SkidSteerDrivePlugin Class Reference

A gazebo model plugin that controls a four wheel skid-steer robot via a gazebo topic. More...

#include <SkidSteerDrivePlugin.hh>

Inherits ModelPlugin.

Public Types
enum	{ RIGHT_FRONT, RIGHT_REAR, LEFT_FRONT, LEFT_REAR }
typedef boost::shared_ptr< ModelPlugin >	TPtr
	plugin pointer type definition More...

Public Member Functions
	SkidSteerDrivePlugin ()
	Default Contstuctor. 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...
void	Load (physics::ModelPtr _model, sdf::ElementPtr _sdf)
	Called when the plugin is loaded. More...
virtual void	Reset ()
	Override this method for custom plugin reset behavior. 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

A gazebo model plugin that controls a four wheel skid-steer robot via a gazebo topic.

See the Pioneer3AT model in the OSRF model database for an example use case.

Member Typedef Documentation

TPtr

typedef boost::shared_ptr<ModelPlugin > TPtr

inherited

plugin pointer type definition

Member Enumeration Documentation

anonymous enum

anonymous enum

Enumerator
RIGHT_FRONT
RIGHT_REAR
LEFT_FRONT
LEFT_REAR

Constructor & Destructor Documentation

SkidSteerDrivePlugin()

SkidSteerDrivePlugin

(

)

Default Contstuctor.

Member Function Documentation

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().

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 ( )

inlinevirtualinherited

Override this method for custom plugin initialization behavior.

Reimplemented in KeysToCmdVelPlugin, BuoyancyPlugin, HarnessPlugin, FollowerPlugin, PlaneDemoPlugin, MudPlugin, CartDemoPlugin, VehiclePlugin, GimbalSmall2dPlugin, LinearBatteryPlugin, DiffDrivePlugin, and SphereAtlasDemoPlugin.

Load()

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

virtual

Called when the plugin is loaded.

Parameters

[in]	_model	Pointer to the model for which the plugin is loaded
[in]	_sdf	Pointer to the SDF for _model

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.

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:

• SkidSteerDrivePlugin.hh