Gazebo Gazebo

API Reference

6.16.0
DetachableJoint Class Reference

A system that initially attaches two models via a fixed joint and allows for the models to get detached during simulation via a topic. A model can be re-attached during simulation via a topic. The status of the detached state can be monitored via a topic as well. More...

#include <DetachableJoint.hh>

Public Member Functions

 DetachableJoint ()=default
 Documentation inherited. More...
 
void Configure (const Entity &_entity, const std::shared_ptr< const sdf::Element > &_sdf, EntityComponentManager &_ecm, EventManager &_eventMgr) final
 Documentation inherited. More...
 
void PreUpdate (const gz::sim::UpdateInfo &_info, gz::sim::EntityComponentManager &_ecm) final
 Documentation inherited. More...
 
- Public Member Functions inherited from System
 System ()=default
 Constructor. More...
 
virtual ~System ()=default
 Destructor. More...
 

Detailed Description

A system that initially attaches two models via a fixed joint and allows for the models to get detached during simulation via a topic. A model can be re-attached during simulation via a topic. The status of the detached state can be monitored via a topic as well.

Parameters:

  • <parent_link>: Name of the link in the parent model to be used in creating a fixed joint with a link in the child model.
  • <child_model>: Name of the model to which this model will be connected
  • <child_link>: Name of the link in the child model to be used in creating a fixed joint with a link in the parent model.
  • <topic> (optional): Topic name to be used for detaching connections. Using <detach_topic> is preferred.
  • <detach_topic> (optional): Topic name to be used for detaching connections. If multiple detachable plugin is used in one model, detach_topic is REQUIRED to detach child models individually.
  • <attach_topic> (optional): Topic name to be used for attaching connections. If multiple detachable plugin is used in one model, attach_topic is REQUIRED to attach child models individually.
  • <output_topic> (optional): Topic name to be used for publishing the state of the detachment. If multiple detachable plugin is used in one model, output_topic is REQUIRED to publish child models state individually.
  • <suppress_child_warning> (optional): If true, the system will not print a warning message if a child model does not exist yet. Otherwise, a warning message is printed. Defaults to false.

Constructor & Destructor Documentation

◆ DetachableJoint()

DetachableJoint ( )
default

Documentation inherited.

Member Function Documentation

◆ Configure()

void Configure ( const Entity _entity,
const std::shared_ptr< const sdf::Element > &  _sdf,
EntityComponentManager _ecm,
EventManager _eventMgr 
)
finalvirtual

Documentation inherited.

Implements ISystemConfigure.

◆ PreUpdate()

void PreUpdate ( const gz::sim::UpdateInfo _info,
gz::sim::EntityComponentManager _ecm 
)
finalvirtual

Documentation inherited.

Implements ISystemPreUpdate.


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