gazebo::GimbalControllerPlugin Class Reference

#include <gazebo_gimbal_controller_plugin.h>

Inheritance diagram for gazebo::GimbalControllerPlugin:

Public Member Functions
	GimbalControllerPlugin ()
	Constructor. More...
virtual void	Init ()
virtual void	Load (physics::ModelPtr _model, sdf::ElementPtr _sdf)

Private Member Functions
double	NormalizeAbout (double _angle, double _reference)
	returns _angle1 normalized about (_reference - M_PI, _reference + M_PI] More...
void	OnPitchStringMsg (ConstAnyPtr &_msg)
void	OnRollStringMsg (ConstAnyPtr &_msg)
void	OnUpdate ()
void	OnYawStringMsg (ConstAnyPtr &_msg)
ignition::ignition::math::Vector3d	QtoZXY (const ignition::math::Quaterniond &_q)
double	ShortestAngularDistance (double _from, double _to)
	returns shortest angular distance from _from to _to More...
ignition::ignition::math::Vector3d	ThreeAxisRot (double r11, double r12, double r21, double r31, double r32)

Private Attributes
std::vector< event::ConnectionPtr >	connections
sensors::ImuSensorPtr	imuSensor
common::Time	lastUpdateTime
physics::ModelPtr	model
transport::NodePtr	node
double	pitchCommand
physics::JointPtr	pitchJoint
	camera pitch joint More...
common::PID	pitchPid
transport::PublisherPtr	pitchPub
transport::SubscriberPtr	pitchSub
double	rollCommand
physics::JointPtr	rollJoint
	camera roll joint More...
common::PID	rollPid
transport::PublisherPtr	rollPub
transport::SubscriberPtr	rollSub
sdf::ElementPtr	sdf
std::string	status
double	yawCommand
physics::JointPtr	yawJoint
	yaw camera More...
common::PID	yawPid
transport::PublisherPtr	yawPub
transport::SubscriberPtr	yawSub

Detailed Description

Definition at line 36 of file gazebo_gimbal_controller_plugin.h.

Constructor & Destructor Documentation

GimbalControllerPlugin()

GimbalControllerPlugin::GimbalControllerPlugin

(

)

Constructor.

TODO: make these gains part of sdf xml

Definition at line 28 of file gazebo_gimbal_controller_plugin.cpp.

Member Function Documentation

Init()

void GimbalControllerPlugin::Init ( )

virtual

Definition at line 138 of file gazebo_gimbal_controller_plugin.cpp.

Load()

void GimbalControllerPlugin::Load ( physics::ModelPtr  _model, sdf::ElementPtr  _sdf  )

virtual

Definition at line 41 of file gazebo_gimbal_controller_plugin.cpp.

NormalizeAbout()

double GimbalControllerPlugin::NormalizeAbout ( double  _angle, double  _reference  )

private

returns _angle1 normalized about (_reference - M_PI, _reference + M_PI]

something to move into Angle class

Parameters

[in]	_angle1	input angle
[in]	_reference	reference input angle for normalization

Returns

normalized _angle1 about _reference

Definition at line 387 of file gazebo_gimbal_controller_plugin.cpp.

OnPitchStringMsg()

void GimbalControllerPlugin::OnPitchStringMsg ( ConstAnyPtr &  _msg )

private

Definition at line 185 of file gazebo_gimbal_controller_plugin.cpp.

OnRollStringMsg()

void GimbalControllerPlugin::OnRollStringMsg ( ConstAnyPtr &  _msg )

private

Definition at line 192 of file gazebo_gimbal_controller_plugin.cpp.

OnUpdate()

void GimbalControllerPlugin::OnUpdate ( )

private

Get current joint angles (in sensor frame):

currentAngleYPRVariable is defined in roll-pitch-yaw-fixed-axis and gimbal is constructed using yaw-roll-pitch-variable-axis

get joint limits (in sensor frame) TODO: move to Load() if limits do not change

Definition at line 232 of file gazebo_gimbal_controller_plugin.cpp.

OnYawStringMsg()

void GimbalControllerPlugin::OnYawStringMsg ( ConstAnyPtr &  _msg )

private

Definition at line 199 of file gazebo_gimbal_controller_plugin.cpp.

QtoZXY()

ignition::ignition::math::Vector3d GimbalControllerPlugin::QtoZXY ( const ignition::math::Quaterniond &  _q )

private

Definition at line 216 of file gazebo_gimbal_controller_plugin.cpp.

ShortestAngularDistance()

double GimbalControllerPlugin::ShortestAngularDistance ( double  _from, double  _to  )

private

returns shortest angular distance from _from to _to

something to move into Angle class

Parameters

[in]	_from	starting anglular position
[in]	_to	end angular position

Returns

distance traveled from starting to end angular positions

Definition at line 403 of file gazebo_gimbal_controller_plugin.cpp.

ThreeAxisRot()

ignition::ignition::math::Vector3d GimbalControllerPlugin::ThreeAxisRot ( double  r11, double  r12, double  r21, double  r31, double  r32  )

private

Definition at line 206 of file gazebo_gimbal_controller_plugin.cpp.

Member Data Documentation

connections

std::vector<event::ConnectionPtr> gazebo::GimbalControllerPlugin::connections

private

Definition at line 68 of file gazebo_gimbal_controller_plugin.h.

imuSensor

sensors::ImuSensorPtr gazebo::GimbalControllerPlugin::imuSensor

private

Definition at line 89 of file gazebo_gimbal_controller_plugin.h.

lastUpdateTime

common::Time gazebo::GimbalControllerPlugin::lastUpdateTime

private

Definition at line 102 of file gazebo_gimbal_controller_plugin.h.

model

physics::ModelPtr gazebo::GimbalControllerPlugin::model

private

Definition at line 78 of file gazebo_gimbal_controller_plugin.h.

node

transport::NodePtr gazebo::GimbalControllerPlugin::node

private

Definition at line 97 of file gazebo_gimbal_controller_plugin.h.

pitchCommand

double gazebo::GimbalControllerPlugin::pitchCommand

private

Definition at line 93 of file gazebo_gimbal_controller_plugin.h.

pitchJoint

physics::JointPtr gazebo::GimbalControllerPlugin::pitchJoint

private

camera pitch joint

Definition at line 87 of file gazebo_gimbal_controller_plugin.h.

pitchPid

common::PID gazebo::GimbalControllerPlugin::pitchPid

private

Definition at line 99 of file gazebo_gimbal_controller_plugin.h.

pitchPub

transport::PublisherPtr gazebo::GimbalControllerPlugin::pitchPub

private

Definition at line 74 of file gazebo_gimbal_controller_plugin.h.

pitchSub

transport::SubscriberPtr gazebo::GimbalControllerPlugin::pitchSub

private

Definition at line 70 of file gazebo_gimbal_controller_plugin.h.

rollCommand

double gazebo::GimbalControllerPlugin::rollCommand

private

Definition at line 95 of file gazebo_gimbal_controller_plugin.h.

rollJoint

physics::JointPtr gazebo::GimbalControllerPlugin::rollJoint

private

camera roll joint

Definition at line 84 of file gazebo_gimbal_controller_plugin.h.

rollPid

common::PID gazebo::GimbalControllerPlugin::rollPid

private

Definition at line 100 of file gazebo_gimbal_controller_plugin.h.

rollPub

transport::PublisherPtr gazebo::GimbalControllerPlugin::rollPub

private

Definition at line 75 of file gazebo_gimbal_controller_plugin.h.

rollSub

transport::SubscriberPtr gazebo::GimbalControllerPlugin::rollSub

private

Definition at line 71 of file gazebo_gimbal_controller_plugin.h.

sdf

sdf::ElementPtr gazebo::GimbalControllerPlugin::sdf

private

Definition at line 66 of file gazebo_gimbal_controller_plugin.h.

status

std::string gazebo::GimbalControllerPlugin::status

private

Definition at line 91 of file gazebo_gimbal_controller_plugin.h.

yawCommand

double gazebo::GimbalControllerPlugin::yawCommand

private

Definition at line 94 of file gazebo_gimbal_controller_plugin.h.

yawJoint

physics::JointPtr gazebo::GimbalControllerPlugin::yawJoint

private

yaw camera

Definition at line 81 of file gazebo_gimbal_controller_plugin.h.

yawPid

common::PID gazebo::GimbalControllerPlugin::yawPid

private

Definition at line 101 of file gazebo_gimbal_controller_plugin.h.

yawPub

transport::PublisherPtr gazebo::GimbalControllerPlugin::yawPub

private

Definition at line 76 of file gazebo_gimbal_controller_plugin.h.

yawSub

transport::SubscriberPtr gazebo::GimbalControllerPlugin::yawSub

private

Definition at line 72 of file gazebo_gimbal_controller_plugin.h.

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

• gazebo_gimbal_controller_plugin.h
• gazebo_gimbal_controller_plugin.cpp