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()

~ApplyLinkWrench ( )

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.

PreUpdate()

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

overridevirtual

Implements ISystemPreUpdate.

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

• ApplyLinkWrench.hh