gazebo::GazeboRosForceBasedMove Class Reference

#include <ridgeback_ros_force_based_move.h>

List of all members.

Public Member Functions
	GazeboRosForceBasedMove ()
void	Load (physics::ModelPtr parent, sdf::ElementPtr sdf)
	~GazeboRosForceBasedMove ()
Protected Member Functions
virtual void	FiniChild ()
virtual void	UpdateChild ()
Private Member Functions
void	cmdVelCallback (const geometry_msgs::Twist::ConstPtr &cmd_msg)
tf::Transform	getTransformForMotion (double linear_vel_x, double angular_vel, double timeSeconds) const
void	publishOdometry (double step_time)
void	QueueThread ()
Private Attributes
bool	alive_
boost::thread	callback_queue_thread_
double	cmd_vel_time_out_
std::string	command_topic_
double	force_x_velocity_p_gain_
double	force_y_velocity_p_gain_
common::Time	last_cmd_vel_time_
math::Pose	last_odom_pose_
common::Time	last_odom_publish_time_
physics::LinkPtr	link_
	A pointer to the Link, where force is applied.
std::string	link_name_
	The Link this plugin is attached to, and will exert forces on.
boost::mutex	lock
nav_msgs::Odometry	odom_
tf::Transform	odom_transform_
std::string	odometry_frame_
ros::Publisher	odometry_pub_
double	odometry_rate_
std::string	odometry_topic_
physics::ModelPtr	parent_
bool	publish_odometry_tf_
ros::CallbackQueue	queue_
std::string	robot_base_frame_
std::string	robot_namespace_
boost::shared_ptr < ros::NodeHandle >	rosnode_
double	rot_
std::string	tf_prefix_
double	torque_yaw_velocity_p_gain_
boost::shared_ptr < tf::TransformBroadcaster >	transform_broadcaster_
event::ConnectionPtr	update_connection_
ros::Subscriber	vel_sub_
double	x_
double	y_

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Detailed Description

Definition at line 48 of file ridgeback_ros_force_based_move.h.

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Constructor & Destructor Documentation

gazebo::GazeboRosForceBasedMove::GazeboRosForceBasedMove

(

)

Definition at line 31 of file ridgeback_ros_force_based_move.cpp.

gazebo::GazeboRosForceBasedMove::~GazeboRosForceBasedMove

(

)

Definition at line 33 of file ridgeback_ros_force_based_move.cpp.

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Member Function Documentation

void gazebo::GazeboRosForceBasedMove::cmdVelCallback

(

const geometry_msgs::Twist::ConstPtr &

cmd_msg

)

[private]

Definition at line 257 of file ridgeback_ros_force_based_move.cpp.

void gazebo::GazeboRosForceBasedMove::FiniChild

(

)

[protected, virtual]

Definition at line 249 of file ridgeback_ros_force_based_move.cpp.

tf::Transform gazebo::GazeboRosForceBasedMove::getTransformForMotion	(	double	linear_vel_x,
		double	angular_vel,
		double	timeSeconds
	)		const [private]

Definition at line 333 of file ridgeback_ros_force_based_move.cpp.

void gazebo::GazeboRosForceBasedMove::Load	(	physics::ModelPtr	parent,
		sdf::ElementPtr	sdf
	)

Definition at line 36 of file ridgeback_ros_force_based_move.cpp.

void gazebo::GazeboRosForceBasedMove::publishOdometry

(

double

step_time

)

[private]

Definition at line 276 of file ridgeback_ros_force_based_move.cpp.

void gazebo::GazeboRosForceBasedMove::QueueThread

(

)

[private]

Definition at line 267 of file ridgeback_ros_force_based_move.cpp.

void gazebo::GazeboRosForceBasedMove::UpdateChild

(

)

[protected, virtual]

Definition at line 207 of file ridgeback_ros_force_based_move.cpp.

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Member Data Documentation

bool gazebo::GazeboRosForceBasedMove::alive_ [private]

Definition at line 105 of file ridgeback_ros_force_based_move.h.

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

Definition at line 95 of file ridgeback_ros_force_based_move.h.

double gazebo::GazeboRosForceBasedMove::cmd_vel_time_out_ [private]

Definition at line 90 of file ridgeback_ros_force_based_move.h.

std::string gazebo::GazeboRosForceBasedMove::command_topic_ [private]

Definition at line 85 of file ridgeback_ros_force_based_move.h.

double gazebo::GazeboRosForceBasedMove::force_x_velocity_p_gain_ [private]

Definition at line 110 of file ridgeback_ros_force_based_move.h.

double gazebo::GazeboRosForceBasedMove::force_y_velocity_p_gain_ [private]

Definition at line 111 of file ridgeback_ros_force_based_move.h.

common::Time gazebo::GazeboRosForceBasedMove::last_cmd_vel_time_ [private]

Definition at line 100 of file ridgeback_ros_force_based_move.h.

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

Definition at line 107 of file ridgeback_ros_force_based_move.h.

common::Time gazebo::GazeboRosForceBasedMove::last_odom_publish_time_ [private]

Definition at line 106 of file ridgeback_ros_force_based_move.h.

physics::LinkPtr gazebo::GazeboRosForceBasedMove::link_ [private]

A pointer to the Link, where force is applied.

Definition at line 68 of file ridgeback_ros_force_based_move.h.

std::string gazebo::GazeboRosForceBasedMove::link_name_ [private]

The Link this plugin is attached to, and will exert forces on.

Definition at line 71 of file ridgeback_ros_force_based_move.h.

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

Definition at line 82 of file ridgeback_ros_force_based_move.h.

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

Definition at line 77 of file ridgeback_ros_force_based_move.h.

tf::Transform gazebo::GazeboRosForceBasedMove::odom_transform_ [private]

Definition at line 80 of file ridgeback_ros_force_based_move.h.

std::string gazebo::GazeboRosForceBasedMove::odometry_frame_ [private]

Definition at line 87 of file ridgeback_ros_force_based_move.h.

ros::Publisher gazebo::GazeboRosForceBasedMove::odometry_pub_ [private]

Definition at line 74 of file ridgeback_ros_force_based_move.h.

double gazebo::GazeboRosForceBasedMove::odometry_rate_ [private]

Definition at line 89 of file ridgeback_ros_force_based_move.h.

std::string gazebo::GazeboRosForceBasedMove::odometry_topic_ [private]

Definition at line 86 of file ridgeback_ros_force_based_move.h.

physics::ModelPtr gazebo::GazeboRosForceBasedMove::parent_ [private]

Definition at line 64 of file ridgeback_ros_force_based_move.h.

bool gazebo::GazeboRosForceBasedMove::publish_odometry_tf_ [private]

Definition at line 91 of file ridgeback_ros_force_based_move.h.

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

Definition at line 94 of file ridgeback_ros_force_based_move.h.

std::string gazebo::GazeboRosForceBasedMove::robot_base_frame_ [private]

Definition at line 88 of file ridgeback_ros_force_based_move.h.

std::string gazebo::GazeboRosForceBasedMove::robot_namespace_ [private]

Definition at line 84 of file ridgeback_ros_force_based_move.h.

boost::shared_ptr<ros::NodeHandle> gazebo::GazeboRosForceBasedMove::rosnode_ [private]

Definition at line 73 of file ridgeback_ros_force_based_move.h.

double gazebo::GazeboRosForceBasedMove::rot_ [private]

Definition at line 104 of file ridgeback_ros_force_based_move.h.

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

Definition at line 78 of file ridgeback_ros_force_based_move.h.

double gazebo::GazeboRosForceBasedMove::torque_yaw_velocity_p_gain_ [private]

Definition at line 109 of file ridgeback_ros_force_based_move.h.

boost::shared_ptr<tf::TransformBroadcaster> gazebo::GazeboRosForceBasedMove::transform_broadcaster_ [private]

Definition at line 76 of file ridgeback_ros_force_based_move.h.

event::ConnectionPtr gazebo::GazeboRosForceBasedMove::update_connection_ [private]

Definition at line 65 of file ridgeback_ros_force_based_move.h.

ros::Subscriber gazebo::GazeboRosForceBasedMove::vel_sub_ [private]

Definition at line 75 of file ridgeback_ros_force_based_move.h.

double gazebo::GazeboRosForceBasedMove::x_ [private]

Definition at line 102 of file ridgeback_ros_force_based_move.h.

double gazebo::GazeboRosForceBasedMove::y_ [private]

Definition at line 103 of file ridgeback_ros_force_based_move.h.

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

• ridgeback_ros_force_based_move.h
• ridgeback_ros_force_based_move.cpp