gazebo::WarthogSuspensionPlugin Class Reference

Inheritance diagram for gazebo::WarthogSuspensionPlugin:

Public Member Functions
void	Load (physics::ModelPtr _parent, sdf::ElementPtr _sdf)
void	OnUpdate (const common::UpdateInfo &_info)
	WarthogSuspensionPlugin ()

Private Member Functions
void	applySuspension (double kf, double bf)

Private Attributes
ros::Time	last_update_time_
physics::ModelPtr	model_
double	sus_bf_
double	sus_kf_
std::map< std::string, physics::JointPtr >	suspension_jnts_
event::ConnectionPtr	updateConnection_

Detailed Description

Definition at line 41 of file warthog_suspension_plugin.cpp.

Constructor & Destructor Documentation

gazebo::WarthogSuspensionPlugin::WarthogSuspensionPlugin ( )

inline

Constructor function.

Definition at line 47 of file warthog_suspension_plugin.cpp.

Member Function Documentation

void gazebo::WarthogSuspensionPlugin::applySuspension ( double  kf, double  bf  )

inlineprivate

Function that calculates the force applied to each suspension joint based on a spring/damper model

Parameters

kf	the spring constant in N/m
bf	the dampening coefficient in Ns/m

Definition at line 101 of file warthog_suspension_plugin.cpp.

void gazebo::WarthogSuspensionPlugin::Load ( physics::ModelPtr  _parent, sdf::ElementPtr  _sdf  )

inline

Function executed when the plugin is loaded.

Parameters

_parent	Pointer to the physics::Model object containing the links and joints.
_sdf	Pointer to the sdf::Element object containing the plugin parameters.

Definition at line 62 of file warthog_suspension_plugin.cpp.

void gazebo::WarthogSuspensionPlugin::OnUpdate ( const common::UpdateInfo &  _info )

inline

Function that is executed every time the simulation updates (i.e. each simulation step).

Parameters

_info

Object containing information regarding the current simulation step.

Definition at line 84 of file warthog_suspension_plugin.cpp.

Member Data Documentation

ros::Time gazebo::WarthogSuspensionPlugin::last_update_time_

private

Definition at line 118 of file warthog_suspension_plugin.cpp.

physics::ModelPtr gazebo::WarthogSuspensionPlugin::model_

private

Definition at line 119 of file warthog_suspension_plugin.cpp.

double gazebo::WarthogSuspensionPlugin::sus_bf_

private

Definition at line 117 of file warthog_suspension_plugin.cpp.

double gazebo::WarthogSuspensionPlugin::sus_kf_

private

Definition at line 117 of file warthog_suspension_plugin.cpp.

std::map<std::string, physics::JointPtr> gazebo::WarthogSuspensionPlugin::suspension_jnts_

private

Definition at line 116 of file warthog_suspension_plugin.cpp.

event::ConnectionPtr gazebo::WarthogSuspensionPlugin::updateConnection_

private

Definition at line 120 of file warthog_suspension_plugin.cpp.

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

• warthog_suspension_plugin.cpp