icart_mini_gazebo::ICartMiniHWSim Class Reference

Inheritance diagram for icart_mini_gazebo::ICartMiniHWSim:

List of all members.

Public Member Functions
bool	initSim (const std::string &robot_namespace, ros::NodeHandle model_nh, gazebo::physics::ModelPtr parent_model, const urdf::Model *const urdf_model, std::vector< transmission_interface::TransmissionInfo > transmissions)
void	readSim (ros::Time time, ros::Duration period)
void	writeSim (ros::Time time, ros::Duration period)
Private Attributes
double	cmd_ [2]
double	eff_ [2]
gazebo::physics::JointPtr	joint_ [2]
hardware_interface::JointStateInterface	js_interface_
double	pos_ [2]
double	vel_ [2]
hardware_interface::VelocityJointInterface	vj_interface_
Static Private Attributes
static const double	max_drive_joint_torque_ = 20.0

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Detailed Description

Definition at line 52 of file icart_mini_hw_sim.cpp.

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Member Function Documentation

bool icart_mini_gazebo::ICartMiniHWSim::initSim	(	const std::string &	robot_namespace,
		ros::NodeHandle	model_nh,
		gazebo::physics::ModelPtr	parent_model,
		const urdf::Model *const	urdf_model,
		std::vector< transmission_interface::TransmissionInfo >	transmissions
	)		[inline, virtual]

Implements gazebo_ros_control::RobotHWSim.

Definition at line 69 of file icart_mini_hw_sim.cpp.

void icart_mini_gazebo::ICartMiniHWSim::readSim	(	ros::Time	time,
		ros::Duration	period
	)		[inline, virtual]

Implements gazebo_ros_control::RobotHWSim.

Definition at line 110 of file icart_mini_hw_sim.cpp.

void icart_mini_gazebo::ICartMiniHWSim::writeSim	(	ros::Time	time,
		ros::Duration	period
	)		[inline, virtual]

Implements gazebo_ros_control::RobotHWSim.

Definition at line 118 of file icart_mini_hw_sim.cpp.

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Member Data Documentation

double icart_mini_gazebo::ICartMiniHWSim::cmd_[2] [private]

Definition at line 57 of file icart_mini_hw_sim.cpp.

double icart_mini_gazebo::ICartMiniHWSim::eff_[2] [private]

Definition at line 60 of file icart_mini_hw_sim.cpp.

gazebo::physics::JointPtr icart_mini_gazebo::ICartMiniHWSim::joint_[2] [private]

Definition at line 62 of file icart_mini_hw_sim.cpp.

hardware_interface::JointStateInterface icart_mini_gazebo::ICartMiniHWSim::js_interface_ [private]

Definition at line 64 of file icart_mini_hw_sim.cpp.

const double icart_mini_gazebo::ICartMiniHWSim::max_drive_joint_torque_ = 20.0 [static, private]

Definition at line 55 of file icart_mini_hw_sim.cpp.

double icart_mini_gazebo::ICartMiniHWSim::pos_[2] [private]

Definition at line 58 of file icart_mini_hw_sim.cpp.

double icart_mini_gazebo::ICartMiniHWSim::vel_[2] [private]

Definition at line 59 of file icart_mini_hw_sim.cpp.

hardware_interface::VelocityJointInterface icart_mini_gazebo::ICartMiniHWSim::vj_interface_ [private]

Definition at line 65 of file icart_mini_hw_sim.cpp.

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

• icart_mini_hw_sim.cpp