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

#include <lwr_controller.h>

List of all members.

Public Member Functions

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

Protected Member Functions

void GetRobotChain ()
virtual void UpdateChild ()
 Update the controller.

Private Attributes

std::string base_frame_
KDL::Chain chain_
int cnt
Eigen::Matrix< double, 7, 1 > damping_
KDL::ChainDynParamdyn
KDL::ChainFkSolverPos_recursivefk
KDL::ChainJntToJacSolverjc
Eigen::Matrix< double, 7, 1 > joint_pos
Eigen::Matrix< double, 7, 1 > joint_pos_cmd
Eigen::Matrix< double, 7, 1 > joint_vel
std::vector
< gazebo::physics::JointPtr > 
joints_
tFriCmdData m_cmd_data
tFriMsrData m_msr_data
gazebo::physics::ModelPtr parent_model_
std::string remote
int remote_port
struct sockaddr_in localAddr remoteAddr
std::string robotPrefix
ros::NodeHandlerosnode_
int socketFd
Eigen::Matrix< double, 7, 1 > stiffness_
Eigen::Matrix< double, 7, 1 > trq
Eigen::Matrix< double, 7, 1 > trq_cmd_
event::ConnectionPtr updateConnection
physics::WorldPtr world

Detailed Description

Definition at line 53 of file lwr_controller.h.


Constructor & Destructor Documentation

Constructor.

Definition at line 11 of file lwr_controller.cpp.

Destructor.

Definition at line 17 of file lwr_controller.cpp.


Member Function Documentation

Definition at line 119 of file lwr_controller.cpp.

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

Load the controller.

Definition at line 23 of file lwr_controller.cpp.

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

Update the controller.

Definition at line 141 of file lwr_controller.cpp.


Member Data Documentation

std::string gazebo::LWRController::base_frame_ [private]

Definition at line 91 of file lwr_controller.h.

Definition at line 86 of file lwr_controller.h.

Definition at line 93 of file lwr_controller.h.

Eigen::Matrix<double, 7, 1> gazebo::LWRController::damping_ [private]

Definition at line 99 of file lwr_controller.h.

Definition at line 87 of file lwr_controller.h.

Definition at line 88 of file lwr_controller.h.

Definition at line 89 of file lwr_controller.h.

Eigen::Matrix<double, 7, 1> gazebo::LWRController::joint_pos [private]

Definition at line 95 of file lwr_controller.h.

Eigen::Matrix<double, 7, 1> gazebo::LWRController::joint_pos_cmd [private]

Definition at line 96 of file lwr_controller.h.

Eigen::Matrix<double, 7, 1> gazebo::LWRController::joint_vel [private]

Definition at line 97 of file lwr_controller.h.

std::vector<gazebo::physics::JointPtr> gazebo::LWRController::joints_ [private]

Definition at line 78 of file lwr_controller.h.

tFriCmdData gazebo::LWRController::m_cmd_data [private]

Definition at line 110 of file lwr_controller.h.

tFriMsrData gazebo::LWRController::m_msr_data [private]

Definition at line 109 of file lwr_controller.h.

gazebo::physics::ModelPtr gazebo::LWRController::parent_model_ [private]

Definition at line 76 of file lwr_controller.h.

std::string gazebo::LWRController::remote [private]

Definition at line 104 of file lwr_controller.h.

Definition at line 103 of file lwr_controller.h.

struct sockaddr_in localAddr gazebo::LWRController::remoteAddr [private]

Definition at line 107 of file lwr_controller.h.

std::string gazebo::LWRController::robotPrefix [private]

Definition at line 77 of file lwr_controller.h.

Definition at line 74 of file lwr_controller.h.

Definition at line 106 of file lwr_controller.h.

Eigen::Matrix<double, 7, 1> gazebo::LWRController::stiffness_ [private]

Definition at line 98 of file lwr_controller.h.

Eigen::Matrix<double, 7, 1> gazebo::LWRController::trq [private]

Definition at line 101 of file lwr_controller.h.

Eigen::Matrix<double, 7, 1> gazebo::LWRController::trq_cmd_ [private]

Definition at line 100 of file lwr_controller.h.

Definition at line 84 of file lwr_controller.h.

physics::WorldPtr gazebo::LWRController::world [private]

Definition at line 81 of file lwr_controller.h.


The documentation for this class was generated from the following files:
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lwr_simulation
Author(s): Konrad Banachowicz
autogenerated on Thu Nov 14 2013 11:57:28