Public Member Functions | Protected Member Functions | Private Member Functions | Private Attributes
gazebo::UsvThrust Class Reference

#include <usv_gazebo_thrust_plugin.h>

List of all members.

Public Member Functions

virtual void Load (physics::ModelPtr _parent, sdf::ElementPtr _sdf)
 UsvThrust ()
virtual ~UsvThrust ()

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)
double glf (double x, float A, float K, float B, float v, float C, float M)
double glfThrustCmd (double cmd)
void OnCmdDrive (const usv_gazebo_plugins::UsvDriveConstPtr &msg)
double scaleThrustCmd (double cmd)
void spin ()

Private Attributes

ros::Subscriber cmd_drive_sub_
double cmd_timeout_
double last_cmd_drive_left_
double last_cmd_drive_right_
common::Time last_cmd_drive_time_
physics::LinkPtr link_
std::string link_name_
physics::ModelPtr model_
std::string node_namespace_
 Parameters.
double param_boat_length_
double param_boat_width_
int param_mapping_type_
double param_max_cmd_
double param_max_force_fwd_
double param_max_force_rev_
double param_thrust_z_offset_
math::Pose pose_
common::Time prev_update_time_
ros::NodeHandle * rosnode_
boost::thread * spinner_thread_
event::ConnectionPtr update_connection_
event::ConnectionPtr updateConnection
physics::WorldPtr world_

Detailed Description

Definition at line 45 of file usv_gazebo_thrust_plugin.h.

Constructor & Destructor Documentation

UsvThrust::UsvThrust ( )

Definition at line 30 of file usv_gazebo_thrust_plugin.cpp.

UsvThrust::~UsvThrust ( ) [virtual]

Definition at line 34 of file usv_gazebo_thrust_plugin.cpp.

Member Function Documentation

void UsvThrust::FiniChild ( ) [protected, virtual]

Definition at line 42 of file usv_gazebo_thrust_plugin.cpp.

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

Convenience function for getting SDF parameters

Definition at line 47 of file usv_gazebo_thrust_plugin.cpp.

double UsvThrust::glf ( double  x,
float  A,
float  K,
float  B,
float  v,
float  C,
float  M 
) [private]

Definition at line 177 of file usv_gazebo_thrust_plugin.cpp.

double UsvThrust::glfThrustCmd ( double  cmd) [private]

Definition at line 182 of file usv_gazebo_thrust_plugin.cpp.

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

Loads the model in gets dynamic parameters from SDF.

Definition at line 62 of file usv_gazebo_thrust_plugin.cpp.

void UsvThrust::OnCmdDrive ( const usv_gazebo_plugins::UsvDriveConstPtr &  msg) [private]

Callback for Drive commands

Parameters:
msgusv_msgs UsvDrive message

Definition at line 258 of file usv_gazebo_thrust_plugin.cpp.

double UsvThrust::scaleThrustCmd ( double  cmd) [private]

Takes ROS Kingfisher Drive commands and scales them by max thrust

Parameters:
cmdROS drive command
max_cmdMaximum value expected for commands - scaling factor
max_posMaximum positive force value
max_negMaximum negative force value
Returns:
Value scaled and saturated

Definition at line 161 of file usv_gazebo_thrust_plugin.cpp.

void UsvThrust::spin ( ) [private]

ROS spin once

Definition at line 266 of file usv_gazebo_thrust_plugin.cpp.

void UsvThrust::UpdateChild ( ) [protected, virtual]

Callback for Gazebo simulation engine

Definition at line 202 of file usv_gazebo_thrust_plugin.cpp.

Member Data Documentation

ros::Subscriber gazebo::UsvThrust::cmd_drive_sub_ [private]

Definition at line 92 of file usv_gazebo_thrust_plugin.h.

double gazebo::UsvThrust::cmd_timeout_ [private]

Timeout for recieving Drive commands [s]

Definition at line 109 of file usv_gazebo_thrust_plugin.h.

double gazebo::UsvThrust::last_cmd_drive_left_ [private]

Definition at line 112 of file usv_gazebo_thrust_plugin.h.

double gazebo::UsvThrust::last_cmd_drive_right_ [private]

Definition at line 113 of file usv_gazebo_thrust_plugin.h.

common::Time gazebo::UsvThrust::last_cmd_drive_time_ [private]

Definition at line 111 of file usv_gazebo_thrust_plugin.h.

physics::LinkPtr gazebo::UsvThrust::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 106 of file usv_gazebo_thrust_plugin.h.

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

Definition at line 88 of file usv_gazebo_thrust_plugin.h.

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

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

Definition at line 102 of file usv_gazebo_thrust_plugin.h.

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

Parameters.

Definition at line 87 of file usv_gazebo_thrust_plugin.h.

double gazebo::UsvThrust::param_boat_length_ [private]

Plugin Parameter: Boat length [m]

Definition at line 127 of file usv_gazebo_thrust_plugin.h.

double gazebo::UsvThrust::param_boat_width_ [private]

Plugin Parameter: Boat width [m]

Definition at line 125 of file usv_gazebo_thrust_plugin.h.

int gazebo::UsvThrust::param_mapping_type_ [private]

Definition at line 116 of file usv_gazebo_thrust_plugin.h.

double gazebo::UsvThrust::param_max_cmd_ [private]

Plugin Parameter: Maximum (abs val) of Drive commands. typ. +/-1.0

Definition at line 118 of file usv_gazebo_thrust_plugin.h.

double gazebo::UsvThrust::param_max_force_fwd_ [private]

Plugin Parameter: Maximum forward force [N]

Definition at line 120 of file usv_gazebo_thrust_plugin.h.

double gazebo::UsvThrust::param_max_force_rev_ [private]

Plugin Parameter: Maximum reverse force [N]

Definition at line 122 of file usv_gazebo_thrust_plugin.h.

double gazebo::UsvThrust::param_thrust_z_offset_ [private]

Plugin Parameter: Z offset for applying forward thrust

Definition at line 129 of file usv_gazebo_thrust_plugin.h.

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

Definition at line 107 of file usv_gazebo_thrust_plugin.h.

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

Definition at line 110 of file usv_gazebo_thrust_plugin.h.

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

Definition at line 90 of file usv_gazebo_thrust_plugin.h.

boost::thread* gazebo::UsvThrust::spinner_thread_ [private]

Definition at line 97 of file usv_gazebo_thrust_plugin.h.

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

Definition at line 96 of file usv_gazebo_thrust_plugin.h.

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

Definition at line 131 of file usv_gazebo_thrust_plugin.h.

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

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

Definition at line 100 of file usv_gazebo_thrust_plugin.h.

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

usv_gazebo_plugins
Author(s): Brian Bingham
autogenerated on Thu Mar 7 2019 03:37:04