HarnessPlugin Class Reference

This plugin is designed to lower a model at a controlled rate. More...

#include <HarnessPlugin.hh>

Inherits ModelPlugin.

Public Types
typedef boost::shared_ptr< ModelPlugin >	TPtr
	plugin pointer type definition More...

Public Member Functions
	HarnessPlugin ()
	Constructor. More...
virtual	~HarnessPlugin ()
	Destructor. More...
void	Attach (const ignition::math::Pose3d &_pose)
	Move the child link to the specified pose and recreate the harness joint. More...
void	Detach ()
	Detach the <detach> joint. More...
std::string	GetFilename () const
	Get the name of the handler. More...
std::string	GetHandle () const
	Get the short name of the handler. More...
PluginType	GetType () const
	Returns the type of the plugin. More...
virtual void	Init ()
	Override this method for custom plugin initialization behavior. More...
virtual void	Load (physics::ModelPtr _model, sdf::ElementPtr _sdf)
	Load function. More...
virtual void	Reset ()
	Override this method for custom plugin reset behavior. More...
void	SetWinchVelocity (const float _value)
	Set the target winch velocity. More...
double	WinchVelocity () const
	Get the current winch velocity. More...

Static Public Member Functions
static TPtr	Create (const std::string &_filename, const std::string &_name)
	a class method that creates a plugin from a file name. More...

Protected Member Functions
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...
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...

Protected Attributes
std::string	filename
	Path to the shared library file. More...
std::string	handleName
	Short name. More...
PluginType	type
	Type of plugin. More...

Detailed Description

This plugin is designed to lower a model at a controlled rate.

Joints between a harness model and a model to lower are created according to SDF provided to this plugin.

A winch joint and detach joint can be specified. The winch joint, ideally a prismatic joint, has a PID controller. The detach joint, which can be the same joint as the winch joint, is detached on a given signal.

Three topics are created:

1. ~/<plugin_model_name>/harness/velocity
   • Message Type: GzString, expected to be a float
   • Purpose: Set target winch velocity
2. ~/<plugin_model_name>/harness/detach
   • Message Type: GzString, expected to be a bool ("true")
   • Purpose: Detach the <detach> joint.
3. ~/<plugin_model_name>/harness/attach
   • Message Type: Pose, world pose to be set for child link before attaching
   • Purpose: Attach the joint at the specified world pose

For an example refer to:

• World file: worlds/harness.world
• Code: examples/stand_alone/harness

Member Typedef Documentation

TPtr

typedef boost::shared_ptr<ModelPlugin > TPtr

inherited

plugin pointer type definition

Constructor & Destructor Documentation

HarnessPlugin()

HarnessPlugin

(

)

Constructor.

~HarnessPlugin()

virtual ~HarnessPlugin ( )

virtual

Destructor.

Member Function Documentation

Attach()

void Attach

(

const ignition::math::Pose3d &

_pose

)

Move the child link to the specified pose and recreate the harness joint.

Parameters

[in]

_pose

Desired world pose of child link before harnessing

Create()

static TPtr Create ( const std::string &  _filename, const std::string &  _name  )

inlinestaticinherited

a class method that creates a plugin from a file name.

It locates the shared library and loads it dynamically.

Parameters

[in]	_filename	the path to the shared library.
[in]	_name	short name of the plugin

Returns

Shared Pointer to this class type

References PluginT< T >::filename, gzerr, and SingletonT< SystemPaths >::Instance().

Detach()

void Detach

(

)

Detach the <detach> joint.

Once the joint is detached, it can be reattached with the Attach method.

GetFilename()

std::string GetFilename ( ) const

inlineinherited

Get the name of the handler.

References PluginT< T >::filename.

GetHandle()

std::string GetHandle ( ) const

inlineinherited

Get the short name of the handler.

References PluginT< T >::handleName.

GetType()

PluginType GetType ( ) const

inlineinherited

Returns the type of the plugin.

Returns

type of the plugin

References PluginT< T >::type.

Init()

virtual void Init ( )

virtual

Override this method for custom plugin initialization behavior.

Reimplemented from ModelPlugin.

Load()

virtual void Load ( physics::ModelPtr  _model, sdf::ElementPtr  _sdf  )

virtual

Load function.

Called when a Plugin is first created, and after the World has been loaded. This function should not be blocking.

Parameters

[in]	_model	Pointer to the Model
[in]	_sdf	Pointer to the SDF element of the plugin.

Implements ModelPlugin.

LoadParam() [1/2]

void LoadParam ( const sdf::ElementPtr &  _sdf, const std::string &  _name, V &  _target, V  _defaultValue = V()  ) const

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

[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.

References gzmsg, and PluginT< T >::handleName.

LoadParam() [2/2]

void LoadParam ( sdf::ElementPtr &  _sdf, const std::string &  _name, std::string &  _target, const char *  _defaultValue  ) const

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

[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.

Reset()

virtual void Reset ( )

inlinevirtualinherited

Override this method for custom plugin reset behavior.

Reimplemented in KeysToCmdVelPlugin, RandomVelocityPlugin, ElevatorPlugin, FollowerPlugin, LinearBatteryPlugin, ActorPlugin, InitialVelocityPlugin, and SphereAtlasDemoPlugin.

SetWinchVelocity()

void SetWinchVelocity

(

const float

_value

)

Set the target winch velocity.

Parameters

[in]

_value

Target winch velocity.

WinchVelocity()

double WinchVelocity

(

)

const

Get the current winch velocity.

Returns

Velocity of the winch joint

Member Data Documentation

filename

std::string filename

protectedinherited

Path to the shared library file.

handleName

std::string handleName

protectedinherited

Short name.

type

PluginType type

protectedinherited

Type of plugin.

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

• HarnessPlugin.hh