JointEventSource.hh
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 
18 #ifndef GAZEBO_PLUGINS_JOINTEVENTSOURCE_HH_
19 #define GAZEBO_PLUGINS_JOINTEVENTSOURCE_HH_
20 
21 #include <string>
22 
24 
25 namespace gazebo
26 {
56  {
59  public: enum Range {
70  };
71 
72 
77  physics::WorldPtr _world);
78 
80  public: virtual void Init();
81 
83  public: void Update();
84 
86  public: void Info() const;
87 
91  public: virtual void Load(const sdf::ElementPtr _sdf);
92 
95  private: bool LookupJoint();
96 
99  private: std::string RangeAsString() const;
100 
104  private: void SetRangeFromString(const std::string &_rangeStr);
105 
107  private: event::ConnectionPtr updateConnection;
108 
110  private: std::string modelName;
111 
113  private: std::string jointName;
114 
116  private: physics::ModelPtr model;
117 
119  private: physics::JointPtr joint;
120 
122  private: double min;
123 
125  private: double max;
126 
128  private: Range range;
129 
131  private: bool isTriggered;
132  };
133 }
134 
135 #endif
JointEventSource(transport::PublisherPtr _pub, physics::WorldPtr _world)
Constructor.
boost::shared_ptr< World > WorldPtr
Definition: PhysicsTypes.hh:89
invalid
Definition: JointEventSource.hh:69
Forward declarations for the common classes.
Definition: Animation.hh:33
boost::shared_ptr< Publisher > PublisherPtr
Definition: TransportTypes.hh:49
Velocity or angular velocity.
Definition: JointEventSource.hh:65
boost::shared_ptr< Joint > JointPtr
Definition: PhysicsTypes.hh:117
Applied force (or torque, for revolute joints)
Definition: JointEventSource.hh:67
virtual void Load(const sdf::ElementPtr _sdf)
Loads the full name of the model and the triggers from the world file.
Range
The type of data range measured.
Definition: JointEventSource.hh:59
Normalized angle (between -PI and PI)
Definition: JointEventSource.hh:63
void Update()
Called every simulation step.
The base class for emitting SimEvents.
Definition: EventSource.hh:40
boost::shared_ptr< Connection > ConnectionPtr
Definition: CommonTypes.hh:134
virtual void Init()
Initialize the event.
boost::shared_ptr< Model > ModelPtr
Definition: PhysicsTypes.hh:93
Absolute position (or angle, for revolute joints)
Definition: JointEventSource.hh:61
void Info() const
Prints data about the event source to the log (useful for debug)
The event generator class.
Definition: JointEventSource.hh:55