#include <RobotController.h>

Classes
struct	JointState
Public Member Functions
void	addJoint (physics::JointPtr _jointPtr, bool advancedMode=false)
void	addJointDependency (std::string _childName, std::string _parentName, double factor)
void	getJointLimits (std::map< std::string, std::pair< double, double > > &limitsMap)
void	getJointStates (std::map< std::string, JointState > &posMap)
const nasa_r2_common_msgs::JointStatus &	getJointStatus (const std::string &name) const
void	getJointTargets (std::map< std::string, JointState > &posMap)
void	publishJointStatuses (ros::Publisher &rosPub) const
	RobotController (physics::ModelPtr _modelPtr)
void	setJointControl (const nasa_r2_common_msgs::JointControl::ConstPtr &msg)
void	setJointEffortTarget (const std::string &name, double target)
void	setJointPositions (std::map< std::string, double > posMap)
void	setJointPosTarget (const std::string &name, double target)
void	setJointVelTarget (const std::string &name, double target)
void	setPosPid (const std::string &name, double _p=0.0, double _i=0.0, double _d=0.0, double _imax=0.0, double _imin=0.0, double _cmdMax=0.0, double _cmdMin=0.0)
void	setVelPid (const std::string &name, double _p=0.0, double _i=0.0, double _d=0.0, double _imax=0.0, double _imin=0.0, double _cmdMax=0.0, double _cmdMin=0.0)
void	update ()
	~RobotController ()
Private Types
typedef std::multimap < std::string, std::pair < std::string, double > >	dependenciesType
Private Attributes
dependenciesType	dependencies
std::map< std::string, JointControllerPtr >	joints
physics::ModelPtr	modelPtr
common::Time	prevUpdateTime

Detailed Description

Definition at line 20 of file RobotController.h.

Member Typedef Documentation

typedef std::multimap<std::string, std::pair<std::string, double> > gazebo::RobotController::dependenciesType [private]

Definition at line 75 of file RobotController.h.

Constructor & Destructor Documentation

RobotController::RobotController ( physics::ModelPtr _modelPtr )

Definition at line 14 of file RobotController.cpp.

RobotController::~RobotController ( )

Definition at line 20 of file RobotController.cpp.

Member Function Documentation

void RobotController::addJoint	(	physics::JointPtr	_jointPtr,
		bool	advancedMode = `false`
	)

Definition at line 24 of file RobotController.cpp.

void RobotController::addJointDependency	(	std::string	_childName,
		std::string	_parentName,
		double	factor
	)

Definition at line 31 of file RobotController.cpp.

void RobotController::getJointLimits ( std::map< std::string, std::pair< double, double > > & limitsMap )

Definition at line 208 of file RobotController.cpp.

void RobotController::getJointStates ( std::map< std::string, JointState > & posMap )

Definition at line 109 of file RobotController.cpp.

const nasa_r2_common_msgs::JointStatus & RobotController::getJointStatus ( const std::string & name ) const

Definition at line 319 of file RobotController.cpp.

void RobotController::getJointTargets ( std::map< std::string, JointState > & posMap )

Definition at line 155 of file RobotController.cpp.

void RobotController::publishJointStatuses ( ros::Publisher & rosPub ) const

Definition at line 341 of file RobotController.cpp.

void RobotController::setJointControl ( const nasa_r2_common_msgs::JointControl::ConstPtr & msg )

Definition at line 298 of file RobotController.cpp.

void RobotController::setJointEffortTarget	(	const std::string &	name,
		double	target
	)

Definition at line 279 of file RobotController.cpp.

void RobotController::setJointPositions ( std::map< std::string, double > posMap )

Definition at line 72 of file RobotController.cpp.

void RobotController::setJointPosTarget	(	const std::string &	name,
		double	target
	)

Definition at line 243 of file RobotController.cpp.

void RobotController::setJointVelTarget	(	const std::string &	name,
		double	target
	)

Definition at line 261 of file RobotController.cpp.

void RobotController::setPosPid	(	const std::string &	name,
		double	_p = `0.0`,
		double	_i = `0.0`,
		double	_d = `0.0`,
		double	_imax = `0.0`,
		double	_imin = `0.0`,
		double	_cmdMax = `0.0`,
		double	_cmdMin = `0.0`
	)

Definition at line 47 of file RobotController.cpp.

void RobotController::setVelPid	(	const std::string &	name,
		double	_p = `0.0`,
		double	_i = `0.0`,
		double	_d = `0.0`,
		double	_imax = `0.0`,
		double	_imin = `0.0`,
		double	_cmdMax = `0.0`,
		double	_cmdMin = `0.0`
	)

Definition at line 59 of file RobotController.cpp.

void RobotController::update ( void )

Definition at line 329 of file RobotController.cpp.

Member Data Documentation

dependenciesType gazebo::RobotController::dependencies [private]

Definition at line 76 of file RobotController.h.

std::map<std::string, JointControllerPtr> gazebo::RobotController::joints [private]

Definition at line 73 of file RobotController.h.

physics::ModelPtr gazebo::RobotController::modelPtr [private]

Definition at line 72 of file RobotController.h.

common::Time gazebo::RobotController::prevUpdateTime [private]

Definition at line 78 of file RobotController.h.

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

Classes

Public Member Functions

Private Types

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation