DriveToPoseController Class Reference

DriveToPoseController is a simple proportional controller that is attached to a model to move it by giving a pose in Gazebo's world coordinate system. This is not a standalone plugin, and requires the DiffDrive and OdometryPublisher plugins respectively. More...

#include <DriveToPoseController.hh>

Public Member Functions
	DriveToPoseController ()
	Constructor.
	~DriveToPoseController () override=default
	Destructor.
void	Configure (const Entity &_entity, const std::shared_ptr< const sdf::Element > &_sdf, EntityComponentManager &_ecm, EventManager &_eventMgr) override
	Configure the system.
void	PostUpdate (const UpdateInfo &_info, const EntityComponentManager &_ecm) override
Public Member Functions inherited from System
	System ()=default
	Constructor.
virtual	~System ()=default
	Destructor.
Public Member Functions inherited from ISystemConfigure
virtual	~ISystemConfigure ()=default
Public Member Functions inherited from ISystemPostUpdate
virtual	~ISystemPostUpdate ()=default

Additional Inherited Members
Public Types inherited from System
using	PriorityType = int32_t
	Signed integer type used for specifying priority of the execution order of PreUpdate and Update phases.
Static Public Attributes inherited from System
static constexpr PriorityType	kDefaultPriority = {0}
	Default priority value for execution order of the PreUpdate and Update phases.
static constexpr std::string_view	kPriorityElementName
	Name of the XML element from which the priority value will be parsed.

Detailed Description

DriveToPoseController is a simple proportional controller that is attached to a model to move it by giving a pose in Gazebo's world coordinate system. This is not a standalone plugin, and requires the DiffDrive and OdometryPublisher plugins respectively.

The plugin has the following tags:

• <linear_p_gain>: (Optional) Proportional gain for the linear velocity controller | Default: 1.0
• <angular_p_gain>: (Optional) Proportional gain for the angular velocity controller | Default: 2.0
• <linear_deviation>: (Optional) Allowable linear deviation (in meters) from the desired coordinate | Default: 0.1
• <angular_deviation>: (Optional) Allowable angular deviation (in rad) from the desired orientation | Default: 0.05

Constructor & Destructor Documentation

DriveToPoseController()

DriveToPoseController

(

)

Constructor.

~DriveToPoseController()

~DriveToPoseController ( )

overridedefault

Destructor.

Member Function Documentation

Configure()

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

overridevirtual

Configure the system.

Parameters

[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.

PostUpdate()

void PostUpdate ( const UpdateInfo &  _info, const EntityComponentManager &  _ecm  )

overridevirtual

Implements ISystemPostUpdate.

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

• DriveToPoseController.hh