BreakableJointPlugin Class Reference

A plugin for breakable joints, based on a ForceTorque sensor plugin. More...

#include <BreakableJointPlugin.hh>

Inherits SensorPlugin.

Public Types

typedef boost::shared_ptr< SensorPluginTPtr
 plugin pointer type definition More...
 

Public Member Functions

 BreakableJointPlugin ()
 Constructor. More...
 
virtual ~BreakableJointPlugin ()
 Destructor. 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 (sensors::SensorPtr _parent, sdf::ElementPtr _sdf)
 Load the plugin. 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...
 
virtual void OnUpdate (msgs::WrenchStamped _msg)
 Overloaded Update callback. More...
 
void OnWorldUpdate ()
 WorldUpdate callback, used to safely detach parent joint. 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 plugin for breakable joints, based on a ForceTorque sensor plugin.

Member Typedef Documentation

◆ TPtr

typedef boost::shared_ptr<SensorPlugin > TPtr
inherited

plugin pointer type definition

Constructor & Destructor Documentation

◆ BreakableJointPlugin()

Constructor.

◆ ~BreakableJointPlugin()

virtual ~BreakableJointPlugin ( )
virtual

Destructor.

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]_filenamethe path to the shared library.
[in]_nameshort name of the plugin
Returns
Shared Pointer to this class type

◆ GetFilename()

std::string GetFilename ( ) const
inlineinherited

Get the name of the handler.

◆ GetHandle()

std::string GetHandle ( ) const
inlineinherited

Get the short name of the handler.

◆ GetType()

PluginType GetType ( ) const
inlineinherited

Returns the type of the plugin.

Returns
type of the plugin

◆ Init()

virtual void Init ( )
inlinevirtualinherited

Override this method for custom plugin initialization behavior.

Reimplemented in PressurePlugin, and FiducialCameraPlugin.

◆ Load()

virtual void Load ( sensors::SensorPtr  _parent,
sdf::ElementPtr  _sdf 
)
virtual

Load the plugin.

Parameters
[in]_parentPointer to the parent sensor.
[in]_sdfSDF element for the plugin.

Implements SensorPlugin.

◆ LoadParam() [1/2]

void LoadParam ( const sdf::ElementPtr &  _sdf,
const std::string &  _name,
V &  _target,
_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]_sdfThe SDF element of the plugin.
[in]_nameName of a tag inside the SDF.
[out]_targetThe reference to store the param value to.
[in]_defaultValueThe default value.

◆ 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]_sdfThe SDF element of the plugin.
[in]_nameName of a tag inside the SDF.
[out]_targetThe reference to store the param value to.
[in]_defaultValueThe default value.

◆ OnUpdate()

virtual void OnUpdate ( msgs::WrenchStamped  _msg)
protectedvirtual

Overloaded Update callback.

Parameters
[in]_msgThe force torque message.

◆ OnWorldUpdate()

void OnWorldUpdate ( )
protected

WorldUpdate callback, used to safely detach parent joint.

◆ Reset()

virtual void Reset ( )
inlinevirtualinherited

Override this method for custom plugin reset behavior.

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.


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