#include <gazebo_gimbal_controller_plugin.h>
◆ GimbalControllerPlugin()
GimbalControllerPlugin::GimbalControllerPlugin |
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◆ Init()
void GimbalControllerPlugin::Init |
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◆ Load()
void GimbalControllerPlugin::Load |
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physics::ModelPtr |
_model, |
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sdf::ElementPtr |
_sdf |
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◆ NormalizeAbout()
double GimbalControllerPlugin::NormalizeAbout |
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double |
_angle, |
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double |
_reference |
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private |
returns _angle1 normalized about (_reference - M_PI, _reference + M_PI]
something to move into Angle class
- Parameters
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[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 |
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ConstAnyPtr & |
_msg | ) |
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private |
◆ OnRollStringMsg()
void GimbalControllerPlugin::OnRollStringMsg |
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ConstAnyPtr & |
_msg | ) |
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private |
◆ OnUpdate()
void GimbalControllerPlugin::OnUpdate |
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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 |
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ConstAnyPtr & |
_msg | ) |
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private |
◆ QtoZXY()
ignition::ignition::math::Vector3d GimbalControllerPlugin::QtoZXY |
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const ignition::math::Quaterniond & |
_q | ) |
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◆ ShortestAngularDistance()
double GimbalControllerPlugin::ShortestAngularDistance |
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double |
_from, |
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double |
_to |
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private |
returns shortest angular distance from _from to _to
something to move into Angle class
- Parameters
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[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 |
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double |
r11, |
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double |
r12, |
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double |
r21, |
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double |
r31, |
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double |
r32 |
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private |
◆ connections
◆ imuSensor
sensors::ImuSensorPtr gazebo::GimbalControllerPlugin::imuSensor |
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private |
◆ lastUpdateTime
common::Time gazebo::GimbalControllerPlugin::lastUpdateTime |
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private |
◆ model
physics::ModelPtr gazebo::GimbalControllerPlugin::model |
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private |
◆ node
transport::NodePtr gazebo::GimbalControllerPlugin::node |
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private |
◆ pitchCommand
double gazebo::GimbalControllerPlugin::pitchCommand |
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private |
◆ pitchJoint
physics::JointPtr gazebo::GimbalControllerPlugin::pitchJoint |
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private |
◆ pitchPid
common::PID gazebo::GimbalControllerPlugin::pitchPid |
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private |
◆ pitchPub
transport::PublisherPtr gazebo::GimbalControllerPlugin::pitchPub |
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private |
◆ pitchSub
transport::SubscriberPtr gazebo::GimbalControllerPlugin::pitchSub |
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private |
◆ rollCommand
double gazebo::GimbalControllerPlugin::rollCommand |
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private |
◆ rollJoint
physics::JointPtr gazebo::GimbalControllerPlugin::rollJoint |
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private |
◆ rollPid
common::PID gazebo::GimbalControllerPlugin::rollPid |
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private |
◆ rollPub
transport::PublisherPtr gazebo::GimbalControllerPlugin::rollPub |
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◆ rollSub
transport::SubscriberPtr gazebo::GimbalControllerPlugin::rollSub |
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◆ sdf
sdf::ElementPtr gazebo::GimbalControllerPlugin::sdf |
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◆ status
std::string gazebo::GimbalControllerPlugin::status |
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◆ yawCommand
double gazebo::GimbalControllerPlugin::yawCommand |
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private |
◆ yawJoint
physics::JointPtr gazebo::GimbalControllerPlugin::yawJoint |
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private |
◆ yawPid
common::PID gazebo::GimbalControllerPlugin::yawPid |
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private |
◆ yawPub
transport::PublisherPtr gazebo::GimbalControllerPlugin::yawPub |
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private |
◆ yawSub
transport::SubscriberPtr gazebo::GimbalControllerPlugin::yawSub |
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private |
The documentation for this class was generated from the following files:
rotors_gazebo_plugins
Author(s): Fadri Furrer, Michael Burri, Mina Kamel, Janosch Nikolic, Markus Achtelik
autogenerated on Mon Feb 28 2022 23:39:04