Gazebo Gazebo

API Reference

6.16.0
JointTrajectoryController.hh
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2  * Copyright (C) 2021 Open Source Robotics Foundation
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 
18 #ifndef IGNITION_GAZEBO_SYSTEMS_JOINT_TRAJECTORY_CONTROLLER_HH_
19 #define IGNITION_GAZEBO_SYSTEMS_JOINT_TRAJECTORY_CONTROLLER_HH_
20 
21 #include <gz/sim/System.hh>
22 #include <memory>
23 
24 namespace ignition
25 {
26 namespace gazebo
27 {
28 // Inline bracket to help doxygen filtering.
29 inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
30 namespace systems
31 {
32  // Forward declaration
33  class JointTrajectoryControllerPrivate;
34 
135  : public System,
136  public ISystemConfigure,
137  public ISystemPreUpdate
138  {
140  public: JointTrajectoryController();
141 
143  public: ~JointTrajectoryController() override = default;
144 
145  // Documentation inherited
146  public: void Configure(const Entity &_entity,
149  EventManager &_eventMgr) override;
150 
151  // Documentation inherited
152  public: void PreUpdate(
153  const ignition::gazebo::UpdateInfo &_info,
155 
158  };
159 } // namespace systems
160 } // namespace IGNITION_GAZEBO_VERSION_NAMESPACE
161 } // namespace gazebo
162 } // namespace ignition
163 
164 #endif
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
STL class.
void Configure(const Entity &_entity, const std::shared_ptr< const sdf::Element > &_sdf, EntityComponentManager &_ecm, EventManager &_eventMgr) override
Configure the system.
The EventManager is used to send/receive notifications of simulator events.
Definition: gz/sim/EventManager.hh:54
Joint trajectory controller, which can be attached to a model with reference to one or more 1-axis jo...
Definition: JointTrajectoryController.hh:134
Information passed to systems on the update callback.
Definition: include/gz/sim/Types.hh:38
Interface for a system that uses the PreUpdate phase.
Definition: gz/sim/System.hh:121
Interface for a system that implements optional configuration.
Definition: gz/sim/System.hh:90
~JointTrajectoryController() override=default
Destructor.
void PreUpdate(const ignition::gazebo::UpdateInfo &_info, ignition::gazebo::EntityComponentManager &_ecm) override
Base class for a System.
Definition: gz/sim/System.hh:75