gazebo::DiffDrivePlugin Class Reference

#include <diffdrive_plugin.h>

List of all members.

Public Member Functions
	DiffDrivePlugin (Entity *parent)
virtual	~DiffDrivePlugin ()
Protected Member Functions
virtual void	FiniChild ()
virtual void	InitChild ()
virtual void	LoadChild (XMLConfigNode *node)
void	ResetChild ()
void	SaveChild (std::string &prefix, std::ostream &stream)
virtual void	UpdateChild ()
Private Member Functions
void	cmdVelCallback (const geometry_msgs::Twist::ConstPtr &cmd_msg)
void	GetPositionCmd ()
void	publish_odometry ()
void	QueueThread ()
void	write_position_data ()
Private Attributes
bool	alive_
boost::thread *	callback_queue_thread_
bool	enableMotors
Joint *	joints [2]
ParamT< std::string > *	leftJointNameP
boost::mutex	lock
nav_msgs::Odometry	odom_
float	odomPose [3]
float	odomVel [3]
Model *	parent_
PhysicsEngine *	physicsEngine
libgazebo::PositionIface *	pos_iface_
Time	prevUpdateTime
ros::Publisher	pub_
ros::CallbackQueue	queue_
ParamT< std::string > *	rightJointNameP
std::string	robotNamespace
ParamT< std::string > *	robotNamespaceP
ros::NodeHandle *	rosnode_
float	rot_
ros::Subscriber	sub_
std::string	tf_prefix_
std::string	topicName
ParamT< std::string > *	topicNameP
ParamT< float > *	torqueP
tf::TransformBroadcaster *	transform_broadcaster_
ParamT< float > *	wheelDiamP
ParamT< float > *	wheelSepP
float	wheelSpeed [2]
float	x_

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Detailed Description

Definition at line 44 of file diffdrive_plugin.h.

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Constructor & Destructor Documentation

DiffDrivePlugin::DiffDrivePlugin

(

Entity *

parent

)

Definition at line 60 of file diffdrive_plugin.cpp.

DiffDrivePlugin::~DiffDrivePlugin

(

)

[virtual]

Definition at line 91 of file diffdrive_plugin.cpp.

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Member Function Documentation

void DiffDrivePlugin::cmdVelCallback

(

const geometry_msgs::Twist::ConstPtr &

cmd_msg

)

[private]

Definition at line 280 of file diffdrive_plugin.cpp.

void DiffDrivePlugin::FiniChild

(

)

[protected, virtual]

Definition at line 244 of file diffdrive_plugin.cpp.

void DiffDrivePlugin::GetPositionCmd

(

)

[private]

Definition at line 257 of file diffdrive_plugin.cpp.

void DiffDrivePlugin::InitChild

(

)

[protected, virtual]

Definition at line 153 of file diffdrive_plugin.cpp.

void DiffDrivePlugin::LoadChild

(

XMLConfigNode *

node

)

[protected, virtual]

Definition at line 106 of file diffdrive_plugin.cpp.

void DiffDrivePlugin::publish_odometry

(

)

[private]

Definition at line 307 of file diffdrive_plugin.cpp.

void DiffDrivePlugin::QueueThread

(

)

[private]

Definition at line 295 of file diffdrive_plugin.cpp.

void DiffDrivePlugin::ResetChild

(

)

[protected]

Definition at line 178 of file diffdrive_plugin.cpp.

void DiffDrivePlugin::SaveChild	(	std::string &	prefix,
		std::ostream &	stream
	)			[protected]

Definition at line 168 of file diffdrive_plugin.cpp.

void DiffDrivePlugin::UpdateChild

(

)

[protected, virtual]

Definition at line 191 of file diffdrive_plugin.cpp.

void DiffDrivePlugin::write_position_data

(

)

[private]

Definition at line 351 of file diffdrive_plugin.cpp.

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Member Data Documentation

bool gazebo::DiffDrivePlugin::alive_ [private]

Definition at line 109 of file diffdrive_plugin.h.

boost::thread* gazebo::DiffDrivePlugin::callback_queue_thread_ [private]

Definition at line 101 of file diffdrive_plugin.h.

bool gazebo::DiffDrivePlugin::enableMotors [private]

Definition at line 74 of file diffdrive_plugin.h.

Joint* gazebo::DiffDrivePlugin::joints[2] [private]

Definition at line 78 of file diffdrive_plugin.h.

ParamT<std::string>* gazebo::DiffDrivePlugin::leftJointNameP [private]

Definition at line 80 of file diffdrive_plugin.h.

boost::mutex gazebo::DiffDrivePlugin::lock [private]

Definition at line 91 of file diffdrive_plugin.h.

nav_msgs::Odometry gazebo::DiffDrivePlugin::odom_ [private]

Definition at line 88 of file diffdrive_plugin.h.

float gazebo::DiffDrivePlugin::odomPose[3] [private]

Definition at line 75 of file diffdrive_plugin.h.

float gazebo::DiffDrivePlugin::odomVel[3] [private]

Definition at line 76 of file diffdrive_plugin.h.

Model* gazebo::DiffDrivePlugin::parent_ [private]

Definition at line 65 of file diffdrive_plugin.h.

PhysicsEngine* gazebo::DiffDrivePlugin::physicsEngine [private]

Definition at line 79 of file diffdrive_plugin.h.

libgazebo::PositionIface* gazebo::DiffDrivePlugin::pos_iface_ [private]

Definition at line 64 of file diffdrive_plugin.h.

Time gazebo::DiffDrivePlugin::prevUpdateTime [private]

Definition at line 72 of file diffdrive_plugin.h.

ros::Publisher gazebo::DiffDrivePlugin::pub_ [private]

Definition at line 85 of file diffdrive_plugin.h.

ros::CallbackQueue gazebo::DiffDrivePlugin::queue_ [private]

Definition at line 100 of file diffdrive_plugin.h.

ParamT<std::string>* gazebo::DiffDrivePlugin::rightJointNameP [private]

Definition at line 81 of file diffdrive_plugin.h.

std::string gazebo::DiffDrivePlugin::robotNamespace [private]

Definition at line 94 of file diffdrive_plugin.h.

ParamT<std::string>* gazebo::DiffDrivePlugin::robotNamespaceP [private]

Definition at line 93 of file diffdrive_plugin.h.

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

Definition at line 84 of file diffdrive_plugin.h.

float gazebo::DiffDrivePlugin::rot_ [private]

Definition at line 108 of file diffdrive_plugin.h.

ros::Subscriber gazebo::DiffDrivePlugin::sub_ [private]

Definition at line 86 of file diffdrive_plugin.h.

std::string gazebo::DiffDrivePlugin::tf_prefix_ [private]

Definition at line 89 of file diffdrive_plugin.h.

std::string gazebo::DiffDrivePlugin::topicName [private]

Definition at line 97 of file diffdrive_plugin.h.

ParamT<std::string>* gazebo::DiffDrivePlugin::topicNameP [private]

Definition at line 96 of file diffdrive_plugin.h.

ParamT<float>* gazebo::DiffDrivePlugin::torqueP [private]

Definition at line 68 of file diffdrive_plugin.h.

tf::TransformBroadcaster* gazebo::DiffDrivePlugin::transform_broadcaster_ [private]

Definition at line 87 of file diffdrive_plugin.h.

ParamT<float>* gazebo::DiffDrivePlugin::wheelDiamP [private]

Definition at line 67 of file diffdrive_plugin.h.

ParamT<float>* gazebo::DiffDrivePlugin::wheelSepP [private]

Definition at line 66 of file diffdrive_plugin.h.

float gazebo::DiffDrivePlugin::wheelSpeed[2] [private]

Definition at line 69 of file diffdrive_plugin.h.

float gazebo::DiffDrivePlugin::x_ [private]

Definition at line 107 of file diffdrive_plugin.h.

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

• diffdrive_plugin.h
• diffdrive_plugin.cpp