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::ChainDynParam *	dyn
KDL::ChainFkSolverPos_recursive *	fk
KDL::ChainJntToJacSolver *	jc
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::NodeHandle *	rosnode_
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

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Detailed Description

Definition at line 53 of file lwr_controller.h.

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Constructor & Destructor Documentation

gazebo::LWRController::LWRController

(

)

Constructor.

Definition at line 11 of file lwr_controller.cpp.

gazebo::LWRController::~LWRController

(

)

[virtual]

Destructor.

Definition at line 17 of file lwr_controller.cpp.

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Member Function Documentation

void gazebo::LWRController::GetRobotChain

(

)

[protected]

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.

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Member Data Documentation

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

Definition at line 91 of file lwr_controller.h.

KDL::Chain gazebo::LWRController::chain_ [private]

Definition at line 86 of file lwr_controller.h.

int gazebo::LWRController::cnt [private]

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.

KDL::ChainDynParam* gazebo::LWRController::dyn [private]

Definition at line 87 of file lwr_controller.h.

KDL::ChainFkSolverPos_recursive* gazebo::LWRController::fk [private]

Definition at line 88 of file lwr_controller.h.

KDL::ChainJntToJacSolver* gazebo::LWRController::jc [private]

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.

int gazebo::LWRController::remote_port [private]

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.

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

Definition at line 74 of file lwr_controller.h.

int gazebo::LWRController::socketFd [private]

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.

event::ConnectionPtr gazebo::LWRController::updateConnection [private]

Definition at line 84 of file lwr_controller.h.

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

Definition at line 81 of file lwr_controller.h.

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

• lwr_controller.h
• lwr_controller.cpp