servo_plugin.cpp.

void gazebo::ServoPlugin::Update

(

)

[protected, virtual]

Definition at line 179 of file servo_plugin.cpp.

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Member Data Documentation

common::Time gazebo::ServoPlugin::controlPeriod [private]

Definition at line 86 of file servo_plugin.h.

unsigned int gazebo::ServoPlugin::countOfServos [private]

Definition at line 77 of file servo_plugin.h.

geometry_msgs::QuaternionStamped::ConstPtr gazebo::ServoPlugin::current_cmd [private]

Definition at line 108 of file servo_plugin.h.

float gazebo::ServoPlugin::derivativeControllerGain [private]

Definition at line 89 of file servo_plugin.h.

bool gazebo::ServoPlugin::enableMotors [private]

Definition at line 67 of file servo_plugin.h.

sensor_msgs::JointState gazebo::ServoPlugin::joint_state [private]

Definition at line 80 of file servo_plugin.h.

std::string gazebo::ServoPlugin::jointStateName [private]

Definition at line 85 of file servo_plugin.h.

ros::Publisher gazebo::ServoPlugin::jointStatePub_ [private]

Definition at line 95 of file servo_plugin.h.

float gazebo::ServoPlugin::maximumTorque [private]

Definition at line 91 of file servo_plugin.h.

double gazebo::ServoPlugin::maximumVelocity [private]

Definition at line 90 of file servo_plugin.h.

boost::mutex gazebo::ServoPlugin::mutex [private]

Definition at line 107 of file servo_plugin.h.

unsigned int gazebo::ServoPlugin::orderOfAxes[3] [private]

Definition at line 78 of file servo_plugin.h.

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

Definition at line 65 of file servo_plugin.h.

float gazebo::ServoPlugin::proportionalControllerGain [private]

Definition at line 88 of file servo_plugin.h.

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

Definition at line 100 of file servo_plugin.h.

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

Definition at line 83 of file servo_plugin.h.

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

Definition at line 94 of file servo_plugin.h.

math::Quaternion gazebo::ServoPlugin::rotation_ [private]

Definition at line 109 of file servo_plugin.h.

unsigned int gazebo::ServoPlugin::rotationConv [private]

Definition at line 79 of file servo_plugin.h.

struct gazebo::ServoPlugin::Servo gazebo::ServoPlugin::servo[3] [private]

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

Definition at line 96 of file servo_plugin.h.

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

Definition at line 84 of file servo_plugin.h.

tf::TransformListener* gazebo::ServoPlugin::transform_listener_ [private]

Definition at line 97 of file servo_plugin.h.

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

Definition at line 112 of file servo_plugin.h.

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

The parent World.

Definition at line 62 of file servo_plugin.h.

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

• servo_plugin.h
• servo_plugin.cpp