Public Member Functions | Protected Member Functions | Private Member Functions | Private Attributes
gazebo::GazeboRosP3D Class Reference

#include <gazebo_ros_p3d.h>

List of all members.

Public Member Functions

 GazeboRosP3D ()
 Constructor.
void Load (physics::ModelPtr _parent, sdf::ElementPtr _sdf)
 Load the controller.
virtual ~GazeboRosP3D ()
 Destructor.

Protected Member Functions

virtual void UpdateChild ()
 Update the controller.

Private Member Functions

double GaussianKernel (double mu, double sigma)
 Gaussian noise generator.
void P3DConnect ()
void P3DDisconnect ()
void P3DQueueThread ()

Private Attributes

math::Vector3 aeul_
math::Vector3 apos_
boost::thread callback_queue_thread_
math::Vector3 frame_aeul_
math::Vector3 frame_apos_
std::string frame_name_
 frame transform name, should match link name FIXME: extract link name directly?
double gaussian_noise_
 Gaussian noise.
math::Vector3 last_frame_veul_
math::Vector3 last_frame_vpos_
common::Time last_time_
 save last_time
math::Vector3 last_veul_
math::Vector3 last_vpos_
physics::LinkPtr link_
 The parent Model.
std::string link_name_
 store bodyname
boost::mutex lock
 A mutex to lock access to fields that are used in message callbacks.
physics::ModelPtr model_
math::Pose offset_
 allow specifying constant xyz and rpy offsets
int p3d_connect_count_
 Keep track of number of connctions.
ros::CallbackQueue p3d_queue_
nav_msgs::Odometry pose_msg_
 ros message
ros::Publisher pub_
physics::LinkPtr reference_link_
 The body of the frame to display pose, twist.
std::string robot_namespace_
 for setting ROS name space
ros::NodeHandlerosnode_
 pointer to ros node
std::string tf_frame_name_
std::string topic_name_
 topic name
event::ConnectionPtr update_connection_
double update_rate_
physics::WorldPtr world_

Detailed Description

Definition at line 47 of file gazebo_ros_p3d.h.


Constructor & Destructor Documentation

Constructor.

Definition at line 38 of file gazebo_ros_p3d.cpp.

Destructor.

Definition at line 45 of file gazebo_ros_p3d.cpp.


Member Function Documentation

double gazebo::GazeboRosP3D::GaussianKernel ( double  mu,
double  sigma 
) [private]

Gaussian noise generator.

Definition at line 331 of file gazebo_ros_p3d.cpp.

void gazebo::GazeboRosP3D::Load ( physics::ModelPtr  _parent,
sdf::ElementPtr  _sdf 
)

Load the controller.

if frameName specified is "world", "/map" or "map" report back inertial values in the gazebo world

Definition at line 58 of file gazebo_ros_p3d.cpp.

Definition at line 196 of file gazebo_ros_p3d.cpp.

Definition at line 202 of file gazebo_ros_p3d.cpp.

Definition at line 347 of file gazebo_ros_p3d.cpp.

void gazebo::GazeboRosP3D::UpdateChild ( ) [protected, virtual]

Update the controller.

Todo:
: let user set separate linear and angular covariance values.

Definition at line 209 of file gazebo_ros_p3d.cpp.


Member Data Documentation

math::Vector3 gazebo::GazeboRosP3D::aeul_ [private]

Definition at line 100 of file gazebo_ros_p3d.h.

math::Vector3 gazebo::GazeboRosP3D::apos_ [private]

Definition at line 99 of file gazebo_ros_p3d.h.

Definition at line 125 of file gazebo_ros_p3d.h.

math::Vector3 gazebo::GazeboRosP3D::frame_aeul_ [private]

Definition at line 104 of file gazebo_ros_p3d.h.

math::Vector3 gazebo::GazeboRosP3D::frame_apos_ [private]

Definition at line 103 of file gazebo_ros_p3d.h.

std::string gazebo::GazeboRosP3D::frame_name_ [private]

frame transform name, should match link name FIXME: extract link name directly?

Definition at line 86 of file gazebo_ros_p3d.h.

Gaussian noise.

Definition at line 110 of file gazebo_ros_p3d.h.

math::Vector3 gazebo::GazeboRosP3D::last_frame_veul_ [private]

Definition at line 102 of file gazebo_ros_p3d.h.

math::Vector3 gazebo::GazeboRosP3D::last_frame_vpos_ [private]

Definition at line 101 of file gazebo_ros_p3d.h.

common::Time gazebo::GazeboRosP3D::last_time_ [private]

save last_time

Definition at line 96 of file gazebo_ros_p3d.h.

math::Vector3 gazebo::GazeboRosP3D::last_veul_ [private]

Definition at line 98 of file gazebo_ros_p3d.h.

math::Vector3 gazebo::GazeboRosP3D::last_vpos_ [private]

Definition at line 97 of file gazebo_ros_p3d.h.

physics::LinkPtr gazebo::GazeboRosP3D::link_ [private]

The parent Model.

Definition at line 65 of file gazebo_ros_p3d.h.

std::string gazebo::GazeboRosP3D::link_name_ [private]

store bodyname

Definition at line 79 of file gazebo_ros_p3d.h.

boost::mutex gazebo::GazeboRosP3D::lock [private]

A mutex to lock access to fields that are used in message callbacks.

Definition at line 93 of file gazebo_ros_p3d.h.

physics::ModelPtr gazebo::GazeboRosP3D::model_ [private]

Definition at line 62 of file gazebo_ros_p3d.h.

allow specifying constant xyz and rpy offsets

Definition at line 90 of file gazebo_ros_p3d.h.

Keep track of number of connctions.

Definition at line 119 of file gazebo_ros_p3d.h.

Definition at line 123 of file gazebo_ros_p3d.h.

nav_msgs::Odometry gazebo::GazeboRosP3D::pose_msg_ [private]

ros message

Definition at line 76 of file gazebo_ros_p3d.h.

Definition at line 73 of file gazebo_ros_p3d.h.

physics::LinkPtr gazebo::GazeboRosP3D::reference_link_ [private]

The body of the frame to display pose, twist.

Definition at line 68 of file gazebo_ros_p3d.h.

for setting ROS name space

Definition at line 116 of file gazebo_ros_p3d.h.

pointer to ros node

Definition at line 72 of file gazebo_ros_p3d.h.

std::string gazebo::GazeboRosP3D::tf_frame_name_ [private]

Definition at line 87 of file gazebo_ros_p3d.h.

std::string gazebo::GazeboRosP3D::topic_name_ [private]

topic name

Definition at line 82 of file gazebo_ros_p3d.h.

Definition at line 128 of file gazebo_ros_p3d.h.

Definition at line 107 of file gazebo_ros_p3d.h.

physics::WorldPtr gazebo::GazeboRosP3D::world_ [private]

Definition at line 61 of file gazebo_ros_p3d.h.


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


gazebo_plugins
Author(s): Sachin Chitta, Stu Glaser, John Hsu
autogenerated on Sun Jan 5 2014 11:34:58