mrp2_hardware_gazebo::Mrp2HardwareGazebo Class Reference

#include <mrp2_hardware_gazebo.h>

Inheritance diagram for mrp2_hardware_gazebo::Mrp2HardwareGazebo:

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)
	Mrp2HardwareGazebo ()
void	readSim (ros::Time time, ros::Duration period)
void	writeSim (ros::Time time, ros::Duration period)
Private Member Functions
template<class T >
std::string	containerToString (const T &cont, const std::string &prefix)
Private Attributes
double	base_ang_vel_ [3]
double	base_lin_acc_ [3]
double	base_orientation_ [4]
gazebo::sensors::ImuSensor *	imu_sensor_
hardware_interface::ImuSensorInterface	imu_sensor_interface_
std::vector< double >	jnt_eff_
std::vector< double >	jnt_pos_
std::vector< double >	jnt_pos_cmd_
std::vector< double >	jnt_pos_cmd_curr_
hardware_interface::PositionJointInterface	jnt_pos_cmd_interface_
hardware_interface::JointStateInterface	jnt_state_interface_
std::vector< double >	jnt_vel_
std::vector< double >	jnt_vel_cmd_
hardware_interface::VelocityJointInterface	jnt_vel_cmd_interface_
unsigned int	n_dof_
std::vector< control_toolbox::Pid >	pids_
joint_limits_interface::PositionJointSoftLimitsInterface	pos_jnt_limits_interface_
unsigned int	pos_n_dof_
std::vector < gazebo::physics::JointPtr >	pos_sim_joints_
std::vector < gazebo::physics::JointPtr >	sim_joints_
std::vector< std::string >	transmission_names_
joint_limits_interface::VelocityJointSaturationInterface	vel_jnt_limits_interface_
unsigned int	vel_n_dof_
std::vector < gazebo::physics::JointPtr >	vel_sim_joints_

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Detailed Description

Definition at line 29 of file mrp2_hardware_gazebo.h.

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Constructor & Destructor Documentation

mrp2_hardware_gazebo::Mrp2HardwareGazebo::Mrp2HardwareGazebo

(

)

Definition at line 20 of file mrp2_hardware_gazebo.cpp.

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Member Function Documentation

template<class T >

std::string mrp2_hardware_gazebo::Mrp2HardwareGazebo::containerToString	(	const T &	cont,
		const std::string &	prefix
	)		[inline, private]

Definition at line 87 of file mrp2_hardware_gazebo.h.

bool mrp2_hardware_gazebo::Mrp2HardwareGazebo::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
	)		[virtual]

Implements gazebo_ros_control::RobotHWSim.

Definition at line 25 of file mrp2_hardware_gazebo.cpp.

void mrp2_hardware_gazebo::Mrp2HardwareGazebo::readSim	(	ros::Time	time,
		ros::Duration	period
	)		[virtual]

Implements gazebo_ros_control::RobotHWSim.

Definition at line 207 of file mrp2_hardware_gazebo.cpp.

void mrp2_hardware_gazebo::Mrp2HardwareGazebo::writeSim	(	ros::Time	time,
		ros::Duration	period
	)		[virtual]

Implements gazebo_ros_control::RobotHWSim.

Definition at line 241 of file mrp2_hardware_gazebo.cpp.

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Member Data Documentation

double mrp2_hardware_gazebo::Mrp2HardwareGazebo::base_ang_vel_[3] [private]

Definition at line 62 of file mrp2_hardware_gazebo.h.

double mrp2_hardware_gazebo::Mrp2HardwareGazebo::base_lin_acc_[3] [private]

Definition at line 63 of file mrp2_hardware_gazebo.h.

double mrp2_hardware_gazebo::Mrp2HardwareGazebo::base_orientation_[4] [private]

Definition at line 61 of file mrp2_hardware_gazebo.h.

gazebo::sensors::ImuSensor* mrp2_hardware_gazebo::Mrp2HardwareGazebo::imu_sensor_ [private]

Definition at line 69 of file mrp2_hardware_gazebo.h.

hardware_interface::ImuSensorInterface mrp2_hardware_gazebo::Mrp2HardwareGazebo::imu_sensor_interface_ [private]

Definition at line 77 of file mrp2_hardware_gazebo.h.

std::vector<double> mrp2_hardware_gazebo::Mrp2HardwareGazebo::jnt_eff_ [private]

Definition at line 54 of file mrp2_hardware_gazebo.h.

std::vector<double> mrp2_hardware_gazebo::Mrp2HardwareGazebo::jnt_pos_ [private]

Definition at line 52 of file mrp2_hardware_gazebo.h.

std::vector<double> mrp2_hardware_gazebo::Mrp2HardwareGazebo::jnt_pos_cmd_ [private]

Definition at line 56 of file mrp2_hardware_gazebo.h.

std::vector<double> mrp2_hardware_gazebo::Mrp2HardwareGazebo::jnt_pos_cmd_curr_ [private]

Definition at line 57 of file mrp2_hardware_gazebo.h.

hardware_interface::PositionJointInterface mrp2_hardware_gazebo::Mrp2HardwareGazebo::jnt_pos_cmd_interface_ [private]

Definition at line 73 of file mrp2_hardware_gazebo.h.

hardware_interface::JointStateInterface mrp2_hardware_gazebo::Mrp2HardwareGazebo::jnt_state_interface_ [private]

Definition at line 72 of file mrp2_hardware_gazebo.h.

std::vector<double> mrp2_hardware_gazebo::Mrp2HardwareGazebo::jnt_vel_ [private]

Definition at line 53 of file mrp2_hardware_gazebo.h.

std::vector<double> mrp2_hardware_gazebo::Mrp2HardwareGazebo::jnt_vel_cmd_ [private]

Definition at line 59 of file mrp2_hardware_gazebo.h.

hardware_interface::VelocityJointInterface mrp2_hardware_gazebo::Mrp2HardwareGazebo::jnt_vel_cmd_interface_ [private]

Definition at line 74 of file mrp2_hardware_gazebo.h.

unsigned int mrp2_hardware_gazebo::Mrp2HardwareGazebo::n_dof_ [private]

Definition at line 48 of file mrp2_hardware_gazebo.h.

std::vector<control_toolbox::Pid> mrp2_hardware_gazebo::Mrp2HardwareGazebo::pids_ [private]

Definition at line 84 of file mrp2_hardware_gazebo.h.

joint_limits_interface::PositionJointSoftLimitsInterface mrp2_hardware_gazebo::Mrp2HardwareGazebo::pos_jnt_limits_interface_ [private]

Definition at line 80 of file mrp2_hardware_gazebo.h.

unsigned int mrp2_hardware_gazebo::Mrp2HardwareGazebo::pos_n_dof_ [private]

Definition at line 46 of file mrp2_hardware_gazebo.h.

std::vector<gazebo::physics::JointPtr> mrp2_hardware_gazebo::Mrp2HardwareGazebo::pos_sim_joints_ [private]

Definition at line 67 of file mrp2_hardware_gazebo.h.

std::vector<gazebo::physics::JointPtr> mrp2_hardware_gazebo::Mrp2HardwareGazebo::sim_joints_ [private]

Definition at line 66 of file mrp2_hardware_gazebo.h.

std::vector<std::string> mrp2_hardware_gazebo::Mrp2HardwareGazebo::transmission_names_ [private]

Definition at line 50 of file mrp2_hardware_gazebo.h.

joint_limits_interface::VelocityJointSaturationInterface mrp2_hardware_gazebo::Mrp2HardwareGazebo::vel_jnt_limits_interface_ [private]

Definition at line 81 of file mrp2_hardware_gazebo.h.

unsigned int mrp2_hardware_gazebo::Mrp2HardwareGazebo::vel_n_dof_ [private]

Definition at line 47 of file mrp2_hardware_gazebo.h.

std::vector<gazebo::physics::JointPtr> mrp2_hardware_gazebo::Mrp2HardwareGazebo::vel_sim_joints_ [private]

Definition at line 68 of file mrp2_hardware_gazebo.h.

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

• mrp2_hardware_gazebo.h
• mrp2_hardware_gazebo.cpp