VelocityControl Class Reference

Linear and angular velocity controller which is directly set on a model. More...

#include <VelocityControl.hh>

Public Member Functions
	VelocityControl ()
	Constructor. More...
	~VelocityControl () 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	PostUpdate (const UpdateInfo &_info, const EntityComponentManager &_ecm) override
void	PreUpdate (const UpdateInfo &, 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

Linear and angular velocity controller which is directly set on a model.

System Parameters

• <topic>: Topic to receive commands in. Defaults to /model/<model_name>/cmd_vel.
• <initial_linear>: Linear velocity to start with.
• <initial_angular>: Linear velocity to start with.

Constructor & Destructor Documentation

VelocityControl()

VelocityControl

(

)

Constructor.

~VelocityControl()

~VelocityControl ( )

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.

PostUpdate()

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

overridevirtual

Implements ISystemPostUpdate.

PreUpdate()

void PreUpdate ( const UpdateInfo &  , EntityComponentManager &  _ecm  )

overridevirtual

Implements ISystemPreUpdate.

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

• VelocityControl.hh