Gazebo Gazebo

API Reference

6.16.0
systems/joint_position_controller/JointPositionController.hh
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1 /*
2  * Copyright (C) 2020 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
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8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
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13  * See the License for the specific language governing permissions and
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16  */
17 #ifndef GZ_GAZEBO_SYSTEMS_JOINTPOSITIONCONTROLLER_HH_
18 #define GZ_GAZEBO_SYSTEMS_JOINTPOSITIONCONTROLLER_HH_
19 
20 #include <memory>
21 #include <gz/sim/System.hh>
22 
23 namespace ignition
24 {
25 namespace gazebo
26 {
27 // Inline bracket to help doxygen filtering.
28 inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
29 namespace systems
30 {
31  // Forward declaration
32  class JointPositionControllerPrivate;
33 
88  : public System,
89  public ISystemConfigure,
90  public ISystemPreUpdate
91  {
93  public: JointPositionController();
94 
96  public: ~JointPositionController() override = default;
97 
98  // Documentation inherited
99  public: void Configure(const Entity &_entity,
102  EventManager &_eventMgr) override;
103 
104  // Documentation inherited
105  public: void PreUpdate(
106  const gz::sim::UpdateInfo &_info,
107  gz::sim::EntityComponentManager &_ecm) override;
108 
111  };
112  }
113 }
114 }
115 }
116 
117 #endif
void Configure(const Entity &_entity, const std::shared_ptr< const sdf::Element > &_sdf, EntityComponentManager &_ecm, EventManager &_eventMgr) override
Configure the system.
uint64_t Entity
An Entity identifies a single object in simulation such as a model, link, or light....
Definition: gz/sim/Entity.hh:58
This library is part of the Gazebo project.
The EntityComponentManager constructs, deletes, and returns components and entities....
Definition: gz/sim/EntityComponentManager.hh:66
STL class.
void PreUpdate(const gz::sim::UpdateInfo &_info, gz::sim::EntityComponentManager &_ecm) override
Joint position controller which can be attached to a model with a reference to a single joint.
Definition: systems/joint_position_controller/JointPositionController.hh:87
The EventManager is used to send/receive notifications of simulator events.
Definition: gz/sim/EventManager.hh:54
Information passed to systems on the update callback.
Definition: include/gz/sim/Types.hh:38
Interface for a system that uses the PreUpdate phase.
Definition: gz/sim/System.hh:121
Interface for a system that implements optional configuration.
Definition: gz/sim/System.hh:90
Base class for a System.
Definition: gz/sim/System.hh:75
~JointPositionController() override=default
Destructor.