gazebo::ObjectControllerPlugin Class Reference

#include <object_controller_plugin.h>

List of all members.

Public Member Functions
void	Load (physics::ModelPtr _parent, sdf::ElementPtr _sdf)
	ObjectControllerPlugin ()
	~ObjectControllerPlugin ()
Protected Member Functions
virtual void	FiniChild ()
virtual void	UpdateChild ()
Private Member Functions
void	cmdVelCallback (const geometry_msgs::Twist::ConstPtr &cmd_msg)
void	getSimpleMap (const nav_msgs::OccupancyGrid::ConstPtr &map)
void	getWheelVelocities ()
void	publishOdometry (double step_time)
void	QueueThread ()
bool	updateState (segbot_gazebo_plugins::UpdatePluginState::Request &req, segbot_gazebo_plugins::UpdatePluginState::Response &resp)
void	writePositionData (double step_time)
Private Attributes
bool	alive_
boost::thread	callback_queue_thread_
double	circumscribed_model_distance_
std::string	globalFrame
math::Pose	last_odom_pose_
common::Time	last_update_time_
boost::mutex	lock
nav_msgs::OccupancyGrid	map_
bool	map_available_
std::string	mapTopic
std::string	modelNamespace
double	modelPadding
double	modelRadius
nav_msgs::Odometry	odom_
physics::ModelPtr	parent
bool	pause_
ros::Publisher	pub2_
ros::Publisher	pub_
ros::CallbackQueue	queue_
ros::NodeHandle *	rosnode_
double	rot_
boost::mutex	state_lock_
ros::Subscriber	sub2_
ros::Subscriber	sub_
std::string	tf_prefix_
common::Time	time_of_last_message_
double	timeout_period_
std::string	topicName
tf::TransformBroadcaster *	transform_broadcaster_
double	update_period_
ros::ServiceServer	update_state_service_server_
event::ConnectionPtr	updateConnection
double	updateRate
physics::WorldPtr	world
double	x_
double	y_

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Detailed Description

Definition at line 63 of file object_controller_plugin.h.

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Constructor & Destructor Documentation

gazebo::ObjectControllerPlugin::ObjectControllerPlugin

(

)

Definition at line 45 of file object_controller_plugin.cc.

gazebo::ObjectControllerPlugin::~ObjectControllerPlugin

(

)

Definition at line 47 of file object_controller_plugin.cc.

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Member Function Documentation

void gazebo::ObjectControllerPlugin::cmdVelCallback

(

const geometry_msgs::Twist::ConstPtr &

cmd_msg

)

[private]

Definition at line 234 of file object_controller_plugin.cc.

void gazebo::ObjectControllerPlugin::FiniChild

(

)

[protected, virtual]

Definition at line 216 of file object_controller_plugin.cc.

void gazebo::ObjectControllerPlugin::getSimpleMap

(

const nav_msgs::OccupancyGrid::ConstPtr &

map

)

[private]

Definition at line 250 of file object_controller_plugin.cc.

void gazebo::ObjectControllerPlugin::getWheelVelocities

(

)

[private]

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

Definition at line 53 of file object_controller_plugin.cc.

void gazebo::ObjectControllerPlugin::publishOdometry

(

double

step_time

)

[private]

Definition at line 326 of file object_controller_plugin.cc.

void gazebo::ObjectControllerPlugin::QueueThread

(

)

[private]

Definition at line 243 of file object_controller_plugin.cc.

void gazebo::ObjectControllerPlugin::UpdateChild

(

)

[protected, virtual]

Definition at line 195 of file object_controller_plugin.cc.

bool gazebo::ObjectControllerPlugin::updateState	(	segbot_gazebo_plugins::UpdatePluginState::Request &	req,
		segbot_gazebo_plugins::UpdatePluginState::Response &	resp
	)		[private]

Definition at line 224 of file object_controller_plugin.cc.

void gazebo::ObjectControllerPlugin::writePositionData

(

double

step_time

)

[private]

Definition at line 391 of file object_controller_plugin.cc.

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Member Data Documentation

bool gazebo::ObjectControllerPlugin::alive_ [private]

Definition at line 115 of file object_controller_plugin.h.

boost::thread gazebo::ObjectControllerPlugin::callback_queue_thread_ [private]

Definition at line 104 of file object_controller_plugin.h.

double gazebo::ObjectControllerPlugin::circumscribed_model_distance_ [private]

Definition at line 127 of file object_controller_plugin.h.

std::string gazebo::ObjectControllerPlugin::globalFrame [private]

Definition at line 124 of file object_controller_plugin.h.

math::Pose gazebo::ObjectControllerPlugin::last_odom_pose_ [private]

Definition at line 80 of file object_controller_plugin.h.

common::Time gazebo::ObjectControllerPlugin::last_update_time_ [private]

Definition at line 120 of file object_controller_plugin.h.

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

Definition at line 91 of file object_controller_plugin.h.

nav_msgs::OccupancyGrid gazebo::ObjectControllerPlugin::map_ [private]

Definition at line 128 of file object_controller_plugin.h.

bool gazebo::ObjectControllerPlugin::map_available_ [private]

Definition at line 129 of file object_controller_plugin.h.

std::string gazebo::ObjectControllerPlugin::mapTopic [private]

Definition at line 123 of file object_controller_plugin.h.

std::string gazebo::ObjectControllerPlugin::modelNamespace [private]

Definition at line 99 of file object_controller_plugin.h.

double gazebo::ObjectControllerPlugin::modelPadding [private]

Definition at line 126 of file object_controller_plugin.h.

double gazebo::ObjectControllerPlugin::modelRadius [private]

Definition at line 125 of file object_controller_plugin.h.

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

Definition at line 87 of file object_controller_plugin.h.

physics::ModelPtr gazebo::ObjectControllerPlugin::parent [private]

Definition at line 77 of file object_controller_plugin.h.

bool gazebo::ObjectControllerPlugin::pause_ [private]

Definition at line 94 of file object_controller_plugin.h.

ros::Publisher gazebo::ObjectControllerPlugin::pub2_ [private]

Definition at line 84 of file object_controller_plugin.h.

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

Definition at line 84 of file object_controller_plugin.h.

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

Definition at line 103 of file object_controller_plugin.h.

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

Definition at line 83 of file object_controller_plugin.h.

double gazebo::ObjectControllerPlugin::rot_ [private]

Definition at line 114 of file object_controller_plugin.h.

boost::mutex gazebo::ObjectControllerPlugin::state_lock_ [private]

Definition at line 92 of file object_controller_plugin.h.

ros::Subscriber gazebo::ObjectControllerPlugin::sub2_ [private]

Definition at line 85 of file object_controller_plugin.h.

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

Definition at line 85 of file object_controller_plugin.h.

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

Definition at line 88 of file object_controller_plugin.h.

common::Time gazebo::ObjectControllerPlugin::time_of_last_message_ [private]

Definition at line 97 of file object_controller_plugin.h.

double gazebo::ObjectControllerPlugin::timeout_period_ [private]

Definition at line 96 of file object_controller_plugin.h.

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

Definition at line 100 of file object_controller_plugin.h.

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

Definition at line 86 of file object_controller_plugin.h.

double gazebo::ObjectControllerPlugin::update_period_ [private]

Definition at line 119 of file object_controller_plugin.h.

ros::ServiceServer gazebo::ObjectControllerPlugin::update_state_service_server_ [private]

Definition at line 89 of file object_controller_plugin.h.

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

Definition at line 78 of file object_controller_plugin.h.

double gazebo::ObjectControllerPlugin::updateRate [private]

Definition at line 118 of file object_controller_plugin.h.

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

Definition at line 76 of file object_controller_plugin.h.

double gazebo::ObjectControllerPlugin::x_ [private]

Definition at line 112 of file object_controller_plugin.h.

double gazebo::ObjectControllerPlugin::y_ [private]

Definition at line 113 of file object_controller_plugin.h.

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

• object_controller_plugin.h
• object_controller_plugin.cc