Ignition Gazebo

API Reference

6.9.0
JointMonitor Class Reference

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. More...

#include <JointMonitor.hh>

Public Member Functions

 JointMonitor ()
 Constructor. More...
 
 ~JointMonitor ()
 Destructor. More...
 
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. More...
 
void Update (const EntityComponentManager &_ecm)
 Checks whether the position and velocity of the joint are within the configured tolerances. More...
 

Detailed Description

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.

Constructor & Destructor Documentation

◆ JointMonitor()

Constructor.

◆ ~JointMonitor()

Destructor.

Member Function Documentation

◆ Configure()

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.

Parameters
[in]_jointJoint to monitor
[in]_jointTargetLast joint target (command)
[in]_posEpsPosition tolerance
[in]_velEpsVelocity tolerance
[in]_jointTargetReachedCallbackFunction to call when the joint reaches its target

◆ Update()

void Update ( const EntityComponentManager _ecm)

Checks whether the position and velocity of the joint are within the configured tolerances.

Parameters
[in]_ecmEntity component manager

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