gazebo::UsvPlugin Class Reference

#include <usv_gazebo_dynamics_plugin.h>

List of all members.

Public Member Functions
virtual void	Load (physics::ModelPtr _parent, sdf::ElementPtr _sdf)
	UsvPlugin ()
virtual	~UsvPlugin ()
Protected Member Functions
virtual void	FiniChild ()
virtual void	UpdateChild ()
Private Member Functions
double	getSdfParamDouble (sdf::ElementPtr sdfPtr, const std::string &param_name, double default_val)
void	OnContact (const std::string &name, const physics::Contact &contact)
void	spin ()
Private Attributes
math::Vector3	acceleration
Eigen::VectorXd	amassVec_
math::Vector3	angular_acceleration_
math::Vector3	angular_velocity_
float	buoy_frac_
Eigen::MatrixXd	Cmat_
Eigen::VectorXd	Cvec_
Eigen::MatrixXd	Dmat_
Eigen::VectorXd	Dvec_
float	dx_
float	dy_
math::Vector3	euler_
std::vector< int >	II_
ros::Publisher	joint_state_pub_
physics::LinkPtr	link_
std::string	link_name_
physics::ModelPtr	model_
std::string	node_namespace_
	Parameters.
ros::Publisher	odom_pub_
math::Pose	pose_
math::Vector3	prev_ang_vel_
math::Vector3	prev_lin_vel_
common::Time	prev_update_time_
ros::NodeHandle *	rosnode_
ros::Publisher	sensor_state_pub_
Eigen::VectorXd	state_
Eigen::VectorXd	state_dot_
event::ConnectionPtr	update_connection_
math::Vector3	vel_angular_body_
math::Vector3	vel_linear_body_
physics::WorldPtr	world_

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Detailed Description

Definition at line 53 of file usv_gazebo_dynamics_plugin.h.

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Constructor & Destructor Documentation

UsvPlugin::UsvPlugin

(

)

Definition at line 35 of file usv_gazebo_dynamics_plugin.cpp.

UsvPlugin::~UsvPlugin

(

)

[virtual]

Definition at line 39 of file usv_gazebo_dynamics_plugin.cpp.

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Member Function Documentation

void UsvPlugin::FiniChild

(

)

[protected, virtual]

Definition at line 47 of file usv_gazebo_dynamics_plugin.cpp.

double UsvPlugin::getSdfParamDouble	(	sdf::ElementPtr	sdfPtr,
		const std::string &	param_name,
		double	default_val
	)		[private]

Convenience function for getting SDF parameters

Definition at line 52 of file usv_gazebo_dynamics_plugin.cpp.

void UsvPlugin::Load	(	physics::ModelPtr	_parent,
		sdf::ElementPtr	_sdf
	)		[virtual]

Loads the model in gets dynamic parameters from SDF.

Definition at line 67 of file usv_gazebo_dynamics_plugin.cpp.

void gazebo::UsvPlugin::OnContact	(	const std::string &	name,
		const physics::Contact &	contact
	)		[private]

Presumably this would get called when there is a collision, but not implemented!

void UsvPlugin::spin

(

)

[private]

ROS spin once

Definition at line 377 of file usv_gazebo_dynamics_plugin.cpp.

void UsvPlugin::UpdateChild

(

)

[protected, virtual]

Callback for Gazebo simulation engine

Definition at line 249 of file usv_gazebo_dynamics_plugin.cpp.

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Member Data Documentation

math::Vector3 gazebo::UsvPlugin::acceleration [private]

Definition at line 109 of file usv_gazebo_dynamics_plugin.h.

Eigen::VectorXd gazebo::UsvPlugin::amassVec_ [private]

Definition at line 114 of file usv_gazebo_dynamics_plugin.h.

math::Vector3 gazebo::UsvPlugin::angular_acceleration_ [private]

Definition at line 111 of file usv_gazebo_dynamics_plugin.h.

math::Vector3 gazebo::UsvPlugin::angular_velocity_ [private]

Definition at line 110 of file usv_gazebo_dynamics_plugin.h.

float gazebo::UsvPlugin::buoy_frac_ [private]

Definition at line 121 of file usv_gazebo_dynamics_plugin.h.

Eigen::MatrixXd gazebo::UsvPlugin::Cmat_ [private]

Definition at line 115 of file usv_gazebo_dynamics_plugin.h.

Eigen::VectorXd gazebo::UsvPlugin::Cvec_ [private]

Definition at line 116 of file usv_gazebo_dynamics_plugin.h.

Eigen::MatrixXd gazebo::UsvPlugin::Dmat_ [private]

Definition at line 117 of file usv_gazebo_dynamics_plugin.h.

Eigen::VectorXd gazebo::UsvPlugin::Dvec_ [private]

Definition at line 118 of file usv_gazebo_dynamics_plugin.h.

float gazebo::UsvPlugin::dx_ [private]

Definition at line 122 of file usv_gazebo_dynamics_plugin.h.

float gazebo::UsvPlugin::dy_ [private]

Definition at line 123 of file usv_gazebo_dynamics_plugin.h.

math::Vector3 gazebo::UsvPlugin::euler_ [private]

Definition at line 106 of file usv_gazebo_dynamics_plugin.h.

std::vector<int> gazebo::UsvPlugin::II_ [private]

Definition at line 124 of file usv_gazebo_dynamics_plugin.h.

ros::Publisher gazebo::UsvPlugin::joint_state_pub_ [private]

Definition at line 85 of file usv_gazebo_dynamics_plugin.h.

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

Pointer to model link in gazebo, optionally specified by the bodyName parameter, The states are taken from this link and forces applied to this link.

Definition at line 98 of file usv_gazebo_dynamics_plugin.h.

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

Definition at line 79 of file usv_gazebo_dynamics_plugin.h.

physics::ModelPtr gazebo::UsvPlugin::model_ [private]

Pointer to Gazebo parent model, retrieved when the model is loaded

Definition at line 94 of file usv_gazebo_dynamics_plugin.h.

std::string gazebo::UsvPlugin::node_namespace_ [private]

Parameters.

Definition at line 78 of file usv_gazebo_dynamics_plugin.h.

ros::Publisher gazebo::UsvPlugin::odom_pub_ [private]

Definition at line 84 of file usv_gazebo_dynamics_plugin.h.

math::Pose gazebo::UsvPlugin::pose_ [private]

Definition at line 105 of file usv_gazebo_dynamics_plugin.h.

math::Vector3 gazebo::UsvPlugin::prev_ang_vel_ [private]

Definition at line 104 of file usv_gazebo_dynamics_plugin.h.

math::Vector3 gazebo::UsvPlugin::prev_lin_vel_ [private]

Definition at line 103 of file usv_gazebo_dynamics_plugin.h.

common::Time gazebo::UsvPlugin::prev_update_time_ [private]

Definition at line 102 of file usv_gazebo_dynamics_plugin.h.

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

Definition at line 81 of file usv_gazebo_dynamics_plugin.h.

ros::Publisher gazebo::UsvPlugin::sensor_state_pub_ [private]

Definition at line 83 of file usv_gazebo_dynamics_plugin.h.

Eigen::VectorXd gazebo::UsvPlugin::state_ [private]

Definition at line 113 of file usv_gazebo_dynamics_plugin.h.

Eigen::VectorXd gazebo::UsvPlugin::state_dot_ [private]

Definition at line 112 of file usv_gazebo_dynamics_plugin.h.

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

Definition at line 89 of file usv_gazebo_dynamics_plugin.h.

math::Vector3 gazebo::UsvPlugin::vel_angular_body_ [private]

Definition at line 108 of file usv_gazebo_dynamics_plugin.h.

math::Vector3 gazebo::UsvPlugin::vel_linear_body_ [private]

Definition at line 107 of file usv_gazebo_dynamics_plugin.h.

physics::WorldPtr gazebo::UsvPlugin::world_ [private]

Pointer to the Gazebo world, retrieved when the model is loaded

Definition at line 92 of file usv_gazebo_dynamics_plugin.h.

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

• usv_gazebo_dynamics_plugin.h
• usv_gazebo_dynamics_plugin.cpp