Public Member Functions | Private Types | Private Member Functions | Private Attributes
gazebo::JointHandle Class Reference

#include <joint_handle.h>

Inheritance diagram for gazebo::JointHandle:
Inheritance graph
[legend]

List of all members.

Public Member Functions

virtual double getEffort ()
 Get applied effort of a joint in Nm or N.
virtual double getEffortMax ()
 Get the maximum effort command.
virtual std::string getName ()
 Get the name of this joint.
virtual double getPosition ()
 Get the position of the joint in radians or meters.
virtual double getPositionMax ()
 Get the maximum valid position command.
virtual double getPositionMin ()
 Get the minimum valid position command.
virtual double getVelocity ()
 Get the velocity of the joint in rad/sec or meters/sec.
virtual double getVelocityMax ()
 Get the maximum velocity command.
virtual bool isContinuous ()
 JointHandle (physics::JointPtr &joint, const double velocity_limit, const double effort_limit, const bool continuous)
virtual void reset ()
 Reset the command.
virtual void setEffort (double effort)
 Set an effort command for this joint.
virtual void setPosition (double position, double velocity, double effort)
 Set a position command for this joint.
virtual void setVelocity (double velocity, double effort)
 Set a velocity command for this joint.
void update (const ros::Time now, const ros::Duration dt)
 Actually apply updates to gazebo.
virtual ~JointHandle ()

Private Types

enum  CommandState { MODE_DISABLED, MODE_CONTROL_EFFORT, MODE_CONTROL_VELOCITY, MODE_CONTROL_POSITION }

Private Member Functions

 JointHandle (const JointHandle &)
JointHandleoperator= (const JointHandle &)

Private Attributes

double actual_velocity_
double applied_effort_
 GetForce(0u) is not always right.
bool continuous_
double desired_effort_
double desired_position_
double desired_velocity_
double effort_limit_
 Hack for continuous joints that fail to have effort limits.
physics::JointPtr joint_
int mode_
 control mode
control_toolbox::Pid position_pid_
double velocity_limit_
 Hack for continuous joints that fail to have velocity limits.
control_toolbox::Pid velocity_pid_

Detailed Description

Definition at line 51 of file joint_handle.h.


Member Enumeration Documentation

Enumerator:
MODE_DISABLED 
MODE_CONTROL_EFFORT 
MODE_CONTROL_VELOCITY 
MODE_CONTROL_POSITION 

Definition at line 53 of file joint_handle.h.


Constructor & Destructor Documentation

gazebo::JointHandle::JointHandle ( physics::JointPtr &  joint,
const double  velocity_limit,
const double  effort_limit,
const bool  continuous 
) [inline]

Definition at line 62 of file joint_handle.h.

virtual gazebo::JointHandle::~JointHandle ( ) [inline, virtual]

Reimplemented from robot_controllers::JointHandle.

Definition at line 81 of file joint_handle.h.


Member Function Documentation

virtual double gazebo::JointHandle::getEffort ( ) [inline, virtual]

Get applied effort of a joint in Nm or N.

Implements robot_controllers::JointHandle.

Definition at line 143 of file joint_handle.h.

virtual double gazebo::JointHandle::getEffortMax ( ) [inline, virtual]

Get the maximum effort command.

Implements robot_controllers::JointHandle.

Definition at line 176 of file joint_handle.h.

virtual std::string gazebo::JointHandle::getName ( ) [inline, virtual]

Get the name of this joint.

Implements robot_controllers::JointHandle.

Definition at line 193 of file joint_handle.h.

virtual double gazebo::JointHandle::getPosition ( ) [inline, virtual]

Get the position of the joint in radians or meters.

Implements robot_controllers::JointHandle.

Definition at line 127 of file joint_handle.h.

virtual double gazebo::JointHandle::getPositionMax ( ) [inline, virtual]

Get the maximum valid position command.

Implements robot_controllers::JointHandle.

Definition at line 161 of file joint_handle.h.

virtual double gazebo::JointHandle::getPositionMin ( ) [inline, virtual]

Get the minimum valid position command.

Implements robot_controllers::JointHandle.

Definition at line 155 of file joint_handle.h.

virtual double gazebo::JointHandle::getVelocity ( ) [inline, virtual]

Get the velocity of the joint in rad/sec or meters/sec.

Implements robot_controllers::JointHandle.

Definition at line 137 of file joint_handle.h.

virtual double gazebo::JointHandle::getVelocityMax ( ) [inline, virtual]

Get the maximum velocity command.

Implements robot_controllers::JointHandle.

Definition at line 167 of file joint_handle.h.

virtual bool gazebo::JointHandle::isContinuous ( ) [inline, virtual]

Implements robot_controllers::JointHandle.

Definition at line 149 of file joint_handle.h.

JointHandle& gazebo::JointHandle::operator= ( const JointHandle ) [private]
virtual void gazebo::JointHandle::reset ( ) [inline, virtual]

Reset the command.

Implements robot_controllers::JointHandle.

Definition at line 199 of file joint_handle.h.

virtual void gazebo::JointHandle::setEffort ( double  effort) [inline, virtual]

Set an effort command for this joint.

Parameters:
effortEffort command in Nm or N.

Implements robot_controllers::JointHandle.

Definition at line 118 of file joint_handle.h.

virtual void gazebo::JointHandle::setPosition ( double  position,
double  velocity,
double  effort 
) [inline, virtual]

Set a position command for this joint.

Parameters:
positionPosition command in radians or meters.
velocityVelocity command in rad/sec or meters/sec.
effortEffort command in Nm or N.

Implements robot_controllers::JointHandle.

Definition at line 91 of file joint_handle.h.

virtual void gazebo::JointHandle::setVelocity ( double  velocity,
double  effort 
) [inline, virtual]

Set a velocity command for this joint.

Parameters:
velocityVelocity command in rad/sec or meters/sec.
effortEffort command in Nm or N.

Implements robot_controllers::JointHandle.

Definition at line 106 of file joint_handle.h.

void gazebo::JointHandle::update ( const ros::Time  now,
const ros::Duration  dt 
) [inline]

Actually apply updates to gazebo.

Definition at line 208 of file joint_handle.h.


Member Data Documentation

Definition at line 263 of file joint_handle.h.

GetForce(0u) is not always right.

Definition at line 262 of file joint_handle.h.

Definition at line 259 of file joint_handle.h.

Definition at line 244 of file joint_handle.h.

Definition at line 242 of file joint_handle.h.

Definition at line 243 of file joint_handle.h.

Hack for continuous joints that fail to have effort limits.

Definition at line 256 of file joint_handle.h.

physics::JointPtr gazebo::JointHandle::joint_ [private]

Definition at line 240 of file joint_handle.h.

control mode

Definition at line 247 of file joint_handle.h.

Definition at line 249 of file joint_handle.h.

Hack for continuous joints that fail to have velocity limits.

Definition at line 253 of file joint_handle.h.

Definition at line 250 of file joint_handle.h.


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


fetch_gazebo
Author(s): Michael Ferguson
autogenerated on Mon Jan 2 2017 03:53:11