JointMonitor.hh
Monitor that checks the state of a joint. When the joint reaches the configured target,...
Definition: JointMonitor.hh:45
uint64_t Entity
An Entity identifies a single object in simulation such as a model, link, or light....
Definition: gz/sim/Entity.hh:58
This library is part of the Gazebo project.
The EntityComponentManager constructs, deletes, and returns components and entities....
Definition: gz/sim/EntityComponentManager.hh:66
void Update(const EntityComponentManager &_ecm)
Checks whether the position and velocity of the joint are within the configured tolerances.
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.