#include <quadrotor_hardware_gazebo.h>

Inheritance diagram for hector_quadrotor_controller_gazebo::QuadrotorHardwareSim:

Public Member Functions
bool	enableMotorsCallback (hector_uav_msgs::EnableMotors::Request &req, hector_uav_msgs::EnableMotors::Response &res)

virtual bool	initSim (const std::string &robot_namespace, ros::NodeHandle model_nh, gazebo::physics::ModelPtr parent_model, const urdf::Model *const urdf_model, std::vector< transmission_interface::TransmissionInfo > transmissions)

	QuadrotorHardwareSim ()

virtual void	readSim (ros::Time time, ros::Duration period)

virtual void	writeSim (ros::Time time, ros::Duration period)

virtual	~QuadrotorHardwareSim ()

Public Member Functions inherited from gazebo_ros_control::RobotHWSim
virtual void	eStopActive (const bool active)

virtual	~RobotHWSim ()

Public Member Functions inherited from hardware_interface::RobotHW
virtual bool	checkForConflict (const std::list< ControllerInfo > &info) const

virtual bool	checkForConflict (const std::list< ControllerInfo > &info) const

virtual void	doSwitch (const std::list< ControllerInfo > &, const std::list< ControllerInfo > &)

virtual void	doSwitch (const std::list< ControllerInfo > &, const std::list< ControllerInfo > &)

virtual bool	init (ros::NodeHandle &root_nh, ros::NodeHandle &robot_hw_nh)

virtual bool	prepareSwitch (const std::list< ControllerInfo > &start_list, const std::list< ControllerInfo > &stop_list)

virtual bool	prepareSwitch (const std::list< ControllerInfo > &start_list, const std::list< ControllerInfo > &stop_list)

virtual void	read (const ros::Time &time, const ros::Duration &period)

virtual void	read (const ros::Time &time, const ros::Duration &period)

	RobotHW ()

virtual void	write (const ros::Time &time, const ros::Duration &period)

virtual void	write (const ros::Time &time, const ros::Duration &period)

virtual	~RobotHW ()

Public Member Functions inherited from hardware_interface::InterfaceManager
T *	get ()

std::vector< std::string >	getInterfaceResources (std::string iface_type) const

std::vector< std::string >	getNames () const

void	registerInterface (T *iface)

void	registerInterfaceManager (InterfaceManager *iface_man)

Private Member Functions
bool	enableMotors (bool enable)

Private Attributes
geometry_msgs::Accel	acceleration_

std::string	base_link_frame_

ros::ServiceServer	enable_motors_server_

gazebo::math::Vector3	gz_acceleration_

gazebo::math::Vector3	gz_angular_acceleration_

gazebo::math::Vector3	gz_angular_velocity_

gazebo::math::Pose	gz_pose_

gazebo::math::Vector3	gz_velocity_

std_msgs::Header	header_

sensor_msgs::Imu	imu_

boost::shared_ptr< hector_quadrotor_interface::ImuSubscriberHelper >	imu_sub_helper_

QuadrotorInterface	interface_

gazebo::physics::LinkPtr	link_

gazebo::physics::ModelPtr	model_

ros::Publisher	motor_command_publisher_

MotorCommandHandlePtr	motor_output_

hector_uav_msgs::MotorStatus	motor_status_

boost::shared_ptr< hector_quadrotor_interface::OdomSubscriberHelper >	odom_sub_helper_

gazebo::physics::PhysicsEnginePtr	physics_

geometry_msgs::Pose	pose_

geometry_msgs::Twist	twist_

std::string	world_frame_

ros::Publisher	wrench_command_publisher_

hector_quadrotor_interface::WrenchLimiter	wrench_limiter_

WrenchCommandHandlePtr	wrench_output_

Additional Inherited Members
Protected Types inherited from hardware_interface::InterfaceManager
typedef std::vector< InterfaceManager * >	InterfaceManagerVector

typedef std::map< std::string, void * >	InterfaceMap

typedef std::map< std::string, std::vector< std::string > >	ResourceMap

typedef std::map< std::string, size_t >	SizeMap

Protected Attributes inherited from hardware_interface::InterfaceManager
boost::ptr_vector< ResourceManagerBase >	interface_destruction_list_

InterfaceManagerVector	interface_managers_

InterfaceMap	interfaces_

InterfaceMap	interfaces_combo_

SizeMap	num_ifaces_registered_

ResourceMap	resources_

Detailed Description

Definition at line 49 of file quadrotor_hardware_gazebo.h.

Constructor & Destructor Documentation

hector_quadrotor_controller_gazebo::QuadrotorHardwareSim::QuadrotorHardwareSim ( )

Definition at line 36 of file quadrotor_hardware_gazebo.cpp.

hector_quadrotor_controller_gazebo::QuadrotorHardwareSim::~QuadrotorHardwareSim ( )

virtual

Definition at line 49 of file quadrotor_hardware_gazebo.cpp.

Member Function Documentation

bool hector_quadrotor_controller_gazebo::QuadrotorHardwareSim::enableMotors ( bool enable )

private

Definition at line 280 of file quadrotor_hardware_gazebo.cpp.

bool hector_quadrotor_controller_gazebo::QuadrotorHardwareSim::enableMotorsCallback	(	hector_uav_msgs::EnableMotors::Request &	req,
		hector_uav_msgs::EnableMotors::Response &	res
	)

Definition at line 274 of file quadrotor_hardware_gazebo.cpp.

bool hector_quadrotor_controller_gazebo::QuadrotorHardwareSim::initSim	(	const std::string &	robot_namespace,
		ros::NodeHandle	model_nh,
		gazebo::physics::ModelPtr	parent_model,
		const urdf::Model *const	urdf_model,
		std::vector< transmission_interface::TransmissionInfo >	transmissions
	)

virtual

Implements gazebo_ros_control::RobotHWSim.

Definition at line 54 of file quadrotor_hardware_gazebo.cpp.

void hector_quadrotor_controller_gazebo::QuadrotorHardwareSim::readSim	(	ros::Time	time,
		ros::Duration	period
	)

virtual

Implements gazebo_ros_control::RobotHWSim.

Definition at line 118 of file quadrotor_hardware_gazebo.cpp.

void hector_quadrotor_controller_gazebo::QuadrotorHardwareSim::writeSim	(	ros::Time	time,
		ros::Duration	period
	)

virtual

Implements gazebo_ros_control::RobotHWSim.

Definition at line 233 of file quadrotor_hardware_gazebo.cpp.

Member Data Documentation

geometry_msgs::Accel hector_quadrotor_controller_gazebo::QuadrotorHardwareSim::acceleration_

private

Definition at line 74 of file quadrotor_hardware_gazebo.h.

std::string hector_quadrotor_controller_gazebo::QuadrotorHardwareSim::base_link_frame_

private

Definition at line 84 of file quadrotor_hardware_gazebo.h.

ros::ServiceServer hector_quadrotor_controller_gazebo::QuadrotorHardwareSim::enable_motors_server_

private

Definition at line 103 of file quadrotor_hardware_gazebo.h.

gazebo::math::Vector3 hector_quadrotor_controller_gazebo::QuadrotorHardwareSim::gz_acceleration_

private

Definition at line 95 of file quadrotor_hardware_gazebo.h.

gazebo::math::Vector3 hector_quadrotor_controller_gazebo::QuadrotorHardwareSim::gz_angular_acceleration_

private

Definition at line 95 of file quadrotor_hardware_gazebo.h.

gazebo::math::Vector3 hector_quadrotor_controller_gazebo::QuadrotorHardwareSim::gz_angular_velocity_

private

Definition at line 95 of file quadrotor_hardware_gazebo.h.

gazebo::math::Pose hector_quadrotor_controller_gazebo::QuadrotorHardwareSim::gz_pose_

private

Definition at line 94 of file quadrotor_hardware_gazebo.h.

gazebo::math::Vector3 hector_quadrotor_controller_gazebo::QuadrotorHardwareSim::gz_velocity_

private

Definition at line 95 of file quadrotor_hardware_gazebo.h.

std_msgs::Header hector_quadrotor_controller_gazebo::QuadrotorHardwareSim::header_

private

Definition at line 71 of file quadrotor_hardware_gazebo.h.

sensor_msgs::Imu hector_quadrotor_controller_gazebo::QuadrotorHardwareSim::imu_

private

Definition at line 75 of file quadrotor_hardware_gazebo.h.

boost::shared_ptr<hector_quadrotor_interface::ImuSubscriberHelper> hector_quadrotor_controller_gazebo::QuadrotorHardwareSim::imu_sub_helper_

private

Definition at line 98 of file quadrotor_hardware_gazebo.h.

QuadrotorInterface hector_quadrotor_controller_gazebo::QuadrotorHardwareSim::interface_

private

Definition at line 78 of file quadrotor_hardware_gazebo.h.

gazebo::physics::LinkPtr hector_quadrotor_controller_gazebo::QuadrotorHardwareSim::link_

private

Definition at line 87 of file quadrotor_hardware_gazebo.h.

gazebo::physics::ModelPtr hector_quadrotor_controller_gazebo::QuadrotorHardwareSim::model_

private

Definition at line 86 of file quadrotor_hardware_gazebo.h.

ros::Publisher hector_quadrotor_controller_gazebo::QuadrotorHardwareSim::motor_command_publisher_

private

Definition at line 102 of file quadrotor_hardware_gazebo.h.

MotorCommandHandlePtr hector_quadrotor_controller_gazebo::QuadrotorHardwareSim::motor_output_

private

Definition at line 81 of file quadrotor_hardware_gazebo.h.

hector_uav_msgs::MotorStatus hector_quadrotor_controller_gazebo::QuadrotorHardwareSim::motor_status_

private

Definition at line 76 of file quadrotor_hardware_gazebo.h.

boost::shared_ptr<hector_quadrotor_interface::OdomSubscriberHelper> hector_quadrotor_controller_gazebo::QuadrotorHardwareSim::odom_sub_helper_

private

Definition at line 99 of file quadrotor_hardware_gazebo.h.

gazebo::physics::PhysicsEnginePtr hector_quadrotor_controller_gazebo::QuadrotorHardwareSim::physics_

private

Definition at line 88 of file quadrotor_hardware_gazebo.h.

geometry_msgs::Pose hector_quadrotor_controller_gazebo::QuadrotorHardwareSim::pose_

private

Definition at line 72 of file quadrotor_hardware_gazebo.h.

geometry_msgs::Twist hector_quadrotor_controller_gazebo::QuadrotorHardwareSim::twist_

private

Definition at line 73 of file quadrotor_hardware_gazebo.h.

std::string hector_quadrotor_controller_gazebo::QuadrotorHardwareSim::world_frame_

private

Definition at line 84 of file quadrotor_hardware_gazebo.h.

ros::Publisher hector_quadrotor_controller_gazebo::QuadrotorHardwareSim::wrench_command_publisher_

private

Definition at line 101 of file quadrotor_hardware_gazebo.h.

hector_quadrotor_interface::WrenchLimiter hector_quadrotor_controller_gazebo::QuadrotorHardwareSim::wrench_limiter_

private

Definition at line 83 of file quadrotor_hardware_gazebo.h.

WrenchCommandHandlePtr hector_quadrotor_controller_gazebo::QuadrotorHardwareSim::wrench_output_

private

Definition at line 80 of file quadrotor_hardware_gazebo.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation