JointMonitor.hh
uint64_t Entity
An Entity identifies a single object in simulation such as a model, link, or light....
Definition: gz/sim/Entity.hh:59
This library is part of the Ignition Robotics project.
The EntityComponentManager constructs, deletes, and returns components and entities....
Definition: gz/sim/EntityComponentManager.hh:65
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.
void Update(const EntityComponentManager &_ecm)
Checks whether the position and velocity of the joint are within the configured tolerances.
JointMonitor()
Constructor.
Monitor that checks the state of a joint. When the joint reaches the configured target,...
Definition: JointMonitor.hh:46
~JointMonitor()
Destructor.