gazebo::DiffDrivePlugin6W Class Reference

#include <diffdrive_plugin_6w.h>

List of all members.

Public Member Functions
	DiffDrivePlugin6W (Entity *parent)
virtual	~DiffDrivePlugin6W ()
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
ParamT< std::string > *	frontLeftJointNameP
ParamT< std::string > *	frontRightJointNameP
Joint *	joints [6]
boost::mutex	lock
ParamT< std::string > *	midLeftJointNameP
ParamT< std::string > *	midRightJointNameP
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 > *	rearLeftJointNameP
ParamT< std::string > *	rearRightJointNameP
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 54 of file diffdrive_plugin_6w.h.

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Constructor & Destructor Documentation

DiffDrivePlugin6W::DiffDrivePlugin6W

(

Entity *

parent

)

Definition at line 73 of file diffdrive_plugin_6w.cpp.

DiffDrivePlugin6W::~DiffDrivePlugin6W

(

)

[virtual]

Definition at line 110 of file diffdrive_plugin_6w.cpp.

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Member Function Documentation

void DiffDrivePlugin6W::cmdVelCallback

(

const geometry_msgs::Twist::ConstPtr &

cmd_msg

)

[private]

Definition at line 330 of file diffdrive_plugin_6w.cpp.

void DiffDrivePlugin6W::FiniChild

(

)

[protected, virtual]

Definition at line 294 of file diffdrive_plugin_6w.cpp.

void DiffDrivePlugin6W::GetPositionCmd

(

)

[private]

Definition at line 307 of file diffdrive_plugin_6w.cpp.

void DiffDrivePlugin6W::InitChild

(

)

[protected, virtual]

Definition at line 189 of file diffdrive_plugin_6w.cpp.

void DiffDrivePlugin6W::LoadChild

(

XMLConfigNode *

node

)

[protected, virtual]

Definition at line 131 of file diffdrive_plugin_6w.cpp.

void DiffDrivePlugin6W::publish_odometry

(

)

[private]

Definition at line 357 of file diffdrive_plugin_6w.cpp.

void DiffDrivePlugin6W::QueueThread

(

)

[private]

Definition at line 345 of file diffdrive_plugin_6w.cpp.

void DiffDrivePlugin6W::ResetChild

(

)

[protected]

Definition at line 219 of file diffdrive_plugin_6w.cpp.

void DiffDrivePlugin6W::SaveChild	(	std::string &	prefix,
		std::ostream &	stream
	)			[protected]

Definition at line 204 of file diffdrive_plugin_6w.cpp.

void DiffDrivePlugin6W::UpdateChild

(

)

[protected, virtual]

Definition at line 232 of file diffdrive_plugin_6w.cpp.

void DiffDrivePlugin6W::write_position_data

(

)

[private]

Definition at line 401 of file diffdrive_plugin_6w.cpp.

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Member Data Documentation

bool gazebo::DiffDrivePlugin6W::alive_ [private]

Definition at line 123 of file diffdrive_plugin_6w.h.

boost::thread* gazebo::DiffDrivePlugin6W::callback_queue_thread_ [private]

Definition at line 115 of file diffdrive_plugin_6w.h.

bool gazebo::DiffDrivePlugin6W::enableMotors [private]

Definition at line 84 of file diffdrive_plugin_6w.h.

ParamT<std::string>* gazebo::DiffDrivePlugin6W::frontLeftJointNameP [private]

Definition at line 90 of file diffdrive_plugin_6w.h.

ParamT<std::string>* gazebo::DiffDrivePlugin6W::frontRightJointNameP [private]

Definition at line 91 of file diffdrive_plugin_6w.h.

Joint* gazebo::DiffDrivePlugin6W::joints[6] [private]

Definition at line 88 of file diffdrive_plugin_6w.h.

boost::mutex gazebo::DiffDrivePlugin6W::lock [private]

Definition at line 105 of file diffdrive_plugin_6w.h.

ParamT<std::string>* gazebo::DiffDrivePlugin6W::midLeftJointNameP [private]

Definition at line 92 of file diffdrive_plugin_6w.h.

ParamT<std::string>* gazebo::DiffDrivePlugin6W::midRightJointNameP [private]

Definition at line 93 of file diffdrive_plugin_6w.h.

nav_msgs::Odometry gazebo::DiffDrivePlugin6W::odom_ [private]

Definition at line 102 of file diffdrive_plugin_6w.h.

float gazebo::DiffDrivePlugin6W::odomPose[3] [private]

Definition at line 85 of file diffdrive_plugin_6w.h.

float gazebo::DiffDrivePlugin6W::odomVel[3] [private]

Definition at line 86 of file diffdrive_plugin_6w.h.

Model* gazebo::DiffDrivePlugin6W::parent_ [private]

Definition at line 75 of file diffdrive_plugin_6w.h.

PhysicsEngine* gazebo::DiffDrivePlugin6W::physicsEngine [private]

Definition at line 89 of file diffdrive_plugin_6w.h.

libgazebo::PositionIface* gazebo::DiffDrivePlugin6W::pos_iface_ [private]

Definition at line 74 of file diffdrive_plugin_6w.h.

Time gazebo::DiffDrivePlugin6W::prevUpdateTime [private]

Definition at line 82 of file diffdrive_plugin_6w.h.

ros::Publisher gazebo::DiffDrivePlugin6W::pub_ [private]

Definition at line 99 of file diffdrive_plugin_6w.h.

ros::CallbackQueue gazebo::DiffDrivePlugin6W::queue_ [private]

Definition at line 114 of file diffdrive_plugin_6w.h.

ParamT<std::string>* gazebo::DiffDrivePlugin6W::rearLeftJointNameP [private]

Definition at line 94 of file diffdrive_plugin_6w.h.

ParamT<std::string>* gazebo::DiffDrivePlugin6W::rearRightJointNameP [private]

Definition at line 95 of file diffdrive_plugin_6w.h.

std::string gazebo::DiffDrivePlugin6W::robotNamespace [private]

Definition at line 108 of file diffdrive_plugin_6w.h.

ParamT<std::string>* gazebo::DiffDrivePlugin6W::robotNamespaceP [private]

Definition at line 107 of file diffdrive_plugin_6w.h.

ros::NodeHandle* gazebo::DiffDrivePlugin6W::rosnode_ [private]

Definition at line 98 of file diffdrive_plugin_6w.h.

float gazebo::DiffDrivePlugin6W::rot_ [private]

Definition at line 122 of file diffdrive_plugin_6w.h.

ros::Subscriber gazebo::DiffDrivePlugin6W::sub_ [private]

Definition at line 100 of file diffdrive_plugin_6w.h.

std::string gazebo::DiffDrivePlugin6W::tf_prefix_ [private]

Definition at line 103 of file diffdrive_plugin_6w.h.

std::string gazebo::DiffDrivePlugin6W::topicName [private]

Definition at line 111 of file diffdrive_plugin_6w.h.

ParamT<std::string>* gazebo::DiffDrivePlugin6W::topicNameP [private]

Definition at line 110 of file diffdrive_plugin_6w.h.

ParamT<float>* gazebo::DiffDrivePlugin6W::torqueP [private]

Definition at line 78 of file diffdrive_plugin_6w.h.

tf::TransformBroadcaster* gazebo::DiffDrivePlugin6W::transform_broadcaster_ [private]

Definition at line 101 of file diffdrive_plugin_6w.h.

ParamT<float>* gazebo::DiffDrivePlugin6W::wheelDiamP [private]

Definition at line 77 of file diffdrive_plugin_6w.h.

ParamT<float>* gazebo::DiffDrivePlugin6W::wheelSepP [private]

Definition at line 76 of file diffdrive_plugin_6w.h.

float gazebo::DiffDrivePlugin6W::wheelSpeed[2] [private]

Definition at line 79 of file diffdrive_plugin_6w.h.

float gazebo::DiffDrivePlugin6W::x_ [private]

Definition at line 121 of file diffdrive_plugin_6w.h.

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

• diffdrive_plugin_6w.h
• diffdrive_plugin_6w.cpp