ApplyForceTorque Class Reference

Publish wrench to "/world/<world_name>/wrench" topic. Automatically loads the ApplyLinkWrench system. More...

#include <ApplyForceTorque.hh>

Signals
void	ForceChanged ()
	Notify that the force changed. More...
void	ForceMagChanged ()
	Notify that the force magnitude changed. More...
void	LinkIndexChanged ()
	Notify that the link index changed. More...
void	LinkNameListChanged ()
	Notify that the link list changed. More...
void	ModelNameChanged ()
	Notify that the model name changed. More...
void	TorqueChanged ()
	Notify that the torque changed. More...
void	TorqueMagChanged ()
	Notify that the torque magnitude changed. More...

Public Member Functions
	ApplyForceTorque ()
	Constructor. More...
	~ApplyForceTorque () override
	Destructor. More...
Q_INVOKABLE void	ApplyAll ()
	Apply the specified force and torque. More...
Q_INVOKABLE void	ApplyForce ()
	Apply the specified force. More...
Q_INVOKABLE void	ApplyTorque ()
	Apply the specified torque. More...
Q_INVOKABLE QVector3D	Force () const
	Get the force vector. More...
Q_INVOKABLE double	ForceMag () const
	Get the magnitude of the force vector. More...
Q_INVOKABLE int	LinkIndex () const
	Get index of the link in the list. More...
Q_INVOKABLE QStringList	LinkNameList () const
	Get the name of the links of the selected model. More...
void	LoadConfig (const tinyxml2::XMLElement *_pluginElem) override
Q_INVOKABLE QString	ModelName () const
	Get the name of the selected model. More...
Q_INVOKABLE void	SetForce (QVector3D _force)
	Set the force vector. More...
Q_INVOKABLE void	SetForceMag (double _forceMag)
	Set the magnitude of the force vector, scaling it to keep its direction. More...
Q_INVOKABLE void	SetLinkIndex (int _linkIndex)
	Set the index of the link in the list. More...
Q_INVOKABLE void	SetTorque (QVector3D _torque)
	Set the torque vector. More...
Q_INVOKABLE void	SetTorqueMag (double _torqueMag)
	Set the magnitude of the torque vector, scaling it to keep its direction. More...
Q_INVOKABLE QVector3D	Torque () const
	Get the torque vector. More...
Q_INVOKABLE double	TorqueMag () const
	Get the magnitude of the torque vector. More...
void	Update (const UpdateInfo &_info, EntityComponentManager &_ecm) override
	Update callback called every time the system is stepped. This is called at a Gazebo Transport thread, so any interaction with Qt should be done through signals and slots. More...
Q_INVOKABLE void	UpdateOffset (double _x, double _y, double _z)
	Set components of offset vector. More...

Protected Member Functions
bool	eventFilter (QObject *_obj, QEvent *_event) override

Properties
QVector3D	force
	Force. More...
double	forceMag
	Force magnitude. More...
int	linkIndex
	Link index. More...
QStringList	linkNameList
	Link list. More...
QString	modelName
	Model name. More...
QVector3D	torque
	Torque. More...
double	torqueMag
	Torque magnitude. More...

Detailed Description

Publish wrench to "/world/<world_name>/wrench" topic. Automatically loads the ApplyLinkWrench system.

Configuration

This plugin doesn't accept any custom configuration.

Constructor & Destructor Documentation

ApplyForceTorque()

ApplyForceTorque

(

)

Constructor.

~ApplyForceTorque()

~ApplyForceTorque ( )

override

Destructor.

Member Function Documentation

ApplyAll()

Q_INVOKABLE void ApplyAll

(

)

Apply the specified force and torque.

ApplyForce()

Q_INVOKABLE void ApplyForce

(

)

Apply the specified force.

ApplyTorque()

Q_INVOKABLE void ApplyTorque

(

)

Apply the specified torque.

eventFilter()

bool eventFilter ( QObject *  _obj, QEvent *  _event  )

overrideprotected

Force()

Q_INVOKABLE QVector3D Force

(

)

const

Get the force vector.

Returns

The force vector

ForceChanged

void ForceChanged ( )

signal

Notify that the force changed.

ForceMag()

Q_INVOKABLE double ForceMag

(

)

const

Get the magnitude of the force vector.

Returns

The force magnitude

ForceMagChanged

void ForceMagChanged ( )

signal

Notify that the force magnitude changed.

LinkIndex()

Q_INVOKABLE int LinkIndex

(

)

const

Get index of the link in the list.

Returns

The link index

LinkIndexChanged

void LinkIndexChanged ( )

signal

Notify that the link index changed.

LinkNameList()

Q_INVOKABLE QStringList LinkNameList

(

)

const

Get the name of the links of the selected model.

Returns

The list of link names

LinkNameListChanged

void LinkNameListChanged ( )

signal

Notify that the link list changed.

LoadConfig()

void LoadConfig ( const tinyxml2::XMLElement *  _pluginElem )

override

ModelName()

Q_INVOKABLE QString ModelName

(

)

const

Get the name of the selected model.

Returns

The model name

ModelNameChanged

void ModelNameChanged ( )

signal

Notify that the model name changed.

SetForce()

Q_INVOKABLE void SetForce

(

QVector3D

_force

)

Set the force vector.

Parameters

[in]

_force

The new force vector

SetForceMag()

Q_INVOKABLE void SetForceMag

(

double

_forceMag

)

Set the magnitude of the force vector, scaling it to keep its direction.

Parameters

[in]

_forceMag

The new force magnitude

SetLinkIndex()

Q_INVOKABLE void SetLinkIndex

(

int

_linkIndex

)

Set the index of the link in the list.

Parameters

[in]

_linkIndex

The new link index

SetTorque()

Q_INVOKABLE void SetTorque

(

QVector3D

_torque

)

Set the torque vector.

Parameters

[in]

_torque

The new torque vector

SetTorqueMag()

Q_INVOKABLE void SetTorqueMag

(

double

_torqueMag

)

Set the magnitude of the torque vector, scaling it to keep its direction.

Parameters

[in]

_torqueMag

The new torque magnitude

Torque()

Q_INVOKABLE QVector3D Torque

(

)

const

Get the torque vector.

Returns

The torque vector

TorqueChanged

void TorqueChanged ( )

signal

Notify that the torque changed.

TorqueMag()

Q_INVOKABLE double TorqueMag

(

)

const

Get the magnitude of the torque vector.

Returns

The torque magnitude

TorqueMagChanged

void TorqueMagChanged ( )

signal

Notify that the torque magnitude changed.

Update()

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

overridevirtual

Update callback called every time the system is stepped. This is called at a Gazebo Transport thread, so any interaction with Qt should be done through signals and slots.

Parameters

[in]	_info	Current simulation information, such as time.
[in]	_ecm	Mutable reference to the ECM, so the system can read and write entities and their components.

Reimplemented from GuiSystem.

UpdateOffset()

Q_INVOKABLE void UpdateOffset	(	double	_x,
		double	_y,
		double	_z
	)

Set components of offset vector.

Parameters

[in]	_x	X component of offset
[in]	_y	Y component of offset
[in]	_z	Z component of offset

Property Documentation

force

QVector3D force

readwrite

Force.

forceMag

double forceMag

readwrite

Force magnitude.

linkIndex

int linkIndex

readwrite

Link index.

linkNameList

QStringList linkNameList

read

Link list.

modelName

QString modelName

read

Model name.

torque

QVector3D torque

readwrite

Torque.

torqueMag

double torqueMag

readwrite

Torque magnitude.

---

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

• ApplyForceTorque.hh