SkidSteerDrivePlugin Class Reference

A gazebo model plugin that controls a four wheel skid-steer robot via a gazebo topic. More...

#include <SkidSteerDrivePlugin.hh>

Inherits ModelPlugin.

Public Types

enum  { RIGHT_FRONT, RIGHT_REAR, LEFT_FRONT, LEFT_REAR }
 
typedef boost::shared_ptr< ModelPluginTPtr
 plugin pointer type definition More...
 

Public Member Functions

 SkidSteerDrivePlugin ()
 Default Contstuctor. More...
 
std::string GetFilename () const
 Get the name of the handler. More...
 
std::string GetHandle () const
 Get the short name of the handler. More...
 
PluginType GetType () const
 Returns the type of the plugin. More...
 
virtual void Init ()
 Override this method for custom plugin initialization behavior. More...
 
void Load (physics::ModelPtr _model, sdf::ElementPtr _sdf)
 Called when the plugin is loaded. More...
 
virtual void Reset ()
 Override this method for custom plugin reset behavior. More...
 

Static Public Member Functions

static TPtr Create (const std::string &_filename, const std::string &_name)
 a class method that creates a plugin from a file name. More...
 

Protected Attributes

std::string filename
 Path to the shared library file. More...
 
std::string handleName
 Short name. More...
 
PluginType type
 Type of plugin. More...
 

Detailed Description

A gazebo model plugin that controls a four wheel skid-steer robot via a gazebo topic.

See the Pioneer3AT model in the OSRF model database for an example use case.

Member Typedef Documentation

typedef boost::shared_ptr<ModelPlugin > TPtr
inherited

plugin pointer type definition

Member Enumeration Documentation

anonymous enum
Enumerator
RIGHT_FRONT 
RIGHT_REAR 
LEFT_FRONT 
LEFT_REAR 

Constructor & Destructor Documentation

Default Contstuctor.

Member Function Documentation

static TPtr Create ( const std::string &  _filename,
const std::string &  _name 
)
inlinestaticinherited

a class method that creates a plugin from a file name.

It locates the shared library and loads it dynamically.

Parameters
[in]_filenamethe path to the shared library.
[in]_nameshort name of the plugin
Returns
Shared Pointer to this class type

References PluginT< T >::filename, gzerr, and SingletonT< SystemPaths >::Instance().

std::string GetFilename ( ) const
inlineinherited

Get the name of the handler.

References PluginT< T >::filename.

std::string GetHandle ( ) const
inlineinherited

Get the short name of the handler.

References PluginT< T >::handleName.

PluginType GetType ( ) const
inlineinherited

Returns the type of the plugin.

Returns
type of the plugin

References PluginT< T >::type.

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

Called when the plugin is loaded.

Parameters
[in]_modelPointer to the model for which the plugin is loaded
[in]_sdfPointer to the SDF for _model

Implements ModelPlugin.

virtual void Reset ( )
inlinevirtualinherited

Override this method for custom plugin reset behavior.

Reimplemented in RandomVelocityPlugin, ElevatorPlugin, FollowerPlugin, LinearBatteryPlugin, InitialVelocityPlugin, and SphereAtlasDemoPlugin.

Member Data Documentation

std::string filename
protectedinherited

Path to the shared library file.

std::string handleName
protectedinherited

Short name.

PluginType type
protectedinherited

Type of plugin.


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