#include <map>#include <memory>#include <string>#include <gz/sim/gui/GuiSystem.hh>#include <gz/sim/Types.hh>Go to the source code of this file.
Functions | |
| Q_DECLARE_METATYPE (Entity) namespace gz | |
Function Documentation
◆ Q_DECLARE_METATYPE()
| Q_DECLARE_METATYPE | ( | Entity | ) |
Model holding information about joints
Constructor
Destructor
Static version of roleNames
- Returns
- A hash connecting a unique identifier to a role name.
Add a joint to the list.
- Parameters
-
[in] _typeId Joint to be added.
- Returns
- Newly created item.
Remove a joint from the list.
- Parameters
-
[in] _entity
Clear all joints
Keep track of items in the list, according to joint entity.
Control position of all joints in the selected model. The model must have loaded an systems::JointPositionController for each joint to be controlled.
This plugin publishes position command messages (gz::msgs::Double) on topics in the format /model/<model_name>/joint/<joint_name/0/cmd_pos.
Only the 1st axis of each joint is considered. Joints without axes are ignored.
When the lock button is checked, the model doesn't change even if it's deselected.
Configuration
<model_name>: Load the widget pointed at the given model, so it's not necessary to select it. If a model is given at startup, the plugin starts in locked mode.
Model entity
Model name
Locked
Constructor
Destructor
Callback in Qt thread when joint position changes.
- Parameters
-
[in] _jointName Name of joint being commanded [in] _pos New joint position
Callback in Qt thread when user requests a reset.
Get the model currently controlled.
- Returns
- Model entity ID.
Set the model currently controlled.
- Parameters
-
[in] _entity Model entity ID.
Notify that entity has changed.
Get the name of model currently controlled.
- Returns
- ModelName, such as 'world' or 'model'
Set the name of model currently controlled.
- Parameters
-
[in] _name ModelName, such as 'world' or 'model'.
Notify that model name has changed
Get whether the controller is currently locked on a model.
- Returns
- True for locked
Set whether the controller is currently locked on a model.
- Parameters
-
[in] _locked True for locked.
Notify that locked has changed.