JointMonitor.hh
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Monitor that checks the state of a joint. When the joint reaches the configured target, it calls a function to let the state machine know to transition to the next state.
Definition: JointMonitor.hh:46
The EntityComponentManager constructs, deletes, and returns components and entities. A component can be of any class which inherits from components::BaseComponent.
Definition: EntityComponentManager.hh:66
~JointMonitor()
Destructor.
JointMonitor()
Constructor.
This library is part of the Ignition Robotics project.
void Configure(Entity _joint, double _target, double _posEps, double _velEps, const std::function< void()> &_jointTargetReachedCallback)
Starts monitoring of the position and velocity of the given joint.
uint64_t Entity
An Entity identifies a single object in simulation such as a model, link, or light. At its core, an Entity is just an identifier.
Definition: Entity.hh:59
void Update(const EntityComponentManager &_ecm)
Checks whether the position and velocity of the joint are within the configured tolerances.