A plugin for breakable joints, based on a ForceTorque sensor plugin.
More...
#include <BreakableJointPlugin.hh>
Inherits SensorPlugin.
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static TPtr | Create (const std::string &_filename, const std::string &_name) |
| a class method that creates a plugin from a file name. More...
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void | LoadParam (const sdf::ElementPtr &_sdf, const std::string &_name, V &_target, V _defaultValue=V()) const |
| Load parameter value from _sdf and store it to the given reference, using the supplied default value if the element in _sdf is not found. More...
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void | LoadParam (sdf::ElementPtr &_sdf, const std::string &_name, std::string &_target, const char *_defaultValue) const |
| Load parameter value from _sdf and store it to the given reference, using the supplied default value if the element in _sdf is not found. More...
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virtual void | OnUpdate (msgs::WrenchStamped _msg) |
| Overloaded Update callback. More...
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void | OnWorldUpdate () |
| WorldUpdate callback, used to safely detach parent joint. More...
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A plugin for breakable joints, based on a ForceTorque sensor plugin.
◆ TPtr
plugin pointer type definition
◆ BreakableJointPlugin()
◆ ~BreakableJointPlugin()
◆ Create()
static TPtr Create |
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const std::string & |
_filename, |
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const std::string & |
_name |
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inlinestaticinherited |
a class method that creates a plugin from a file name.
It locates the shared library and loads it dynamically.
- Parameters
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[in] | _filename | the path to the shared library. |
[in] | _name | short name of the plugin |
- Returns
- Shared Pointer to this class type
◆ GetFilename()
std::string GetFilename |
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const |
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inlineinherited |
Get the name of the handler.
◆ GetHandle()
std::string GetHandle |
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const |
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inlineinherited |
Get the short name of the handler.
◆ GetType()
Returns the type of the plugin.
- Returns
- type of the plugin
◆ Init()
◆ Load()
Load the plugin.
- Parameters
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[in] | _parent | Pointer to the parent sensor. |
[in] | _sdf | SDF element for the plugin. |
Implements SensorPlugin.
◆ LoadParam() [1/2]
void LoadParam |
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const sdf::ElementPtr & |
_sdf, |
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const std::string & |
_name, |
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V & |
_target, |
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V |
_defaultValue = V() |
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inlineprotectedinherited |
Load parameter value from _sdf and store it to the given reference, using the supplied default value if the element in _sdf is not found.
A message is written using gzmsg reporting whether the default value was used or not.
- Parameters
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[in] | _sdf | The SDF element of the plugin. |
[in] | _name | Name of a tag inside the SDF. |
[out] | _target | The reference to store the param value to. |
[in] | _defaultValue | The default value. |
◆ LoadParam() [2/2]
void LoadParam |
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sdf::ElementPtr & |
_sdf, |
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const std::string & |
_name, |
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std::string & |
_target, |
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const char * |
_defaultValue |
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inlineprotectedinherited |
Load parameter value from _sdf and store it to the given reference, using the supplied default value if the element in _sdf is not found.
A message is written using gzmsg reporting whether the default value was used or not. String specialization to allow accepting const char* values for std::string parameters.
- Parameters
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[in] | _sdf | The SDF element of the plugin. |
[in] | _name | Name of a tag inside the SDF. |
[out] | _target | The reference to store the param value to. |
[in] | _defaultValue | The default value. |
◆ OnUpdate()
virtual void OnUpdate |
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msgs::WrenchStamped |
_msg | ) |
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protectedvirtual |
Overloaded Update callback.
- Parameters
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[in] | _msg | The force torque message. |
◆ OnWorldUpdate()
WorldUpdate callback, used to safely detach parent joint.
◆ Reset()
Override this method for custom plugin reset behavior.
◆ filename
Path to the shared library file.
◆ handleName
◆ type
The documentation for this class was generated from the following file: