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...

Additional Inherited Members
Public Types inherited from System
using	PriorityType = int32_t
	Signed integer type used for specifying priority of the execution order of PreUpdate and Update phases. More...

Static Public Attributes inherited from System
constexpr static PriorityType	kDefaultPriority = {0}
	Default priority value for execution order of the PreUpdate and Update phases. More...

constexpr static std::string_view	kPriorityElementName
	Name of the XML element from which the priority value will be parsed. 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.

Forces and torques are expressed in world coordinates, and the force offset is expressed in the link frame.

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.