ApplyLinkWrench Class Reference
Exposes transport topics and SDF params for applying forces and torques to links in simulation. It should be attached to a world. More...
#include <ApplyLinkWrench.hh>
Public Member Functions | |
ApplyLinkWrench () | |
Constructor. More... | |
~ApplyLinkWrench () override=default | |
Destructor. More... | |
void | Configure (const Entity &_entity, const std::shared_ptr< const sdf::Element > &_sdf, EntityComponentManager &_ecm, EventManager &_eventMgr) override |
Configure the system. More... | |
void | PreUpdate (const UpdateInfo &_info, EntityComponentManager &_ecm) override |
Public Member Functions inherited from System | |
System ()=default | |
Constructor. More... | |
virtual | ~System ()=default |
Destructor. More... | |
Detailed Description
Exposes transport topics and SDF params for applying forces and torques to links in simulation. It should be attached to a world.
The target link is defined in each message. If a link entity is provided, that will receive a wrench. If a model is provided, its canonical link will receive it. No other entity types are supported.
Topics
- /world/<world_name>/wrench
- Message type: msgs::EntityWrench
- Effect: Applies the given wrench during a single time step.
- /world/<world_name>/wrench/persistent
- Message type: msgs::EntityWrench
- Effect: Keeps applying the given wrench every time step. Persistent wrenches can be applied to entities that aren't in simulation yet, and will start taking effect once they do.
- /world/<world_name>/wrench/clear
- Message type: msgs::Entity
- Effect: Clears any persistent wrenches that are being applied to the given entity.
System Parameters
Persistent wrenches can be defined from SDF, for example:
<persistent>
<entity_name>box</entity_name>
<entity_type>model</entity_type>
<force>-10 0 0</force>
<torque>0 0 0.1</torque>
</persistent>
Constructor & Destructor Documentation
◆ ApplyLinkWrench()
ApplyLinkWrench | ( | ) |
Constructor.
◆ ~ApplyLinkWrench()
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overridedefault |
Destructor.
Member Function Documentation
◆ Configure()
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overridevirtual |
Configure the system.
- Parameters
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[in] _entity The entity this plugin is attached to. [in] _sdf The SDF Element associated with this system plugin. [in] _ecm The EntityComponentManager of the given simulation instance. [in] _eventMgr The EventManager of the given simulation instance.
Implements ISystemConfigure.
◆ PreUpdate()
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overridevirtual |
Implements ISystemPreUpdate.
The documentation for this class was generated from the following file: