Classes | Public Member Functions | Protected Member Functions | Private Member Functions | Private Attributes
gazebo::ServoPlugin Class Reference

#include <servo_plugin.h>

List of all members.

Classes

struct  Servo

Public Member Functions

 ServoPlugin ()
virtual ~ServoPlugin ()

Protected Member Functions

virtual void Init ()
virtual void Load (physics::ModelPtr _model, sdf::ElementPtr _sdf)
virtual void Reset ()
virtual void Update ()

Private Member Functions

void CalculateVelocities ()
void cmdCallback (const geometry_msgs::QuaternionStamped::ConstPtr &cmd_msg)
void publish_joint_states ()

Private Attributes

common::Time controlPeriod
unsigned int countOfServos
geometry_msgs::QuaternionStamped::ConstPtr current_cmd
float derivativeControllerGain
bool enableMotors
sensor_msgs::JointState joint_state
std::string jointStateName
ros::Publisher jointStatePub_
float maximumTorque
double maximumVelocity
boost::mutex mutex
unsigned int orderOfAxes [3]
common::Time prevUpdateTime
float proportionalControllerGain
ros::CallbackQueue queue_
std::string robotNamespace
ros::NodeHandlerosnode_
math::Quaternion rotation_
unsigned int rotationConv
struct gazebo::ServoPlugin::Servo servo [3]
ros::Subscriber sub_
std::string topicName
tf::TransformListenertransform_listener_
event::ConnectionPtr updateConnection
physics::WorldPtr world
 The parent World.

Detailed Description

Definition at line 43 of file servo_plugin.h.


Constructor & Destructor Documentation

Definition at line 57 of file servo_plugin.cpp.

Definition at line 64 of file servo_plugin.cpp.


Member Function Documentation

Definition at line 242 of file servo_plugin.cpp.

void gazebo::ServoPlugin::cmdCallback ( const geometry_msgs::QuaternionStamped::ConstPtr &  cmd_msg) [private]

Definition at line 379 of file servo_plugin.cpp.

void gazebo::ServoPlugin::Init ( ) [protected, virtual]

Definition at line 159 of file servo_plugin.cpp.

void gazebo::ServoPlugin::Load ( physics::ModelPtr  _model,
sdf::ElementPtr  _sdf 
) [protected, virtual]

Definition at line 73 of file servo_plugin.cpp.

Definition at line 385 of file servo_plugin.cpp.

void gazebo::ServoPlugin::Reset ( ) [protected, virtual]

Definition at line 165 of file servo_plugin.cpp.

void gazebo::ServoPlugin::Update ( ) [protected, virtual]

Definition at line 180 of file servo_plugin.cpp.


Member Data Documentation

common::Time gazebo::ServoPlugin::controlPeriod [private]

Definition at line 86 of file servo_plugin.h.

unsigned int gazebo::ServoPlugin::countOfServos [private]

Definition at line 77 of file servo_plugin.h.

geometry_msgs::QuaternionStamped::ConstPtr gazebo::ServoPlugin::current_cmd [private]

Definition at line 108 of file servo_plugin.h.

Definition at line 89 of file servo_plugin.h.

Definition at line 67 of file servo_plugin.h.

sensor_msgs::JointState gazebo::ServoPlugin::joint_state [private]

Definition at line 80 of file servo_plugin.h.

std::string gazebo::ServoPlugin::jointStateName [private]

Definition at line 85 of file servo_plugin.h.

Definition at line 95 of file servo_plugin.h.

Definition at line 91 of file servo_plugin.h.

Definition at line 90 of file servo_plugin.h.

boost::mutex gazebo::ServoPlugin::mutex [private]

Definition at line 107 of file servo_plugin.h.

unsigned int gazebo::ServoPlugin::orderOfAxes[3] [private]

Definition at line 78 of file servo_plugin.h.

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

Definition at line 65 of file servo_plugin.h.

Definition at line 88 of file servo_plugin.h.

Definition at line 100 of file servo_plugin.h.

std::string gazebo::ServoPlugin::robotNamespace [private]

Definition at line 83 of file servo_plugin.h.

Definition at line 94 of file servo_plugin.h.

math::Quaternion gazebo::ServoPlugin::rotation_ [private]

Definition at line 109 of file servo_plugin.h.

unsigned int gazebo::ServoPlugin::rotationConv [private]

Definition at line 79 of file servo_plugin.h.

Definition at line 96 of file servo_plugin.h.

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

Definition at line 84 of file servo_plugin.h.

Definition at line 97 of file servo_plugin.h.

Definition at line 112 of file servo_plugin.h.

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

The parent World.

Definition at line 62 of file servo_plugin.h.


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


hector_gazebo_plugins
Author(s): Stefan Kohlbrecher , Johannes Meyer
autogenerated on Mon Jun 27 2016 04:58:09